AGIMUS 2023 Winter School

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Tutorials

In this winter school, we will cover three main different topics:

• Simulation
  • Simulation #1: Rigid body dynamics, slides
  • Simulation #2: Collision detection, slides
  • Simulation #3: Contact dynamics, slide part1, slide part2
• Optimal control
• [Motion planning]

Installing dependencies

Dependencies for the coursework include specific versions of Pinocchio, hpp-fcl, crocoddyl, alligator, and other software that have yet to be fully released. We provide two ways to install the required packages for Mac OS and Linux: conda/mamba or docker.

Conda installation [Mac OS Intel, Mac OS ARM, Linux x64]

All the required packages are available on the following channel. Conda can be easily installed on your machine by following these instructions.

You can install a package by typing in your terminal:

conda create -n aws python=3.10
conda activate aws
conda install -c agm-ws-2023 -c conda-forge my_package_name

The two first lines create a new environment named aws and then activate it. The third line installs my_package_nameusing the channel of the AGIMUS winter school where the packages have been compiled.

You can also consider installing additional tools via pip, like:

pip install tqdm meshcat ipython

We also invite you to leverage visual studio code to play with the Jupyter notebooks. Don't forget to install the Jupyter module for visual studio code.

Docker installation

First, get the image:

• docker pull reg.saurel.me/aws on the Eduroam network
• docker pull reg-w.saurel.me/aws on the wired network

To run it, if you are on Linux, PAL provides helpers at https://github.com/pal-robotics/pal_docker_utils to allow running graphical applications.

You could also run it with eg. docker run --rm --net=host -it reg.saurel.me/aws, and once inside run the docker-vnc command to retrieve a link like http://localhost:6080/vnc.html?host=localhost&port=6080 : clic on it to open a virtual desktop in your webbrowser.

Docker use

start with a git clone https://github.com/agimus-project/winter-school-2023

• for HPP tutorials: it should work out of the box
• for ROS tutorials: source /opt/pal/alum/setup.bash
• for others, run /opt/miniconda3/bin/conda init && bash, then
  • for Pinocchio / Crocoddyl tutorials: conda activate /aws1
    • for the mim-solvers part, you'll need: sudo /opt/miniconda3/bin/conda install -yp /aws1 agm-ws-2023-2::mim-solvers
  • for Happypose tutorials: conda activate /aws2