Controller to AGX Dynamics communication using pclick messaging
Project description
agxclick
agxclick uses pclick, AGX Dynamics and agxBrick to a implement a simulation application that implements Click out of the box for a provided Brick model.
- You can use click_application.py (see below) to load any Brick model and it will find the robots and connect their signals to Click. See Brick Model Requirements below for more info.
- You can Inherit agxclick.ClickApplication and override it's methods to customize your own application.
- You can connect with any Click client to the simulation.
The flow is the same as for Click
- Client controller connects and sends HandshakeInit
- Server responds with Handshake
- Client receives Handshake and validates the setup.
- Client sends ControlMessage
- Server steps Simulation, and responds with SensorMessage
- The loop 4-5 is repeated.
NOTE: The Controller step and the simulation step is in full sync, meaning that the simulation will only progress on ControlMessages.
Install
Prerequisites: AGX and agxBrick
# Latest version
pip install agxclick -U
# Specific version
pip install agxclick==0.1.42
Usage Examples
Visit the GitHub repo for usage examples.
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