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 . 

Demo

1. PID Tunning

2. Joint Position Control