Simulator of UR5 robotic arm with Robotiq gripper, built with MuJoCo
Simulator of UR5 robotic arm with Roboriq gripper, built with MuJoJo
from environment import lab_envmjpro150/sample/ and build it with
g++ -O2 -I../include -L../bin -std=c++11 -mavx lab_env.cpp -lmujoco150 -lGL -lglew ../bin/libglfw.so.3 -o ../bin/lab_env
请问lab_env.xml文件的参数都是自己手写么？我要做一个自由度小点的机械臂，但不知道这些参数该怎么配置，请问是用软件生成的还是自己配制，谢谢。
<body name="wrist2_link" pos="0 0.093 0"> <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="1.219" diaginertia="0.21942 0.111173 0.111173" /> <geom name="wrist2_mesh" type="mesh" mesh="wrist2" material="RobMat" /> <geom name="wrist2_cap" type="cylinder" pos="0 0 -0.045" quat="0.707107 0 0 0.707107" size="0.04 0.015" rgba="0.596 0.96 1 1" material="RobMat" contype="0" conaffinity="0" /> <joint name="joint5" pos="0 0 0" axis="0 0 1" />
类似quat，size这样的参数
你好，在仿真环境中可以直接控制机械臂末端的空间位置吗？还是只能控制关节角度？如果我需要机械臂达到某个空间坐标，需要自己计算对应的关节角度吗？
Thanks for your good work in advance.
I want to play the demo, so I try to run environment.py file.
But I faced a error below.
Traceback (most recent call last): File "/home/june/venv/BinPickingDataCollector/Robotiq-UR5/environment.py", line 267, in <module> angles, state, images = env.reset(0) File "/home/june/venv/BinPickingDataCollector/Robotiq-UR5/environment.py", line 102, in reset return (remapped_pos,) + self.get_state() File "/home/june/venv/BinPickingDataCollector/Robotiq-UR5/environment.py", line 175, in get_state image_1 = copy.deepcopy(self.sim.render(width = 960, height = 720, camera_name = 'workbench_camera')) File "mujoco_py/mjsim.pyx", line 149, in mujoco_py.cymj.MjSim.render File "mujoco_py/mjsim.pyx", line 151, in mujoco_py.cymj.MjSim.render File "mujoco_py/mjrendercontext.pyx", line 43, in mujoco_py.cymj.MjRenderContext.__init__ File "mujoco_py/mjrendercontext.pyx", line 108, in mujoco_py.cymj.MjRenderContext._setup_opengl_context File "mujoco_py/opengl_context.pyx", line 128, in mujoco_py.cymj.OffscreenOpenGLContext.__init__ RuntimeError: Failed to initialize OpenGL
If I solve this problem, can I play the demo?
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