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<!doctype html>
<html>
<head>
<meta charset="UTF-8">
<title>MuJoCoPy 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">
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<body>
<h1 class="display-1 text-center">MuJoCoPy Bootcamp</h1>
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All Material
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<div class="dropdown-menu" aria-labelledby="navbarDropdownMenuLink">
<a class="dropdown-item" href="#lec1"><b> 1 </b>Install app/C version</a>
<a class="dropdown-item" href="#lec2"><b> 2 </b>Install python version</a>
<a class="dropdown-item" href="#lec3"><b> 3 </b>Intro. to modeling</a>
<a class="dropdown-item" href="#lec4"><b> 4 </b>2D Manipulator</a>
<a class="dropdown-item" href="#lec5"><b> 5 </b>Differential Drive Car</a>
<a class="dropdown-item" href="#lec6"><b> 6 </b>Projectile with Drag</a>
<a class="dropdown-item" href="#lec6"><b> 7 </b>Video Game</a>
<a class="dropdown-item" href="#lec7"><b> 8 </b>Inverse kinematics</a>
<a class="dropdown-item" href="#lec8"><b> 9 </b>Servo control</a>
<a class="dropdown-item" href="#lec9"><b> 10 </b>Finite State Machine</a>
<a class="dropdown-item" href="#lec10"><b> 11 </b>Ball roll/slide</a>
<a class="dropdown-item" href="#lec11"><b> 12 </b>Trajectory generation/tracking</a>
<a class="dropdown-item" href="#lec12"><b> 13 </b>Linear Quadratic Regulator</a>
</div>
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<a class="nav-link" href="#FullTable">All Material<span class="sr-only">(current)</span></a>
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<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>
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<a class="nav-link" href="https://pab47.github.io/about.html">Pranav's homepage</a>
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<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 the python bindings of mujoco221. A shortened link to this webste is <a href="http://tiny.cc/mujoco">http://tiny.cc/mujocopy</a>. The YouTube playlist is here: <a href="http://tiny.cc/mujocopy2">http://tiny.cc/mujocopy2.</a> The course is taught using python interface of MuJoCo. Prior knowledge of python commands is not assumed. Everything is taught from scratch. All software used in this course is freely available. This includes MuJoCo 221, python3, and <a href="https://atom.io/">Atom Editor</a>. 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> Looking for MuJoCo Bootcamp C/python course?</strong></font> The MuJoCo C/python course can be found here: <a href="http://tiny.cc/mujoco">http://tiny.cc/mujoco</a> This course differs from the MuJoCo C/python course above in number of ways: videos are shorter, new examples covered, I use only python in the videos as opposed to C, and finally I use the Deepmind version 2.2.1 as opposed to Emo Todorov's version 2.0.0. <br> <br>
<b>Citing this course: </b> <br>
@misc{mujocopy, <br>
author={Bhounsule, Pranav A.}, <br>
title = {MuJoCoPy Bootcamp, <br>
howpublished = {\url{https://pab47.github.io/mujocopy.html}, <br>
year = {2022}, <br>
note = {Accessed: {2022–08-15}} } <br>
</p>
</div>
<!--- Module -->
<!-- Tag to create shortcut-->
<div id="FullTable"></div>
<div class="col-xl-12" id="main">
<h1 align="center"> Course 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>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 1-->
<tr style="background-color: #f0f0f2">
<td rowspan="1" align="left"> 1 </td>
<td rowspan="1" align="left">
<!-- <a href="mujoco/notes/Lec0_MuJoCo_installation.pdf">Notes: Installation</a> -->
<a href = "https://youtu.be/tMo2zyaNCDQ">Video: Mac install app/C version</a> <br> <br>
<a href = "https://youtu.be/u6tNfvLXK-I">Video: Win install app/C version</a> <br> <br>
