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<!doctype html>
<html>
<head>
<meta charset="UTF-8">
<title>MuJoCo Bootcamp</title>
<link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/[email protected]/dist/css/bootstrap.min.css" integrity="sha384-TX8t27EcRE3e/ihU7zmQxVncDAy5uIKz4rEkgIXeMed4M0jlfIDPvg6uqKI2xXr2" crossorigin="anonymous">
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<link href="mujoco/undergradStyle.css" rel="stylesheet" type="text/css">
</head>
<body>
<h1 class="display-1 text-center">MuJoCo Bootcamp</h1>
<nav class="navbar navbar-expand-lg navbar-dark bg-info fixed-top sticky-top">
<a class="navbar-brand" href="#"></a>
<!-- <img src="https://upload.wikimedia.org/wikipedia/commons/thumb/9/96/University_of_Illinois_at_Chicago_circle_logo.svg/1200px-University_of_Illinois_at_Chicago_circle_logo.svg.png" width="30" height="30" class="d-inline-block align-top" alt="UIC Picture">-->
<a class="navbar-brand" href="#"> Top/About</a>
<button class="navbar-toggler" type="button" data-toggle="collapse" data-target="#navbarNavDropdown" aria-controls="navbarNavDropdown" aria-expanded="false" aria-label="Toggle navigation">
<span class="navbar-toggler-icon"></span>
</button>
<div class="collapse navbar-collapse" id="navbarNavDropdown">
<ul class="navbar-nav">
<!-- All Material !-->
<li class="nav-item dropdown active">
<a class="nav-link dropdown-toggle" href="#" id="navbarDropdownMenuLink1" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
All Material
</a>
<div class="dropdown-menu" aria-labelledby="navbarDropdownMenuLink">
<a class="dropdown-item" href="#lec0"><b> 0 </b>Installation</a>
<a class="dropdown-item" href="#lec1"><b> 1 </b>Modeling Basics</a>
<a class="dropdown-item" href="#lec2"><b> 2 </b>Simulation Basics</a>
<a class="dropdown-item" href="#lec3"><b> 3 </b>Position/Torque Control</a>
<a class="dropdown-item" href="#lec4"><b> 4 </b>Model-Based Control</a>
<a class="dropdown-item" href="#lec5"><b> 5 </b>Tracking/State Machine</a>
<a class="dropdown-item" href="#lec6"><b> 6 </b>Jacobian/Inverse Kinematics</a>
<a class="dropdown-item" href="#lec7"><b> 7 </b>Linear Quadratic Regulator</a>
<a class="dropdown-item" href="#lec8"><b> 8 </b>Hybrid Systems</a>
<a class="dropdown-item" href="#lec9"><b> 9 </b>2D Hopper</a>
<a class="dropdown-item" href="#lec10"><b> 10 </b>Nonlinear Optimization</a>
<a class="dropdown-item" href="#lec11"><b> 11 </b>Initial Value Problem with Optimization</a>
<a class="dropdown-item" href="#lec12"><b> 12 </b>Inverse Kinematics with Optimization</a>
<a class="dropdown-item" href="#lec13"><b> 13 </b>2D Biped</a>
</div>
</li>
<!-- All Material end ! -->
<!-- All Material !-->
<!--
<li class="nav-item active">
<a class="nav-link" href="#FullTable">All Material<span class="sr-only">(current)</span></a>
</li>
-->
<!-- All Material end !-->
<!-- HW starts -->
<li class="nav-item active">
<a class="nav-link" href="#Homework">Homework<span class="sr-only">(current)</span></a>
</li>
<!-- HW ends !-->
<!-- other course !-->
<li class="nav-item dropdown active">
<a class="nav-link dropdown-toggle" href="#" id="NavbarDropdownMenuLink2" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">All courses</a>
<div class="dropdown-menu" aria-labelledby="navbarDropdownMenuLink">
<a class="dropdown-item" href="http://tiny.cc/legged"><b>Legged Robotics</b></a>
<a class="dropdown-item" href="http://tiny.cc/robotics"><b>Robotics MATLAB</b></a>
<a class="dropdown-item" href="http://tiny.cc/roboticspy"><b>Robotics Python</b></a>
<a class="dropdown-item" href="http://tiny.cc/mujoco"><b>MuJoCo C</b></a>
<a class="dropdown-item" href="http://tiny.cc/mujocopy"><b>MuJoCo Python</b></a>
<a class="dropdown-item" href="http://tiny.cc/mechatronix"><b>Mechatronics</b></a>
</div>
</li>
<!-- other course ends !-->
<!-- My webpage starts !-->
<li class="nav-item active">
<a class="nav-link" href="https://pab47.github.io/about.html">Pranav's homepage</a>
