eliminated docker install explanation, added pixi

Author: giulioturrisi

README_install.md

@@ -108,90 +108,13 @@ ctrl -> set zero all velocities
 ---
 
 
-## Docker Installation
+## Pixi Installation
 
-> [!WARNING]
-> Currently, the Docker installation only supports **Integrated GPUs** and the **ROS 2 Humble** environment. CUDA integration and support for other environments are under development (WIP).
+1. install [pixi](https://pixi.prefix.dev/latest/installation/) 
 
-1. Clone the repository - Ensure you download all submodules during cloning:
-
-```bash
-git clone --recursive https://github.com/iit-DLSLab/Quadruped-PyMPC.git
-cd Quadruped-PyMPC
-```
-
-2. Build the image - Build the environment using Docker Compose:
-
-```bash
-docker compose build
-```
-
----
-
-### How to Run - Simulation
-
-1. Deploy the container - Start the container in detached mode:
-
-```bash
-docker compose up -d
+2. repone the shell, and run
 ```
-
-2. Access the container - Navigate to the project folder and shell into the running container:
-
-```bash
-docker compose exec pympc bash
-```
-
-> [!NOTE]
-> * **Byobu/Tmux:** We recommend using  Byobu (already installed) for a better experience.
-> * **Conda:** Every new shell session inside the container automatically activates the required Conda environment.
-
-3. Run the simulation - Execute the following scripts in their respective terminals:
-
-```bash
-python3 simulation/simulation.py
-
-```
-
-4. Clean up - To stop and remove the containers, run this command in your host terminal:
-
-```bash
-docker compose down
+pixi install
 ```
 
----
-
-### How to run - ROS2
-1. Deploy the container - Start the container in detached mode:
-
-```bash
-docker compose up -d
-```
-
-2. Access the container - Navigate to the project folder and shell into the running container:
-
-```bash
-docker compose exec pympc bash
-```
-
-3. Run the controller - Execute the following scripts in their respective terminals:
-
-* **Terminal 1 (Controller):**
-```bash
-python ros/run_controller.py
-
-```
-
-4.  Access the container - open a second terminal. This if you want to test the above node with a simulator, for example, to test ros2 delay, you can run 
-
-* **Terminal 2 (Simulator):**
-```bash
-python ros/run_simulator.py
-
-```
-
-5. Clean up - To stop and remove the containers, run this command in your host terminal:
-
-```bash
-docker compose down
-```
+3. Follow from step 5. above

installation/mamba/integrated_gpu/mamba_environment.yml

@@ -30,5 +30,5 @@ dependencies:
   - mujoco
   - readchar
   - liecasadi
-  - gym-quadruped
+  - gym-quadruped>=1.1.5
 

installation/mamba/nvidia_cuda/mamba_environment.yml

@@ -31,5 +31,5 @@ dependencies:
   - mujoco
   - readchar
   - liecasadi
-  - gym-quadruped
+  - gym-quadruped>=1.1.5
 

pixi.lock

@@ -32,6 +32,7 @@ classifiers=[
     "License :: OSI Approved :: Apache Software License",
     "Programming Language :: Python :: 3.10",
 ]
+dependencies = ["gym-quadruped==1.1.5"]
 
 
 # ____________________________________________________________________________________________________________________
@@ -73,7 +74,7 @@ quadruped_pympc = { path = ".", editable = true }
 mujoco = "*"
 readchar = "*"
 liecasadi = "*"
-gym-quadruped = "*"
+gym-quadruped = { version = ">=1.1.5" }
 
 [tool.pixi.feature.no-cuda.dependencies]
 jaxlib = "*"

pyproject.toml

@@ -6,7 +6,7 @@
 
 # These are used both for a real experiment and a simulation -----------
 # These are the only attributes needed per quadruped, the rest can be computed automatically ----------------------
-robot = 'go2'  # 'aliengo', 'go1', 'go2', 'b2', 'hyqreal1', 'hyqreal2', 'mini_cheetah', 'spot'  # TODO: Load from robot_descriptions.py
+robot = 'go2'  # 'aliengo', 'go1', 'go2', 'b2', 'hyqreal1', 'hyqreal2', 'mini_cheetah', 'spot', 'pegasus'
 
 from gym_quadruped.robot_cfgs import RobotConfig, get_robot_config
 robot_cfg: RobotConfig = get_robot_config(robot_name=robot)
@@ -65,6 +65,12 @@
                         [-0.0014987128245817424, 1.4485084687476608, 0.0004641447134275615],
                         [-0.021400468992761768, 0.0004641447134275615, 1.503217877350808]])
 
+elif (robot == 'pegasus'):
+    mass = 87.43
+    inertia = np.array([[0.2310941359705289, -0.0014987128245817424, -0.021400468992761768],
+                        [-0.0014987128245817424, 1.4485084687476608, 0.0004641447134275615],
+                        [-0.021400468992761768, 0.0004641447134275615, 1.503217877350808]])
+
 
 gravity_constant = 9.81 # Exposed in case of different gravity conditions
 # ----------------------------------------------------------------------------------------------------------------