Robotic Manipulation

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Dependencies

• Ubuntu 22.04 (tested)
• Python 3.10 (tested)

Getting Started

Install package dependencies

In order to install the dependencies we will use the Virtual Environment (venv) from Python 3. The do_env.sh will create the virtual environment if you run the following command:

./do_env.sh

Activate virtual environment (venv)

To activate the virtual environment (venv) we can use the following command:

source venv/bin/activate

You should see something like in your terminal:

(venv) user@computer:~/path/to/folder/robotic-manipulation$

Run Double Inverted Pendulum (mujoco_test.py)

To run the mujoco_test.py (which have a simple 2 degrees of freedom arm model, like a double inverted pendulum) just use the command:

python mujoco_test.py

You should expect a MuJoCo window to open and looking like this.

Run Ball Catcher Example (mujoco_ball_catcher.py)

For a more complex modeling and manipulation tasks, to run the mujoco_ball_catcher.py (which have a simple 3 degrees of freedom arm model) just use the command:

python mujoco_ball_catcher.py

NOTE: This example starts the first task and follows through automatically:

• Task 1 - Go to Ball
• Task 2 - Grab Ball
• Task 3 - Moving ball to destination
• Task 4 - Ungrab Ball

You should expect a MuJoCo window to open and looking like this.