</li>
<!-- My webpage ends !-->
</ul>
</div>
</nav>
<br>
<div id ="header" align="center" class="col-xl-12">
<p class="text-justify"><b>
<b>About:</b> </b>This mini course aims to give you working knowledge of <a href="https://mujoco.org/">MuJoCo</a>, a rigid body dynamics simulator. The tutorials are based on using mujoco200 available at <a href="roboti.us">roboti.us</a>. The software needs the file mjkey.txt which is freely available on the website. A shortened link to this webste is <a href="http://tiny.cc/mujoco">http://tiny.cc/mujoco</a>. The YouTube playlist is here: <a href="http://tiny.cc/mujoco2">http://tiny.cc/mujoco2.</a> The course is taught using C interface of MuJoCo. Prior knowledge of C/unix commands is not assumed. Everything is taught from scratch. All software used in this course is freely available. This includes MuJoCo 200, <a href="https://atom.io/">Atom Editor</a>, C, make, <a href="https://nlopt.readthedocs.io/en/latest/">NLOPT</a>, Visual Studio (<a href="https://visualstudio.microsoft.com/vs/community/">community edition</a>) for Windows. If you have any <font style="color:red">feedback including suggestions for more course content</font> use this <a href="https://docs.google.com/forms/d/1ErjmkZonNXlxZVSkk4S33uiGTvh_YnkFB4wYyDUHYaw"> form</a>. <br><br>
<font style="color:red"> <strong> NEW </strong> (Aug 11, 2022):</font> MuJoCo Python course (ongoing in Fall 2022) <a href="https://tiny.cc/mujocopy">https://tiny.cc/mujocopy </a> Shorter videos, new examples, and taught using the python bindings of MuJoCo <br> <br>
<font style="color:red"> <strong> NEW </strong> (Aug 2, 2022):</font> <a href="https://bolundai0216.github.io/">Bolun Dai </a> converted all C code into python code. A new column with python code is added to the webpage. In cmd or terminal type pip install mujoco to install the python bindings to mujoco. <br> <br>
A 12-week MuJoCo course for senior-level undergraduates / first year graduate is here: <a href="https://pab47.github.io/mujoco2022.html">https://pab47.github.io/mujoco2022.html </a> <br> <br>
<b>Citing this course: </b> <br>
@misc{mujoco, <br>
author={Bhounsule, Pranav A. and Dai, Bolun}, <br>
title = {MuJoCo Bootcamp, <br>
howpublished = {\url{https://pab47.github.io/mujoco.html}, <br>
year = {2022}, <br>
note = {Accessed: {2022–07-07}} } <br>
</p>
</div>
<!--- Module -->
<!-- Tag to create shortcut-->
<div id="FullTable"></div>
<div class="col-xl-12" id="main">
<h1 align="center"> All Material</h1>
<div align="center">
<table style="width:90%" border="3">
<tr>
<!-- Adding the header colums of content materials and videos -->
<th style="text-align: center"><big><big>No.</big></big></th>
<th style="text-align: center"><big><big>Notes/Video</big></big></th>
<!-- <th style="text-align: center"><big><big>Video</big></big></th>-->
<th style="text-align: center"><big><big>C Code</big></big></th>
<th style="text-align: center"><big><big>Python Code</big></big></th>
<th style="text-align: center"><big><big>Description</big></big></th>
<a id="lec0"></a> <!--tag for dropdown -->
</tr>
<!-- Number 0-->
<tr style="background-color: #f0f0f2">
<td rowspan="1" align="left"> 0 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec0_MuJoCo_installation.pdf">Notes: Installation</a>
<br> <br>
<a href = "https://youtu.be/p7wqTpVXug4">Video: Installation/File structure</a>
</td>
<td rowspan="1" align="left"> None </td>
<td rowspan="1" align="left"> None </td>
<td rowspan="1"> <ul>
<li>Installing MuJoCo 200 on Mac/Linux/Windows</li>
<li><a href="mujoco/installation/install_mujoco_mac.pdf">Instructions for Mac</a></li>
<li><a href="mujoco/installation/install_mujoco_linux.pdf">Instructions for Linux</a></li>
<li><a href="mujoco/installation/install_mujoco_windows.pdf">Instructions for Windows</a></li>
<li><a href="mujoco/installation/install_mujoco_virtual_machine_ubuntu.pdf">Instructions for Linux via Virtual Machine</a></li>
