MuJoCo-franka-panda

MuJoCo Simulation for Franka Emika Panda

Installation

Essential 1. Clone the repository

$ git clone https://github.com/ARC-KIST/MuJoCo-franka-panda.git franka-panda

Essential 2. Install Dependencies

RBDL, GLFW etc. should be installed!

• RBDL: C++ library that contains some essential and efficient rigid body dynamics algorithms.

  For this project, we use version 3.2.0!

• GLEW: The OpenGL Extension Wrangler Library (GLEW) is a cross-platform open-source C/C++ extension loading library.

• GLFW: GLFW (Graphics Library Framework) is a lightweight utility library for use with OpenGL.

  $ sudo apt-get install libglew-dev libglfw3-dev libglfw3

Essential 3. Build the project

Make the build directory

$ mkdir build

$ cd build

$ cmake ..

$ make

Essential 4. Check if it was installed correctly

Make sure you are in the build directory!

$ ./run

Written by:

• 240702: Sol Choi
• 240904: Sol Choi
• 240929: Sol Choi
• 241011: Sol Choi