WIP: Mujoco interface through mujoco_py

abr / abr_control

Robotic arm control in Python

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Closed studywolf closed 5 years ago

studywolf commented 5 years ago

Basic interface and example script set up

need to resolve the forward kinematics calculations (set up differently than VREP sim)
ideally reading from ur5.xml file to get the transformation matrices

p3jawors commented 5 years ago

Rebased to dynadapt_sampling_fix branch

p3jawors commented 5 years ago

TODO

studywolf commented 5 years ago

working my way through:

the examples in the Mujoco folder should be converted to look like the PyGame and VREP examples, i.e. position_controller_osc.py etc
what's going on with the UR5.xml? should we clean that up or take that out?

p3jawors commented 5 years ago

Removed ur5 mujoco files from git history
Renamed examples to more closely follow the VREP and Pygame examples
Combined 1, 2, 3 joint examples into one script geometric_arm.py where you can append a 1, 2, or 3 to the function call to specify which arm to use

studywolf commented 5 years ago

Pulling in the same set of VREP examples and making sure those all work and I think this will be good for a final review and merge!

studywolf commented 5 years ago

everything LGTM, will rebase now