mujoco_robots

Robot package for mujoco_sim (https://github.com/HoangGiang93/mujoco_sim)

Fork of the original repository to add new worlds for the hsr

To start a world with the robot holding a cup containing 200 particles, and a bowl to pour into

roslaunch hsr_mujoco hsrb4s_velocity_particle_cup.launch

In the world .xml file of this launch file are options to make the particles appear more viscous and to make them more bouncy when hitting the container box.

To start a world with the robot holding a cup containing 200 particles, and a bowl and an empty cup on a table to pour into

roslaunch hsr_mujoco hsrb4s_velocity_particle_containers.launch

To start the same world but with an empty gripper

roslaunch hsr_mujoco hsrb4s_velocity.launch

To start a world where the hsr holds a tray with one ball on it

roslaunch hsr_mujoco hsrb4s_velocity_tray.launch