双臂机器人piper_ros

1.piper gazebo仿真启动gazebo终端1cd 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2cd ~/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mujoco1.官网下载mujoco2102.解压mkdir ~/.mujoco cd (压缩包所在目录) tar -zxvf mujoco210-linux-x86_64.tar.gz -C ~/.mujoco3.添加环境变量echo export LD_LIBRARY_PATH~/.mujoco/mujoco210/bin:\$LD_LIBRARY_PATH ~/.bashrc source ~/.bashrc4.测试cd ~/.mujoco/mujoco210/bin ./simulate ../model/humanoid.xml2.2安装mujoco-py1.下载源码git clone https://github.com/openai/mujoco-py.git2.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-py2.2,2.1 pip3 install -r requirements.txt pip3 install -r requirements.dev.txt python3 setup.py install sudo apt install libosmesa6-dev sudo apt install patchelf3.添加环境变量echo export LD_LIBRARY_PATH$LD_LIBRARY_PATH:/usr/lib/nvidia ~/.bashrc source ~/.bashrc4.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1mujoco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