Mujoco Test

mujoco_teleop_glfw.mp4

Setup

1. pip3 install mujoco
2. pip3 install glfw

Mesh sources

• a0912 robot arm (doosan robot)
  • https://github.com/DoosanRobotics/doosan-robot/tree/main
• 2f85 parallel gripper
  • https://github.com/google-deepmind/mujoco_menagerie/tree/main/robotiq_2f85
  • (Educational purposes)

Tutorial

General control

• left click & drag to rotate
  
• right drag to move
  
• scroll to zoom in/out
  

viewer_camera_test.py

• open xml file with mujoco_viewer
  
  • Keyboard option control
    
  • github repository: https://github.com/rohanpsingh/mujoco-python-viewer
    

mujoco_arm_viewer.mp4

keyboard_teleop.py

• glfw window creation
  
  • use python glfw library
    
  • Multiple camera views: interactive (free) / ego-centric (fixed)
    
• keyboard teleop with glfw callback
  
  • 4-DOF (4 joints controllable)
    
  • A,D: z-axis rotation
    
  • N,M: bottom y-axis joint rotation
    
  • K,L: middle y-axis joint rotation
    
  • O,P: top y-axis joint rotation
    
  • U,I: gripper
    
  • R to reset