<li>MuJoCo file structure is explained. Create myproject within mujoco. Folders for each lecture are created within this folder</li>
<a id="lec1"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 1-->
<tr>
<td rowspan="1" align="left"> 1 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec1_MuJoCo_xml_files.pdf">Notes: Modelling in MuJoCo</a>
<br> <br>
<a href = "https://youtu.be/j1nCeqtfySQ">Video: Writing xml</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/startercode/hello.xml">Starter: hello.xml </a>
<br><br>
<a href="mujoco/code/learning_xml.zip">Final: learning_xml.zip </a>
</td>
<td rowspan="1" align="left"> None </td>
<td rowspan="1"> <ul>
<li>Using the executable *simulate* to load hello.xml </li>
<li>Understanding the various features of *simulate* </li>
<li><a href="https://mujoco.readthedocs.io/en/latest/XMLreference.html">Using the XML reference</a></li>
<li>Adding more geometries to hello.xml and viewing with *simulate*</li>
<a id="lec2"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 2-->
<tr style="background-color: #f0f0f2">
<td rowspan="1" align="left"> 2 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec2_MuJoCo_projectile_w_drag.pdf">Notes: Simulations in MuJoCo</a>
<br> <br>
<a href = "https://youtu.be/Ga3twtlgKsM">Video: Projectile with drag</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/startercode/template.zip">Starter: template.zip </a>
<br> <br>
<a href="mujoco/code/projectile.zip">Final: projectile.zip </a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/python/temp_mjcpy.zip">Start: temp_mjcpy.zip </a>
<br> <br>
<a href="mujoco/python/2_projectile.zip">Final: 2_projectile.zip </a>
</td>
<td rowspan="1"> <ul>
<li>Using the executable *simulate* to model a projectile </li>
<li>Compiling and running your own executable file </li>
<li><a href="https://mujoco.readthedocs.io/en/latest/APIreference.html">Using the API reference</a></li>
<li>Setting initial conditions for the projectile</li>
<li>Adding a drag force to the projectile</li>
<a id="lec3"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 3-->
<tr >
<td rowspan="1" align="left"> 3 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec3_simple_pendulum.pdf">Notes: Position, Velocity, & Torque control</a>
<br> <br>
<a href = "https://youtu.be/JNgO_OPVb5k">Video: Control a simple pendulum</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/startercode/template.zip">Starter: template.zip </a>
<br> <br>
<a href="mujoco/code/control_pendulum.zip">Final: control_pendulum.zip </a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/python/temp_mjcpy.zip">Start: temp_mjcpy.zip </a>
<br> <br>
<a href="mujoco/python/3_control_pendulum.zip">Final: 3_control_pendulum.zip </a>
</td>
<td rowspan="1"> <ul>
<li>Using the executable *simulate* to model of a simple pendulum </li>
<li>Add a torque actuator to xml and use it in the code </li>
<li>Add a position servo actuator to xml and use it in the code </li>
<li>Add a velocity servo actuator to xml and use it in the code</li>
<li>Position control using either torque control of position/velocity servo</li>
<li>Create noisy sensor in xml and use it in the code</li>
<li>Switch between different controllers in the code</li>
<a id="lec4"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 4-->
<tr style="background-color: #f0f0f2">
<td rowspan="1" align="left"> 4 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec4_double_pendulum.pdf">Notes: Model-based control</a>
<br> <br>
<a href = "https://youtu.be/HYVPysAGp6g">Video: Control a double pendulum</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/startercode/template_writeData.zip">Starter: template_writeData.zip </a>
<br> <br>
<a href="mujoco/code/dbpendulum.zip">Final: dbpendulum.zip </a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/python/temp_mjcpy.zip">Start: temp_mjcpy.zip </a>
<br> <br>
<a href="mujoco/python/4_dbpendulum.zip">Final: 4_dbpendulum.zip </a>
