Picasso Simulator - A Drawing Robot Simulator

• Picassim is a simulator designed to be a drop in replacement for a painting/drawing robot that runs jcode.
• It allows simulation of various types of robot, each with physics-based kinematics (to try to make the simulator as accurate to a real robot as possible).

Installation

• First clone the repo
• On linux (and probably mac too) you can run $ make install.
• On windows, you will need to run $ make build and then copy the binary in bin/ to wherever it needs to go.

Usage

• Once installed, you can run picassim -h to list all arguments.
• Running $ picassim will create a file called robots.json - this is a file where you can set up the different robots for your sim.
• Running $ picassim -robot <robot name> will run the sim with one of the named robots from your robots file
• Picassim works by reading jcode instructions from stdin. You can either just run the program and type your commands, or you can pipe in a set of commands.
  • For example, $ cat example_jcode/test.jcode | picassim
  • For example, $ python example_jcode/xoxo.py | picassim

Important Notes

• Before you try to move the end effector of the robot, you must first set a speed for it to move at, for example S 1;
• It is possible for the robots to try to move to places that are not possible, causing parts of the robot to disappear. I will try to fix this but its a known issue for now.