CTRL Repo

This project uses Placo for robot control and kinematics. Mujoco is used as the physics simulator.

This project is still in its early stages, and the documentation will be updated as development progresses.

Follow the steps below to set up a reproducible environment.

Prerequisites

• Ubuntu 24.04 or later (most team members use WSL)
• Conda must be installed in Linux environment.

Setup Instructions

1. Clone the repository along with its submodules:

   git clone --recurse-submodules <repository_url>
   cd <repository_directory>

2. Create and activate the conda environment:

    conda env create -f environment.yml
    conda activate robot-env

3. Install some required packages:

   sudo apt install -y libjsoncpp-dev doxygen

4. Build placo from source following the instructions here

Note: Create a build directory in the root of the ctrl repo instead of within the submodule, then cmake with placo as the source directory. e.g. cmake -S extern/placo ...

4. Don't forget to add the placo bindings to your PYTHONPATH. You can do this by adding the following line to your .bashrc or .zshrc file:

   export PYTHONPATH=$PYTHONPATH:<BUILD_FOLDER_PATH>/lib/python3.X/site-packages