</td>
<td rowspan="1"> <ul>
<li>Create a model of double pendulum </li>
<li>Check conservation of energy </li>
<li>Check validity of equations of motion </li>
<li>Add a velocity servo actuator to xml and use it in the code</li>
<li>Model-based control, compensating for gravity and coriolis forces</li>
<a id="lec5"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 5-->
<!-- <tr style="background-color: #f0f0f2">-->
<tr >
<td rowspan="1" align="left"> 5 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec5_double_pendulum_fsm.pdf">Notes: Trajectory tracking & Finite State Machines</a> <br> <br>
<a href = "https://youtu.be/-oGNxB86YEk">Video: Leg Swing</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/startercode/template_writeData2.zip">Starter: template_writeData2.zip </a>
<br> <br>
<a href="mujoco/code/dbpendulum_fsm.zip">Final: dbpendulum_fsm.zip </a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/python/temp_mjcpy.zip">Start: temp_mjcpy.zip </a>
<br> <br>
<a href="mujoco/python/5_dbpendulum_fsm.zip">Final: 5_dbpendulum_fsm.zip </a>
</td>
<td rowspan="1"> <ul>
<li>Finite state machines for creating switching controllers </li>
<li>Trajectory generation, linear and cubic profiles</li>
<li>Trajectory tracking </li>
<a id="lec6"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 6-->
<tr style="background-color: #f0f0f2">
<!-- <tr >-->
<td rowspan="1" align="left"> 6 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec6_double_pendulum_ik.pdf">Notes: Jacobian and Inverse Kinematics</a>
<br> <br>
<a href = "https://youtu.be/ZspzVxFAreQ">Video: Manipulator drawing</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/startercode/template_writeData2.zip">Starter: template_writeData2.zip </a>
<br> <br>
<a href="mujoco/code/dbpendulum_ik.zip">Final: dbpendulum_ik.zip </a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/python/temp_mjcpy.zip">Start: temp_mjcpy.zip </a>
<br> <br>
<a href="mujoco/python/6_dbpendulum_ik.zip">Final: 6_dbpendulum_ik.zip </a>
</td>
<td rowspan="1"> <ul>
<li>Computing Jacobian </li>
<li>Using Jacobian to compute velocity of end-effector</li>
<li>Inverse kinematics using the inverse of the Jacobian </li>
<a id="lec7"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 7-->
<!-- <tr style="background-color: #f0f0f2">-->
<tr >
<td rowspan="1" align="left"> 7 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec7_double_pendulum_lqr.pdf">Notes: Linear Quadratic Regulator</a>
<br> <br>
<a href = "https://youtu.be/HMyD0IfPHfA">Video: Control an under-actuated pendulum</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/startercode/template_dbpendulum.zip">Starter: template_dbpendulum.zip </a>
<br> <br>
<a href="mujoco/code/dbpendulum_lqr.zip">Final: dbpendulum_lqr.zip </a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/python/temp_mjcpy.zip">Start: temp_mjcpy.zip </a>
<br> <br>
<a href="mujoco/python/7_dbpendulum_lqr.zip">Final: 7_dbpendulum_lqr.zip </a>
</td>
<td rowspan="1"> <ul>
<li>Computing the numerical form of differential equation xdot = f(x,u)</li>
<li>Computing the linearization of the system</li>
<li>Computing LQR controller in MATLAB </li>
<li>Testing the controller using perturbation </li>
<a id="lec8"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 8-->
<tr style="background-color: #f0f0f2">
<td rowspan="1" align="left"> 8 </td>
<!-- <tr >-->
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec8_hybrid_systems.pdf">Notes: Hybrid Systems</a>
<br> <br>
<a href = "https://youtu.be/p5_nQcsg2jM">Video: Gymnast swing/release on a bar</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/startercode/template_pendulum.zip">Starter: template_pendulum.zip </a>
<br> <br>
<a href="mujoco/code/hybrid_pendulum.zip">Final: hybrid_pendulum.zip </a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/python/temp_mjcpy.zip">Start: temp_mjcpy.zip </a>
<br> <br>
<a href="mujoco/python/8_hybrid_pendulum.zip">Final: 8_hybrid_pendulum.zip </a>
