双臂机器人piper_ros

1.piper gazebo仿真

启动gazebo终端1：

cd piper_ros source devel/setup.bash roslaunch piper_gazebo piper_gazebo.launch #有夹爪 roslaunch piper_gazebo piper_no_gripper_gazebo.launch #无夹爪

启动rviz终端2：

cd ~/piper_ros source devel/setup.bash roslaunch piper_with_gripper_moveit demo.launch #有夹爪 roslaunch piper_no_gripper_moveit demo.launch #有夹爪

终端3打开话题：

python3 src/piper_moveit/moveit_ctrl/scripts joint_moveit_ctrl_server.py

终端4：

# 1. 编译包 cd ~/piper_ros catkin_make # 2. 设置环境变量 source devel/setup.bash # 3. 直接运行程序 python3 src/piper_moveit/moveit_ctrl/scripts/joint_moveit_ctrl.py

将脚本里的代码注释删掉就可以执行特定任务

2.piper mujoco仿真

2.1安装mujoco

1.官网下载mujoco210

2.解压

mkdir ~/.mujoco cd (压缩包所在目录) tar -zxvf mujoco210-linux-x86_64.tar.gz -C ~/.mujoco

3.添加环境变量

echo "export LD_LIBRARY_PATH=~/.mujoco/mujoco210/bin:\$LD_LIBRARY_PATH" >> ~/.bashrc source ~/.bashrc

4.测试

cd ~/.mujoco/mujoco210/bin ./simulate ../model/humanoid.xml

2.2安装mujoco-py

1.下载源码

git clone https://github.com/openai/mujoco-py.git

2.安装(这一步在conda环境中进行，提前激活虚拟环境）

cd ~/mujoco-py pip3 install -U 'mujoco-py<2.2,>=2.1' pip3 install -r requirements.txt pip3 install -r requirements.dev.txt python3 setup.py install sudo apt install libosmesa6-dev sudo apt install patchelf

3.添加环境变量

echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/nvidia" >> ~/.bashrc source ~/.bashrc

4.测试

#在mujoco_py文件夹里新建test.py import mujoco_py import os mj_path = mujoco_py.utils.discover_mujoco() xml_path = os.path.join(mj_path, 'model', 'humanoid.xml') model = mujoco_py.load_model_from_path(xml_path) sim = mujoco_py.MjSim(model) print(sim.data.qpos) sim.step() print(sim.data.qpos)

2.3仿真

终端1：mujoco仿真运行

cd piper_ros source devel/setup.bash roslaunch piper_mujoco piper_mujoco.launch

终端2：通过rviz_gui控制机械臂

cd piper_ros source devel/setup.bash roslaunch piper_mujoco piper_no_gripper_mujoco.launch #有爪 roslaunch piper_description display_no_gripper_urdf.launch #无爪

终端3：运行脚本

# 1. 编译包 cd ~/piper_ros catkin_make # 2. 设置环境变量 source devel/setup.bash # 3. 直接运行程序 python3 src/piper_moveit/moveit_ctrl/scripts/joint_moveit_ctrl.py