/mujoco_blocks_stacking

A MuJoCo environment of a blocks stacking task. Part of MujocoAR package demos.

Primary LanguagePython

MuJoCo Blocks Stacking Task

Part of the MujocoAR package demos

A MuJoCo simulation environment of a simple blocks stacking task. The simulation includes an operational space controller to handle the movement of the KUKA-iiwa14 arm with a gripper at the end.

MuJoCo AR Setup

# Initializing MuJoCo AR
self.mujocoAR = MujocoARConnector(mujoco_model=self.mjmodel,mujoco_data=self.mjdata)

# Linking a Target Site with the AR Position
self.mujocoAR.link_site(
  name="eef_target",
  scale=3.0,
  position_origin=self.pos_origin,
  rotation_origin=self.rot_origin,
  toggle_fn=lambda: setattr(self, 'grasp', not self.grasp),
)

# Start!
self.mujocoAR.start()

Usage Guide

  1. Clone the repository:

    git clone https://github.com/omarrayyann/mujoco_blocks_stacking.git
cd mujoco_blocks_stacking

  2. Install MujocoAR and othe Requirements:

    pip install requirements.txt

  3. Download the MuJoCo AR App from the App Store.

  4. Run the application:

    mjpython main.py

  5. Enter the IP and Port shown into the app's start screen to start. Make sure to be connected to the same Wi-Fi network as the device. Incase of a latency, I recommend connecting to your phone's hotspot.

Author

Omar Rayyan (olr7742@nyu.edu)