Fluxus-10.0-IIT-Indore

• Problem Statement for Task 1 :

  Move the end effector of an 8 joint Modular snake robot to any arbitrary point in 3D space, whose tail is fixed at origin and alternate joints can rotate along Z and Y axis (revolute joints with 1 DOF)

• Requirements/Installations :

  1. Ubuntu 20.04 LTS Desktop version.

  2. Python3 (3.7+).

  3. git. If not installed, type following commands on terminal

     sudo apt-get update
     

     sudo apt-get install git
     

  4. mujoco, numpy libraries. Type following commands on terminal to install these libraries

     pip3 install mujoco
     

     pip3 install numpy
     

  5. Mujoco - Physics simulating engine.

  • Download Mujoco 2.3.6 from here

  • Extract the zip file and copy the mujoco-2.3.6 folder to home directory.

  • Open terminal and type the following command to install libglfw package.

    sudo apt install libglfw3-dev
    

  • Navigate to sample directory inside mujoco-2.3.6 in terminal and type :

    make
    

  • Open terminal and type :

    sudo -H nautilus
    

    and the press ctrl + L and write /usr/lib in the address bar and press enter.

  • Now copy the contents inside mujoco-2.3.6/lib folder and paste them to current(/usr/lib) folder.

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• Running the simulation :

1. Clone this repo in mujoco-2.3.6 directory :

   git clone https://github.com/ab31mohit/Fluxus-10.0-IIT-Indore.git 
   

2. now go to Fluxus-10.0-IIT-Indore

3. run the working_code.py file :

   python3 working_code.py