kuka_mj_description

This repository contains the kuka iiwa14 model for mc_mujoco.

The package will install the files in this directory so that mc_mujoco can pick them up automatically.

Please note that only iiwa14 is supported.

Requirement

Please make sure mc_mujoco is installed.

Install

From source

In order to install from source please run the following commands :

git clone https://github.com/isri-aist/kuka_mj_description
cd kuka_mj_description
mkdir build && cd build
cmake ..
make install

To run

Your mc_rtc configuration file (typically ~/.config/mc_rtc/mc_rtc.yaml) should contain the following lines:

# General mc_rtc configuration to run a kuka controller at 1kHz
MainRobot: iiwa14 
Enabled: Posture # Edit with your controller
Timestep: 0.001

Then run mc_mujoco

mc_mujoco

Add your model

In order to add your model, you need to :

1. Add your mesh files in the /meshes folder
2. Add your xml model to /xml folder
3. Add a folder to pdgains with the name of your model, create a file PDgains_sim.dat inside of it.
4. Update models list in CMakeLists.txt
5. Then install make install or ninja install

Acknowledgement

• google-deepmind