Engine for MuJoCo in Python (Mac/Linux)

Interactive engine to use with the official Python bindings for MuJoCo 2.2.x

• Develop along with uwarl-mujoco-python-viewer
• A more efficient, robust and thread safe viewer with native MuJoCo 2.2.x with glfw
• Works with Mac M1 with MuJoCo 2.2.x

Tested OS Platform:

• Mac M1
• Ubuntu 18.04

Install

$ git clone https://github.com/UW-Advanced-Robotics-Lab/uwarl-mujoco-python-engine
$ cd uwarl-mujoco-python-engine
$ pip install -e .

Contents

• Engine Class
• Control command processing Class
  • PID effort control for Summit base velocity
  • Effort control for WAM joint position
• State publisher Class
  • Joint States
  • Link States

Demo (WIP):

• https://github.com/UW-Advanced-Robotics-Lab/simulation-mujoco-summit-wam