Usage:
git clone https://github.com/gazebosim/harmonic_demo
cd harmonic_demo
export GZ_SIM_RESOURCE_PATH=`pwd`/harmonic_demo:$GZ_SIM_RESOURCE_PATH
export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`/harmonic_demo/CartPole/plugins:$GZ_SIM_SYSTEM_PLUGIN_PATH
gz sim -v 4 "harmonic_demo/harmonic.sdf"
For the Cart-Pole demo, the python modules numpy and scipy are required. On ubuntu, they can be installed with
sudo apt install python3-scipy python3-numpy
If you built Gazebo from source, you'll also need to set PYTHONPATH. If using colcon for example, and your workspace
is ~/ws/harmonic, then:
export PYTHONPATH=~/ws/harmonic/install/lib/python:$PYTHONPATH