/MimicJointPython

A Python plugin designed to replace ROS plugins, intended for processing mimic joints in URDF files. It is compatible with environments like Isaac Gym that do not rely on ROS

Primary LanguagePythonMIT LicenseMIT

  1. Run the following code to install dependencies:
    pip install -r requirements.txt

  2. Place mimic_util.py into your project files.

  3. Reference the find_joints_with_dof() function in mimic_util.py to obtain active and passive joints(mimic joints) for the specified joint.

  4. Use the actuate() function to assign actuator control values(open-loop) to the specified original control matrix, in particular, the u_delta matrix obtained from the arm IK solver in Isaac Gym.

  5. Use the position_check() function to apply closed-loop control signal to the specified control matrix