/mujoco-py-usage

Primary LanguageJupyter Notebook

mujoco-usuage

This repository is Real2Sim MuJoCo usuage And this is a package for RL task using a manipulator in Mujoco.

Manipulator (Universal Robot UR5e)

  • Parsing an MJCF file: demo_ur_00_parse.ipynb
  • usuage of some Render functions: demo_ur_01_render.ipynb
  • Spawn Apriltag and estimate it's pose: demo_ur_02_apriltag.ipynb
  • Randomly spawn Obejct: demo_ur_03_object.ipynb
  • Get PointCloud data at MuJoCo sim: demo_ur_04_pointcloud.ipynb
  • Set robot joint configurations: demo_ur_05_control.ipynb
  • Triangulation about multiple view: demo_ur_06_triangulation.ipynb
  • Compare apriltag pose using apriltag, solvepnp libraries: demo_ur_07_pnp.ipynb
  • Extrinsic calibration(Solve AX=XB): demo_ur_08_calibration.ipynb
  • Add PID Controller : demo_ur_09_pid.ipynb

Others

  • Solving AX=XB, Extrinsic Calibration: demo_calibration.ipynb
  • Robotics Planning methods: demo_planning.ipynb