/msu_ros

Primary LanguagePython

msu_ros

Implements Motors Skill Units aka Composable Interaction Primitives

Installation:

mujoco

  1. download & extract mujoco150 in ~/.mujoco
  2. download mjkey.txt from slack/email/Ben and place it in ~/.mujoco
  3. set env variables (preferably in .bashrc so they are loaded on shell creation)
export MUJOCO_VERSION="mjpro151"
export MUJOCO_PRO_PATH="$HOME/.mujoco/${MUJOCO_VERSION}/"
export MUJOCO_KEY_PATH="$HOME/.mujoco/mjkey.txt"
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/.mujoco/${MUJOCO_VERSION}/bin

ros workspace

create a workspace

mkdir -p ~/msu_ws/src/
cd ~/msu_ws
catkin build

msu_ros

  1. download my fork of mujoco_ros_pkgs
cd ~/msu_ws/src
git clone https://github.com/babbatem/mujoco_ros_pkgs.git
  1. download kinova_ros (our test platform, for now)
cd ~/msu_ws/src
git clone https://github.com/Kinovarobotics/kinova-ros.git
  1. download msu_ros
git clone https://github.com/babbatem/msu_ros.git

please change the hard-coded filepaths in launch/moveit_integration.launch

  1. compile
cd ~/msu_ws/
catkin build

if you run into issues here, let me know and we can work through them.

  1. test (load mujoco HWSim and control it using kinova & moveit packages)
source devel/setup.bash
roslaunch msu_ros moveit_integration.launch &
python msu_ros/src/scripts/msu_ros_test.py

For a brief python kdl example, see src/scripts/kdl_test.py. Note that the robot has changed a bit, and the model is in msu_ros/assets/kinova...