PIPER single-arm simulation and control on Genesis

Introduction

This guide aims to help users complete the simulation and control of the PIPER single arm on the Genesis Simulation Platform. It details environment deployment, dependency installation, simulator configuration, and how to achieve visualization and control of the PIPER robotic arm via ROS and RViz. Please follow the steps below to ensure a smooth simulation and control process.

Deployment

1.setup piper_kinematics

sudo apt install libeigen3-dev
sudo apt install ros-noetic-eigen-conversions 

git clone https://github.com/vanstrong12138/agilex_genesis_demos.git
cd agilex_genesis_demos
catkin_make

2.setup genesis simulator

# install genesis simulator
conda create -n genesis python=3.10
pip install genesis-world  # Requires Python>=3.10,<3.14;

genesis ros control

source devel/setup.bash
# this step is only for piper inverse kinematics
roslaunch piper_kinematics piper_ik.launch

# this step is only for visualizing piper in rviz
roslaunch piper_description my_display_urdf_ik.launch

# this step is for start up piper genesis simulation
conda activate genesis
python3 ./scripts/control_piper.py

Control Piper in using rviz visualized marker