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Go2Py_SIM
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This commit is contained in:
Nimesh Khandelwal 2024-03-06 20:27:34 -05:00
parent 7583096209 32acfb0ac5
commit 3ef6354043
2 changed files with 51 additions and 0 deletions
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17
.gitignore vendored
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@ -169,6 +169,10 @@ deploy/dock_ws/install
deploy/dock_ws/build deploy/dock_ws/build
<<<<<<< HEAD <<<<<<< HEAD
<<<<<<< HEAD
=======
<<<<<<< HEAD
>>>>>>> 32acfb0ac560277c40ad17f56e1ea6f88c8f8b96
deploy/nav2_ws/install deploy/nav2_ws/install
deploy/nav2_ws/log deploy/nav2_ws/log
======= =======
@ -177,6 +181,19 @@ deploy/nav2_ws/log
*log* *log*
*lib* *lib*
>>>>>>> Added simulation and locomotion files >>>>>>> Added simulation and locomotion files
<<<<<<< HEAD
=======
=======
*build*
*install*
*log*
*lib*
=======
deploy/nav2_ws/install
deploy/nav2_ws/log
>>>>>>> origin/main
>>>>>>> 6fb83c776a12ae8b368f69e6b303593987c6dce1
>>>>>>> 32acfb0ac560277c40ad17f56e1ea6f88c8f8b96
_isaac_sim _isaac_sim
.vscode .vscode

34
locomotion/src/robot_simulation/CMakeLists.txt
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@ -1,3 +1,13 @@
<<<<<<< HEAD
=======
cmake_minimum_required(VERSION 3.5.1)
project(QuadrupedControl)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
>>>>>>> 32acfb0ac560277c40ad17f56e1ea6f88c8f8b96
# INTERPROCEDURAL_OPTIMIZATION is enforced when enabled. # INTERPROCEDURAL_OPTIMIZATION is enforced when enabled.
set(CMAKE_POLICY_DEFAULT_CMP0069 NEW) set(CMAKE_POLICY_DEFAULT_CMP0069 NEW)
# Default to GLVND if available. # Default to GLVND if available.
@ -9,7 +19,11 @@ set(OpenGL_GL_PREFERENCE GLVND)
# set(THREADS_PREFER_PTHREAD_FLAG ON) # set(THREADS_PREFER_PTHREAD_FLAG ON)
# find_package(mujoco CONFIG REQUIRED) # find_package(mujoco CONFIG REQUIRED)
<<<<<<< HEAD
# find_package(glfw3 REQUIRED) # find_package(glfw3 REQUIRED)
=======
find_package(glfw3 REQUIRED)
>>>>>>> 32acfb0ac560277c40ad17f56e1ea6f88c8f8b96
find_package(Threads REQUIRED) find_package(Threads REQUIRED)
include_directories( include_directories(
@ -23,15 +37,25 @@ install(DIRECTORY include/
DESTINATION ${COMMON_INCLUDE_DIR} DESTINATION ${COMMON_INCLUDE_DIR}
FILES_MATCHING PATTERN "*.h*" FILES_MATCHING PATTERN "*.h*"
) )
<<<<<<< HEAD
add_executable(quad_sim src/main.cpp) add_executable(quad_sim src/main.cpp)
add_dependencies(quad_sim quad_communication) add_dependencies(quad_sim quad_communication)
target_link_libraries(quad_sim target_link_libraries(quad_sim
=======
add_executable(simulate src/sim_main.cpp)
if (DEFINED ENV{USE_ROS_COMM})
add_definitions(-DUSE_ROS_COMM)
endif()
add_dependencies(simulate quad_communication)
target_link_libraries(simulate
>>>>>>> 32acfb0ac560277c40ad17f56e1ea6f88c8f8b96
# mujoco::mujoco # mujoco::mujoco
mujoco mujoco
glfw glfw
Threads::Threads Threads::Threads
quad_communication quad_communication
<<<<<<< HEAD
) )
install(TARGETS quad_sim install(TARGETS quad_sim
ARCHIVE DESTINATION ${COMMON_INSTALL_DIR} ARCHIVE DESTINATION ${COMMON_INSTALL_DIR}
@ -49,6 +73,16 @@ target_link_libraries(sim_ros
ros_comm ros_comm
) )
install(TARGETS sim_ros install(TARGETS sim_ros
=======
# $<$<BOOL:$ENV{USE_ROS_COMM}>:ros_comm>
)
if (DEFINED ENV{USE_ROS_COMM})
target_link_libraries(simulate
ros_comm
)
endif()
install(TARGETS simulate
>>>>>>> 32acfb0ac560277c40ad17f56e1ea6f88c8f8b96
ARCHIVE DESTINATION ${COMMON_INSTALL_DIR} ARCHIVE DESTINATION ${COMMON_INSTALL_DIR}
RUNTIME DESTINATION ${COMMON_INSTALL_DIR} RUNTIME DESTINATION ${COMMON_INSTALL_DIR}
) )