<a href = "https://youtu.be/G0Tv1BnNE2g">Video: Linux install app/C version</a>
</td>
<td rowspan="1" align="left">
<a href = "mujoco/startercode/template_mujoco221_mac.zip">Mac: starter code</a> <br> <br>
<a href = "mujoco/startercode/template_mujoco221_win.zip">Win: starter code</a> <br> <br>
<a href = "mujoco/startercode/template_mujoco221_linux.zip">Linux: starter code</a>
</td>
<td rowspan="1"> <ul>
<li>Installing app/C version of MuJoCo 221 on Mac/Linux/Windows</li>
<li><a href="mujoco/installation/install_mujoco221_on_mac.pdf">Instructions for Mac</a></li>
<li><a href="mujoco/installation/install_mujoco221_on_win.pdf">Instructions for Windows</a></li>
<li><a href="mujoco/installation/install_mujoco221_on_linux.pdf">Instructions for Linux</a></li>
<li>This video show how to install/run the MuJoCo app for mac and simulate executables for Win/Linux.</li>
<li>Then the video shows how to install the C version (not needed for this tutorials)</li>
<a id="lec1"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 2-->
<!-- <tr style="background-color: #f0f0f2">-->
<tr>
<td rowspan="1" align="left"> 2 </td>
<td rowspan="1" align="left">
<!-- <a href="mujoco/notes/Lec0_MuJoCo_installation.pdf">Notes: Installation</a> -->
<a href = "https://youtu.be/6MUDWwK0Trs">Video: Mac install python/atom IDE</a> <br> <br>
<a href = "https://youtu.be/fq37vyg9hZA">Video: Win install python/atom IDE</a> <br> <br>
<a href = "https://youtu.be/gAiQvJ0f5Ls">Video: Linux install python/atom IDE</a>
</td>
<td rowspan="1" align="left">
<a href = "mujoco/python/template_mujoco_python.zip">template_mujoco_python.zip</a>
</td>
<td rowspan="1"> <ul>
<li>Installing app/C version of MuJoCo 221 on Mac/Linux/Windows</li>
<li><a href="mujoco/installation/install_mujoco_py_mac.pdf">Instructions for Mac</a></li>
<li><a href="mujoco/installation/install_mujoco_py_win.pdf">Instructions for Windows</a></li>
<li><a href="mujoco/installation/install_mujoco_py_linux.pdf">Instructions for Linux</a></li>
<li>This video show how to install python3, atom ide, and python bindings of MuJoCo.</li>
<a id="lec2"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 3-->
<!-- <tr>-->
<tr style="background-color: #f0f0f2">
<td rowspan="1" align="left"> 3 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec1_MuJoCoPy_xml_files.pdf">Notes: Modelling in MuJoCo</a>
<br> <br>
<a href = "https://youtu.be/WJa-FeFRl3Q">Video: Modifying xml files</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/startercode/hello.xml">Starter: hello.xml </a>
<br><br>
<a href="mujoco/python/learning_xml.zip">Final: learning_xml.zip </a>
</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="lec3"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 4-->
<!-- <tr>-->
<!-- <tr style="background-color: #f0f0f2">-->
<tr >
<td rowspan="1" align="left"> 4 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec2_MuJoCoPy_2D_manipulator.pdf">Notes: 2D Manipulator</a>
<br> <br>
<a href = "https://youtu.be/Fiq_hpaoeH0">Video: Modeling</a>
<br> <br>
<a href = "https://youtu.be/ieOY0dR44iE">Video: Forward Kinematics</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/startercode/hello.xml">Starter xml: hello.xml </a>
<br><br>
<a href="mujoco/python/template_mujoco_python.zip">Starter py: template_mujoco_python.zip</a>
<br><br>
<a href="mujoco/python/2D_manipulator.zip">Final: 2D_manipulator.zip </a>
</td>
<td rowspan="1"> <ul>
<li>Modeling links and joints </li>
<li>Adding a site and using sensors </li>
<li><a href="https://mujoco.readthedocs.io/en/latest/APIreference.html">Using MuJoCo API </a></li>
<li>Adding mj_forward, data.qpos, and data.site_xpos</li>
<a id="lec4"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 5-->