</td>
<td rowspan="1"> <ul>
<li>Modeling a floating base system, a pendulum with moving support</li>
<li>Using tag equality to constrain the pendulum</li>
<li>Verifying the equations of a floating base system </li>
<li>Using a finite state machine to simulate the behavior of a hybrid system</li>
<a id="lec9"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 9-->
<!-- <tr style="background-color: #f0f0f2">-->
<tr >
<td rowspan="1" align="left"> 9 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec9_2D_hopper.pdf">Notes: 2D Hopper</a>
<br> <br>
<a href = "https://youtu.be/ve7AnF6bzdE">Video: 2D Hopper</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/startercode/template_pendulum.zip">Starter: template_pendulum.zip </a>
<br> <br>
<a href="mujoco/code/hopper.zip">Final: hopper.zip </a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/python/temp_mjcpy.zip">Start: temp_mjcpy.zip </a>
<br> <br>
<a href="mujoco/python/9_2D_hopper.zip">Final: 9_2D_hopper.zip </a>
</td>
<td rowspan="1"> <ul>
<li>Modeling a hopper</li>
<li>State machine, transitions and actions</li>
<li>Height control using spring-like actuation </li>
<li>Velocity control using reactive torque during stance</li>
<a id="lec10"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 10-->
<tr style="background-color: #f0f0f2">
<!-- <tr >-->
<td rowspan="1" align="left"> 10 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec10_Installing_NLOPT.pdf">Notes: Installing NLOPT</a>
<br> <br>
<a href = "https://youtu.be/m75bHHkPgqo">Video: Install and run NLOPT</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/startercode/template_nlopt.zip">Starter: template_nlopt.zip </a>
<br> <br>
None
</td>
<td rowspan="1" align="left">
<br> <br>
None
</td>
<td rowspan="1"> <ul>
<li>Structure of nonlinear optimization problems</li>
<li><a href="mujoco/installation/install_nlopt.pdf">Installing NLOPT on Mac/Linux</a></li>
<li>Understanding NLOPT using a constrained optimization problem </li>
<a id="lec11"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 11-->
<!-- <tr style="background-color: #f0f0f2">-->
<tr >
<td rowspan="1" align="left"> 11 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec11_Projectile_Launch_Optimization.pdf">Notes: Projectile Launch</a>
<br> <br>
<a href = "https://youtu.be/XStRXoEGE70">Video: Initial Value problem using Optimization</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/startercode/template_projectile.zip">Starter: template_projectile.zip </a>
<br> <br>
<a href="mujoco/code/projectile_opt.zip">Final: projectile_opt.zip </a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/python/temp_mjcpy.zip">Start: temp_mjcpy.zip </a>
<br> <br>
<a href="mujoco/python/11_projectile_opt.zip">Final: 11_projectile_opt.zip </a>
</td>
<td rowspan="1"> <ul>
<li>Creating the scene in xml</li>
<li>Formulation as a root finding problem </li>
<li>Formulation as an optimization problem </li>
<a id="lec12"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 12 -->
<tr style="background-color: #f0f0f2">
<!-- <tr >-->
<td rowspan="1" align="left"> 12 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec12_Inverse_Kinematics_using_Optimization.pdf">Notes: Inverse Kinematics</a>
<br> <br>
<a href = "https://youtu.be/qMRUxFexKUc">Video: Inverse Kinematics using Optimization</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/startercode/template_manipulator.zip">Starter: template_manipulator.zip </a>
<br> <br>
<a href="mujoco/code/manipulator_ik.zip">Final: manipulator_ik.zip </a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/python/temp_mjcpy.zip">Start: temp_mjcpy.zip </a>
<br> <br>
<a href="mujoco/python/12_manipulator_ik.zip">Final: 12_manipulator_ik.zip </a>
</td>
<td rowspan="1"> <ul>
<li>Creating two data objects; one for simulation and one for actual system</li>
<li>Different between internal and external callbacks for controller </li>
