/mujoco_study_desk

A MuJoCo environment of a desk with a slider cabinet. Part of MujocoAR package demos.

Primary LanguagePython

MuJoCo Study Desk

Part of the MujocoAR package demos

A MuJoCo simulation environment of a study desk with a slider cabinet and a mug. The goal of this environment is to shwocase the position + rotation control of a frame using MuJoCo AR.

MuJoCo AR Setup

# MujocoAR Initialization
self.mujocoAR = MujocoARConnector(mujoco_model=self.mjmodel,mujoco_data=self.mjdata)

# Linking the target site with the AR position
self.mujocoAR.link_site(
    name="eef_target",
    scale=2.0,
    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_study_desk.git
cd mujoco_study_desk

  2. Install MujocoAR and othe Requirements:

    pip install mujoco_ar
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)