robotics_studies

Repo for initial studies in robotics kinematics and dynamics control with Mujoco.

Running

Four codes are available:

classic_control_two_link.py: simulates a planar RR robot. All code is at this file. Good start.
main_sim.py: a self-contained inverse dynamics controller with Kuka iiwa robot simulation. Intermediate (used for the Mujoco Workshop 2020).
advanced_sim.py: full code with three different controller and trajectory planning. All codes are in controllers_utils.py for development and use. Advanced users should get from here. Create your own sim file and use this examples for coding. Contributions are welcome!
camera_rendering_example.py: minimal example of a robotic arm with embedded camera using mujoco-py.

Steps for starting your robotics studies

Activate and deactivate Mujoco viewer
Access Mujoco data info during simulation
Calculate forward kinematics and compare with Mujoco's xpos
Calculate the Geometric Jacobian and compare with Mujoco's .jacp && .jacr
Obtain cartesian velocity through xvel and calculated Jacobian
Create a joint position PD controller (simulate at Matlab to find best params)
Apply inverse kinematics and move in Cartesian coordinates

Troubleshooting

Can't run Mujoco in debug mode with Pycharm

Even though it suggest to add LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/$USER/.mujoco/mujoco200/bin to .bashrc, Pycharm in debug mode seems to not load it correclty.

The solution is to add it to into Edit configurations->Environment Variables click on + and then on the left panel add LD_LIBRARY_PATH, on the left $LD_LIBRARY_PATH:/home/$USER/.mujoco/mujoco200/bin.

Contributors and FAQ

Gustavo Lahr - glahr - gustavo.lahr@usp.br