icir_tutorial_pinocchio

CNU iCIR Lab tutorial package for the Pinocchio library and MuJoCo simulation.

All source codes are optimized for ROS Noetic.

Slides

File	Description
iCIR_tutorial_pinocchio_code.pdf	Lecture slides covering the ROS package structure — CMakeLists.txt, package.xml, launch file, and URDF setup for MuJoCo and Pinocchio
iCIR_tutorial_assignment.pdf	Assignment tasks: adapt URDF for other robots, extend MuJoCo environment, implement joint/task space motions, pick-and-place scenarios, and motion planning with MoveIt/RRT*

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Table of Contents

• 1. Installation
  • System Dependencies
  • Pinocchio
  • MuJoCo License
• 2. Prerequisites
• 3. Run

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1. Installation

System Dependencies

sudo apt install git curl cmake-curses-gui
sudo apt install ros-noetic-moveit-visual-tools
sudo apt install nlohmann-json3-dev
sudo apt install ros-noetic-moveit
sudo apt install libqt53dextras5
sudo apt install qtbase5-private-dev

Pinocchio

Add the robotpkg apt repository (instructions):

sudo apt install -qqy lsb-release gnupg2 curl
sudo mkdir -p /etc/apt/keyrings
curl http://robotpkg.openrobots.org/packages/debian/robotpkg.asc | sudo tee /etc/apt/keyrings/robotpkg.asc
echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" | sudo tee /etc/apt/sources.list.d/robotpkg.list

sudo apt update
sudo apt install -qqy robotpkg-py3*-pinocchio
sudo apt install robotpkg-py38-eigenpy
sudo apt install robotpkg-eiquadprog

Add the following to your ~/.bashrc:

echo "export PATH=/opt/openrobots/bin:$PATH" >> ~/.bashrc
echo "export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH" >> ~/.bashrc
echo "export LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH" >> ~/.bashrc
echo "export PYTHONPATH=/opt/openrobots/lib/python3.8/site-packages:/opt/openrobots/lib/python3/dist-packages:$PYTHONPATH" >> ~/.bashrc
echo "export CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH" >> ~/.bashrc

MuJoCo License

# Press Ctrl+H in your file manager to show hidden folders
mkdir ~/.mujoco
# Copy mjkey.txt into ~/.mujoco/

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2. Prerequisites

Clone the required repositories into your workspace:

git clone https://github.com/iCIRLab/icir_gen3_robot_description.git
git clone https://github.com/iCIRLab/icir_mujoco_ros.git
git clone https://github.com/iCIRLab/icir_tutorial_pinocchio.git

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3. Run

Launch the simulation:

roslaunch icir_tutorial_pinocchio icir_tutorial_pinocchio_simulation.launch

Keyboard Controls

Key	Action
h	Move robot to home pose
a	Move robot to another pose
k	Move robot -0.05 m in global Z direction
v	Enable Cartesian impedance control (translational)