https://github.com/nate711/puppersimulation
MuJoCo-based simulation for a very mini quadruped robot.
https://github.com/nate711/puppersimulation
Last synced: 3 months ago
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MuJoCo-based simulation for a very mini quadruped robot.
- Host: GitHub
- URL: https://github.com/nate711/puppersimulation
- Owner: Nate711
- Created: 2019-08-23T15:50:17.000Z (almost 6 years ago)
- Default Branch: master
- Last Pushed: 2019-10-04T02:09:51.000Z (over 5 years ago)
- Last Synced: 2025-01-13T18:35:41.541Z (5 months ago)
- Language: Julia
- Size: 140 KB
- Stars: 5
- Watchers: 4
- Forks: 4
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
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README
# Pupper Julia Simulation
## Overview
This repository contains the Julia code that runs on the Raspberry Pi-based Pupper robot, as well as the Julia code for simulating the same code in a MuJoCo environment on a desktop computer.
## Installation for Simulation
0. Clone this repository
```shell
git clone https://github.com/Nate711/PupperSimulation.git
```
1. Acquire a license for MuJoCo at http://mujoco.org/. You can get a free trial of the professional license for a month, or with a student account, a free year.
2. Save the license ```mjkey.txt``` somewhere and set the environment variable ```MUJOCO_KEY_PATH``` to that location. One way to set the environment variable is through your bash profile. On a mac this is done by adding the line
```
export MUJOCO_KEY_PATH=[YOUR PATH]/mjkey.txt
```
to your ~/.bash_profile.
3. Install Julia by visiting https://julialang.org/downloads/
4. Install the required Julia packages
```shell
julia install.jl
```
## Run Simulation
1. Enter the Julia REPL in the PupperJuliaSim directory.
2. Run
```julia
include("main.jl")
```
3. The MuJoCo simulator should then pop up in a new window with various interactive options. Press space to start the simulation.
- Click and drag with the left mouse button to orbit the camera, and with the right mouse button to pan the camera.
- To perturb the robot, double click on the body you want to perturb, then hold Control and click and drag with the mouse. Using the left mouse button will apply a rotational torque while the right button will apply a translational force.
- Press space to play or pause the simulation.
- Press backspace to kill the simulation window and then hit Control-C to interrupt the Julia simulation code.
## Installation for Raspberry Pi Robot
### Materials
- Raspberry Pi 4
- SD Card (32GB recommended)
- Raspberry Pi 4 power supply (USB-C, 5V, >=3A)
- Ethernet cable
### Steps
- Install Raspbian Buster Lite onto the Pi
- Download https://www.raspberrypi.org/downloads/raspbian/
- Use BalenaEtcher to flash the OS to the SD card
- Set up the Raspberry Pi
- Before even ejecting the SD Card, follow the instructions on this repo to put the self-installing setup script on the Pi: https://github.com/stanfordroboticsclub/RPI-Setup
- Complete the “Actually Doing It”, “Getting Internet Access”, and “Getting Started With the Pi” sections
- Test that the Pi works and connects to the internet
- Install the PREEMPT-RT kernel onto the Pi
- Download the kernel patch https://github.com/lemariva/RT-Tools-RPi/tree/master/preempt-rt/kernel_4_19_59-rt23-v7l%2B
- Follow these instructions starting from “Transfer the Kernel” https://lemariva.com/blog/2019/09/raspberry-pi-4b-preempt-rt-kernel-419y-performance-test
- Test by running in the shell:
```shell
uname -r
```
- Install Julia
```bash
sudo apt-get install julia
```
- Get the Pupper Code
- Clone the Pupper repository https://github.com/Nate711/PupperSimulation
- Enter the julia repl in shell:
```bash
julia
```
- Install requirements by running the installation script:
```julia
include("install_for_robot.jl")
```
## Running the Robot
- Start the PiGPIO daemon by executing in shell:
```shell
sudo pigpiod
```
- Load the robot code in the Julia REPL:
```julia
include("run_robot.jl")
```
- Run the main program:
```julia
main()
```