UR5e Simulation

In these modules you implement the course material for a simulated UR5e arm in MuJoCo. Each module gives you the code to copy, the functions to fill in, and a script that runs the simulation using your code.

  1. Forward Kinematics

Setting up

  1. Install the dependencies:

    pip install mujoco numpy scipy matplotlib
  2. Make a folder for your code (e.g. ur5e/). Download ur5e_model.zip and unzip it into that folder.
  3. Check that MuJoCo works by running python -m mujoco.viewer. An empty window should open.

Keep every file from every module in this one folder, and run all scripts from it:

ur5e/
  ur5e_model/       (unzipped model)
  transforms.py     (Module 1)
  kinematics.py     (Module 1)
  module1.py        (Module 1)
  ...

macOS: use mjpython instead of python for any script that opens the viewer.

If MuJoCo will not run on your computer, use the PACE ICE cluster (requires the GT VPN).

The UR5e model is from MuJoCo Menagerie and is used under the license included in the zip.