<!-- <tr>-->
<tr style="background-color: #f0f0f2">
<td rowspan="1" align="left"> 5 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec3_MuJoCoPy_Diff_Drive_Car.pdf">Notes: Differential Drive Car</a>
<br> <br>
<a href = "https://youtu.be/I5QvXfo8L4o">Video: Modeling the car</a>
<br> <br>
<a href = "https://youtu.be/gt1fLGSggOY">Video: Controlling the car</a>
<br> <br>
<a href = "https://youtu.be/q3ZZ2pukOTY">Video: Model info</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/startercode/hello.xml">Starter: hello.xml </a>
<br><br>
<a href="mujoco/python/template_mujoco_python.zip">Starter py: template_mujoco_python.zip</a>
<br><br>
<a href="mujoco/python/2D_Diff_Drive_Car.zip">Final: 2D_Diff_Drive_Car.zip </a>
</td>
<td rowspan="1"> <ul>
<li>Modeling wheels using hinge joints </li>
<li>Adding velocity actuators </li>
<li>Adding a site and accessing it using sensors</li>
<li>Setting velocity servo using data.ctrl</li>
<li>Outputing and understanding mjmodel.txt</li>
<a id="lec5"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 6-->
<!-- <tr>-->
<!-- <tr style="background-color: #f0f0f2">-->
<tr >
<td rowspan="1" align="left"> 6 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec4_MuJoCoPy_projectile.pdf">Notes: Projectile with drag</a>
<br> <br>
<a href = "https://youtu.be/cat0w_0tsUo">Video: Modeling/Simulation</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/startercode/hello.xml">Starter xml: hello.xml </a>
<br><br>
<a href="mujoco/python/template_mujoco_python.zip">Starter py: template_mujoco_python.zip</a>
<br><br>
<a href="mujoco/python/2D_projectile.zip">Final: 2D_projectile.zip </a>
</td>
<td rowspan="1"> <ul>
<li>Modeling projectile as a sphere </li>
<li>Setting initial pos/vel using qpos, qvel </li>
<li>Adding drag force using qfrc_applied / xfrc_applied</li>
<a id="lec6"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 7-->
<!-- <tr>-->
<tr style="background-color: #f0f0f2">
<!-- <tr >-->
<td rowspan="1" align="left"> 7 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec5_MuJoCoPy_interactive.pdf">Notes: Projectile Game</a>
<br> <br>
<a href = "https://youtu.be/KsbEuQ2iNLU">Video: Modeling/Simulation</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/python/template_mujoco_interactive.zip">Starter py: template_mujoco_interactive.zip</a>
<br><br>
<a href="mujoco/python/2D_projectile_game.zip">Final: 2D_projectile_game.zip </a>
</td>
<td rowspan="1"> <ul>
<li>Create overlays to display instructions </li>
<li>Respond to key presses </li>
<li>Create a simple game: projectile hitting a target</li>
<a id="lec7"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 8-->
<!-- <tr>-->
<!-- <tr style="background-color: #f0f0f2">-->
<tr >
<td rowspan="1" align="left"> 8 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec6_MuJoCoPy_ik_jacobian.pdf">Notes: Inverse Kinematics using Jacobians</a>
<br> <br>
<a href = "https://youtu.be/baiBoMhl1so">Video: Simulation</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/python/2D_manipulator.zip">Starter py: 2D_manipulator.zip</a>
<br><br>
<a href="mujoco/python/2D_manipulator_ik_jacobian.zip">Final: 2D_manipulator_ik_jacobian.zip </a>
</td>
<td rowspan="1"> <ul>
<li>Concept of jacobian/inverse kinematics</li>
<li>Jacobians from mj_jac </li>
<li>A two-link manipulator drawing a circle</li>
<a id="lec8"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 9-->
<!-- <tr>-->
<tr style="background-color: #f0f0f2">
<td rowspan="1" align="left"> 9 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec7_MuJoCoPy_servo_control.pdf">Notes: Position/Velocity/Torque servo</a>
<br> <br>
<a href = "https://youtu.be/SJQZKZsvRRE">Video: Modeling/Simulation</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/python/2D_pendulum_passive.zip">Starter py: 2D_pendulum_passive.zip</a>
