meen-612-ur5e-sim-project

Code repository for the MEEN 408/612 class project involving UR5e robots simulated in Drake.

Set up Python Virtual Environment

After cloning this repo, you should open the command line and navigate to this code's folder.

Then run the following on the command line. This will create a virtual environment in the env/ folder. You may choose to call it something else, but you will need to update the .gitignore

python3 -m venv env

then source the environment to activate it (for linux machines)

source env/bin/activate

(env) will then appear at the start of the terminal line. This can also be set happen automatically when opening vscode by selecting the activated file as the default interpreter in the command pallet ctrl+p

Finally, install drake

pip install drake

you are now ready to run the examples in this repo!

Running the Sim

python3 run_simulator.py

Task Description

Edit the CalcControlEffort function within the FeedbackController class in my_controller.py to implement your impedance controller