This repository contains a simple 2 Degrees of Freedom (2DOF) robotic arm simulation implemented using Pygame and controlled by an ubiased Active Inference Controller (uAIC).
The uAIC used in this project was first created by cpezzato and can be found at the following link: uAIC Repository.
- Real-time 2DOF arm simulation.
- Inverse kinematics calculation for arm control.
- User-friendly Pygame interface for interaction.
- simple_simulation.py provides a trajectory for arm to follow
- simple_simulation_step.py provides a step response scenario
The repository has the following layout:
config/: This folder contains the tuning hyperparameters for the uAIC. You can adjust these parameters to fine-tune the behavior of the AI controller.src/: This folder contains the source code for the robotic arm simulation and the uAIC controller.
Before running the simulation, ensure you have the following installed:
- Python 3.x
- Pygame
You can install Pygame using pip:
pip install pygame