Robotics with Python & Mujoco

0. 실행 확인 환경

• python 3.9
• windows, mac
• library: requirements.txt

1. Kinematics

cd manipulator_2d

1.1. Python Forward Kinematics

python python_forward_kinematics.py

1.2. Mujoco Forward Kinematics

python mujoco_forward_kinematics.py

1.3. Python Inverse Kinematics

python python_inverse_kinematics.py

1.4. Mujoco Inverse Kinematics

python mujoco_inverse_kinematics.py

2. Differential Drive

cd differential_drive_car

2.1. Python Forward Kinematics

python python_forward_kinematics.py

2.2. Mujoco Forward Kinematics

python mujoco_forward_kinematics.py

2.3. Python Inverse Kinematics

python python_inverse_kinematics.py

2.4. Mujoco Inverse Kinematics

python mujoco_inverse_kinematics.py

3. Projectile

cd projectile

3.1. Python Kinematics

python python_kinematics.py

3.2. Mujoco Kinematics

python mujoco_kinematics.py

3.3. Mujoco Kinematics Game

python mujoco_kinematics_game.py

4. Pendulum 1 Joint

cd pendulum_1j

4.1. Python No Control

python python_no_control.py

4.2. Mujoco No Control

python mujoco_no_control.py

4.3. Python PD Set Point Control

python python_pd_set_point.py

4.4. Mujoco PD Set Point Control

python mujoco_pd_set_point.py

4.5. Python Feedback Linearization Control

python python_fl_set_point.py

4.6. Mujoco Feedback Linearization Control

python mujoco_fl_set_point.py

4.7. Python Trajectory Tracking

python python_trajectory_tracking.py

4.8. Mujoco Trajectory Tracking

python mujoco_trajectory_tracking.py

Reference

• https://www.youtube.com/watch?v=uxvhqRTdUXE&list=PLc7bpbeTIk77plTksRXAe1JPJZVmBNk8_
• https://www.youtube.com/watch?v=u6tNfvLXK-I&list=PLc7bpbeTIk75dgBVd07z6_uKN1KQkwFRK
• https://pab47.github.io/legs.html
• https://www.youtube.com/playlist?list=PLqVtSQw2sXKlI3idkAUBp2yX_p7wnJQF-
• https://github.com/kimsooyoung/robotics_python