<br><br>
<a href="mujoco/python/2D_servo_control.zip">Final: 2D_servo_control.zip </a>
</td>
<td rowspan="1"> <ul>
<li>Setting actuators in xml</li>
<li>Position/Velocity/Torque servo concepts </li>
<li>Springy behavior/Velocity and Position servo</li>
<a id="lec9"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 10-->
<tr>
<!-- <tr style="background-color: #f0f0f2">-->
<td rowspan="1" align="left"> 10 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec8_MuJoCoPy_finite_state_machine.pdf">Notes: Finite State Machine</a>
<br> <br>
<a href = "https://youtu.be/_XDfMzScxsc">Video: Simulation</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/python/2D_servo_control.zip">Starter py: 2D_servo_control.zip</a>
<br><br>
<a href="mujoco/python/2D_fsm_control.zip">Final: 2D_fsm_control.zip </a>
</td>
<td rowspan="1"> <ul>
<li>Concept of finite state machine</li>
<li>Swing up control of a pendulum </li>
<!-- <li>Springy behavior/Velocity and Position servo</li>-->
<a id="lec10"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 11-->
<!-- <tr>-->
<tr style="background-color: #f0f0f2">
<td rowspan="1" align="left"> 11 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec9_MuJoCoPy_2D_Ball_Rolling_Sliding.pdf">Notes: Rolling/Sliding Ball</a>
<br> <br>
<a href = "https://youtu.be/J14CmN3PRQU">Video: Modeling/Simulation</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/python/template_mujoco_python.zip">Starter py: template_mujoco_python.zip</a>
<br><br>
<a href="mujoco/python/2D_ball_roll_slide.zip">Final: 2D_ball_roll_slide.zip </a>
</td>
<td rowspan="1"> <ul>
<li>Building 2D models in XML</li>
<li>Setting initial conditions to the ball </li>
<!-- <li>Springy behavior/Velocity and Position servo</li>-->
<a id="lec11"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 12-->
<tr>
<!-- <tr style="background-color: #f0f0f2">-->
<td rowspan="1" align="left"> 12 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec10_MuJoCoPy_Trajectory_tracking.pdf">Notes: Trajectory generation/tracking</a>
<br> <br>
<a href = "https://youtu.be/6B_NDL0ff1c">Video: Simulation</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/python/2D_double_pendulum.zip">Starter py: 2D_double_pendulum.zip</a>
<br><br>
<a href="mujoco/python/2D_trajectory_tracking.zip">Final: 2D_trajectory_tracking.zip </a>
</td>
<td rowspan="1"> <ul>
<li>Trajectory generation based on given conditions</li>
<li>Tracking using model-based and feedback-only control </li>
<!-- <li>Springy behavior/Velocity and Position servo</li>-->
<a id="lec12"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
<!-- Number 13-->
<!-- <tr>-->
<tr style="background-color: #f0f0f2">
<td rowspan="1" align="left"> 13 </td>
<td rowspan="1" align="left">
<a href="mujoco/notes/Lec11_MuJoCoPy_DoublePendulum_LQR.pdf">Notes: Linear Quadratic Regulator</a>
<br> <br>
<a href = "https://youtu.be/KvNmOMk8pYs">Video: Simulation</a>
</td>
<td rowspan="1" align="left">
<a href="mujoco/python/2D_double_pendulum.zip">Starter py: 2D_double_pendulum.zip</a>
<br><br>
<a href="mujoco/python/2D_double_pendulum_LQR.zip">Final: 2D_double_pendulum_LQR.zip </a>
</td>
<td rowspan="1"> <ul>
<li>Numerical differentiation to compute linearization</li>
<li>Linear Quadratic Regulator </li>
<li>Stabilization of an underactuated double pendulum</li>
<a id="lec13"></a> <!--tag for dropdown -->
</ul>
</td>
</tr>
</table>
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<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>Comments/Suggestions to Pranav A. Bhounsule (pranavb129 AT gmail.com) </li>
<li>Last updated: November 26, 2022 (no more material planned for Fall 2022)</li>
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