Simple Mujoco Sim

This repository was created for manipulator control demo in a mujoco environment.

You can see four robot(Franka Emika's panda, Kuka's iiwa14 and iiwa7, Rethink's sawyer) demos.

As a library to solve kinematics, I used pykin python kinematics library.

I referenced it franka_sim and sawyer_sim to create a mujoco environment and robosuite to control joint position, velocity, torque.

Installation

Requirements

You need a mujoco-py and pykin library.

I recommend to install using conda or venv

Demo is only available in mujoco version 2.0 or higher.

Install Mujoco
- for version 2.0
  - Download the MuJoCo version 2.0 binaries for Linux or OSX.
  - Extract the downloaded mujoco200 directory into ~/.mujoco/mujoco200.
  - Copy License key mjkey.txt file to ~/.mujoco/mujoco200/bin/ and ~/.mujoco/
- for version 2.1
  - Download the MuJoCo version 2.1 binaries for Linux or OSX.
  - Extract the downloaded mujoco210 directory into ~/.mujoco/mujoco210.

Install Mujoco-py

in Mac

Example

$ brew install llvm
$ brew install boost
$ brew install hdf5

# Add this to your .bashrc or .zshrc:
export PATH="/usr/local/opt/llvm/bin:$PATH"

export CC="/usr/local/opt/llvm/bin/clang"
export CXX="/usr/local/opt/llvm/bin/clang++"
export CXX11="/usr/local/opt/llvm/bin/clang++"
export CXX14="/usr/local/opt/llvm/bin/clang++"
export CXX17="/usr/local/opt/llvm/bin/clang++"
export CXX1X="/usr/local/opt/llvm/bin/clang++"

export LDFLAGS="-L/usr/local/opt/llvm/lib"
export CPPFLAGS="-I/usr/local/opt/llvm/include"

in Ubuntu 18.04 or 20.04

Example

$ sudo apt install -y libosmesa6-dev libgl1-mesa-glx libglfw3

# Add this to your .bashrc:
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:$HOME/.mujoco/mujoco200/bin
export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so

install mujoco-py using pip

for version 2.0
```
$ pip install -U 'mujoco-py<2.1,>=2.0'
```
for version 2.1
```
$ pip install -U 'mujoco-py<2.2,>=2.1'
```

Install pykin

You need a fcl library to check collsion.

in mac

Example

# install octomap
$ git clone https://github.com/OctoMap/octomap.git
$ cd octomap
$ mkdir build && cd build
$ cmake ..
$ make
$ make install

# install fcl
$ git clone https://github.com/flexible-collision-library/fcl.git
$ cd fcl
$ git checkout 0.5.0
$ mkdir build && cd build
$ cmake ..
$ make
$ make install

in Ubuntu 18.04

Example

$ sudo apt install liboctomap-dev
$ sudo apt install libfcl-dev

install python-fcl and pykin using pip

$ pip install python-fcl
$ pip install pykin

Install Simple-Mujoco-Sim

$ cd ~/
$ git clone https://github.com/jdj2261/Simple-Mujoco-Sim.git

## For using robot's kinematics and planning
$ git clone --recurse-submodules https://github.com/jdj2261/pykin.git
$ cd Simple-Mujoco-Sim
$ ln -s ~/pykin .

jdj2261/Simple-Mujoco-Sim

Simple Mujoco Sim

Installation

Requirements

Install Simple-Mujoco-Sim

Demo

1. PID Tunning

2. Joint Position Control