<li>Formulation and solution as a root finding problem</li>
<a id="lec13"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 13-->
<!-- <tr style="background-color: #f0f0f2">-->
<tr >
<td rowspan="1" align="left"> 13 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec13_2D_biped.pdf">Notes: 2D Biped</a>
<br> <br>
<a href = "https://youtu.be/VnTkskLVfVA">Video: 2D Biped </a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/startercode/template_pendulum2.zip">Starter: template_pendulum2.zip </a>
<br> <br>
<a href="mujoco/code/biped.zip">Final: biped.zip </a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/python/temp_mjcpy.zip">Start: temp_mjcpy.zip </a>
<br> <br>
<a href="mujoco/python/13_2D_biped.zip">Final: 13_2D_biped.zip </a>
</td>
<td rowspan="1"> <ul>
<li>Modeling a biped</li>
<li>State estimation; foot positon and absolute leg angle</li>
<li>State machine; transitions, and actions</li>
<!--
<li>Height control using spring-like actuation </li>
<li>Velocity control using reactive torque during stance</li>
-->
</ul>
</td>
</tr>
</table>
</div>
</div>
<!--- Projects -->
<!-- Tag to create shortcut-->
<div id="Homework">
</div>
<!--<h1 class="display-2 text-center"> Homework</h1> -->
<h1 align="center"> Homework</h1>
<div align="center" class="col-xl-12">
<table style="width:90%" border="3">
<tr>
<!-- Adding the header colums of content materials and videos -->
<th style="text-align: center"><big><big>Content</big></big></th>
<th style="text-align: center"><big><big>Concepts Tested</big></big></th>
</tr>
<!-- HW1-->
<tr style="background-color: #f0f0f9" align="center">
<td rowspan="1" align="left"><a href="mujoco/homework/Hw1_MuJoCo.pdf">HW1: Rube Goldberg Machine</a></td>
<td rowspan="1" align="left"> Generate different geometries in xml and initializing using code (lec 0, lec 1, and lec 2).</td>
</tr>
<!-- HW2 -->
<!-- <tr style="background-color: #f0f0f9" align="center">-->
<tr >
<td rowspan="1" align="left"><a href="mujoco/homework/Hw2_MuJoCo.pdf">HW2: Rott's pendulum & Coupled pendulum </a></td>
<td rowspan="1" align="left"> Model systems with pin joints. Simulate spring behavior (lec 0, lec 1, and lec 3). </td>
</tr>
<!-- HW3 -->
<tr style="background-color: #f0f0f9" align="center">
<!-- <tr >-->
<td rowspan="1" align="left"><a href="mujoco/homework/Hw3_MuJoCo.pdf">HW3: Pumping a pendulum swing </a></td>
<td rowspan="1" align="left"> Model systems with pin/hinge joints. Position control. Finite State machine (lec 0, lec 1, lec 3, lec 5). </td>
</tr>
<!-- HW4 -->
<!-- <tr style="background-color: #f0f0f9" align="center">-->
<tr >
<td rowspan="1" align="left"><a href="mujoco/homework/Hw4_MuJoCo.pdf">HW4: Manipulator drawing & Balance a cart-pendulum </a></td>
<td rowspan="1" align="left"> Jacobian and Inverse Kinematics. Linearization and linear quadratic control (lec 6 and lec 7). </td>
</tr>
<tr style="background-color: #f0f0f9" align="center">
<!-- <tr >-->
<td rowspan="1" align="left"><a href="mujoco/homework/Hw5_MuJoCo.pdf">HW5: Simulate a biped on level ground </a></td>
<td rowspan="1" align="left"> Position control. Finite State machine. 2D hopper/biped (lec 0, lec 1, lec 3, lec 5, lec 9, and lec 13). </td>
</tr>
</table> </div>
<br>
<!-- Comment here-->
<br>
<ul>
<li> If you have any <font style="color:red">feedback including suggestions for more course content</font> use this <a href="https://docs.google.com/forms/d/1ErjmkZonNXlxZVSkk4S33uiGTvh_YnkFB4wYyDUHYaw"> form</a>.
</li>
<li> MuJoCo 200 (saved version incase s/w becomes unavailable):
<a href="mujoco/software/mujoco200_macos.zip">Mac; </a>
<a href="mujoco/software/mujoco200_linux.zip">Linux; </a>
<a href="mujoco/software/mujoco200_win64.zip">Windows; </a>
<a href="mujoco/software/mjkey.txt">Key (drop in bin folder). </a>
</li>
<li>Comments/Suggestions to Pranav A. Bhounsule (pranavb129 AT gmail.com) </li>
<li>Last updated: November 26, 2022</li>
</ul>
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