Polysim guideline

[HaoLiRobo]

Type of Issue

Select the type of issue:

• [ ] Bug report (to report a bug)
• [ ] Feature request (to request an additional feature)
• [ ] Tracker (I am just using this as a tracker)
• [ ] Refactor request
• [x] Documentation Ask

Description

Hi, I'm trying to use polysim to simulate panda arm. I find a few files that might be useful for me, but do not know how to utilize them. Such as bullet_manipulator.py (I find two of them in the polysim env folder). Could you provide more example code on how to use these scripts?

Current Behavior

I read this post, I run launch_robot with client=none and launch_gripper with gripper=none. Then I run bullet_manipulator in the experimental folder. What shall I do next to control the robot in the pybullet simulatior?

When I run one of the script in the tests folder such as 0_joint_positions.py, it gives me the error of assert Kx shape is not [6,6], which is [0,0] instead.

Spent a day on it, still cannot get the simulator running. I run the launch_robot.py client=franka_sim. It has a panda arm with no gripper on it. I can run test scripts without gripper like 0_joint_positions.py. When I tried to launch_gripper.py gripper=franka_hand and change the robot ip to localhost, it gives me NetworkException. I think I'm not using the correct yaml file to launch the gripper. I tried to change it, but nothing worked. I would really appreciate it if the guidelines to use the simulation can be more complete and detailed. Thank you for making this great simulator!

Links to any relevant pastes or documents

https://github.com/facebookresearch/fairo/pull/1237

[HaoLiRobo]

I still cannot successfully run the simulation of a franka with gripper. Did I miss something in the documentation? Thanks!

[exhaustin]

Fixed!