README.md

ASE389

Software Stacks for the class ASE 389 DCSN/CTRL HUMAN-CENT ROBOTS based on the PnC.

Installation

• Install Conda
• Clone the repository

$ git clone https://github.com/junhyeokahn/ASE389.git

• Create a virtual environment and install Dependancies

$ conda env create -f ASE389.yml

• Activate the environment

$ conda activate ASE389

• Run the code

$ python simulator/pybullet/manipulator_main.py

Update to the newest code

• Pull the latest code

$ git pull origin main

• Update conda environment

$ conda env update -f ASE389.yml

Implement Operational Space Control

• Try to implement OSC control and fill out this function.
• You could take look at RobotSystem to achieve relevant kinematics and dynamics properties of the robot.