This project simulates a robot arm using MuJoCo and Pygame. It reads inputs from an Xbox-Controller and updates the simulated robot's joints in real time.
Install dependencies via pip:
pip install pygame mujoco numpy- Connect an Xbox controller.
- Ensure the MuJoCo model file is available at
robots\trs_so_arm100\scene.xml. - Run the simulation:
python xbox_mujoco_soarm100.py
# or
python xbox_controller_phospho_soarm100.pysrc/utils/simulation_process.py: Main simulation loop using Pygame and MuJoCo.- Other files and scripts can be added as needed.
- Analog Stick Control:
- Left Stick:
- Vertical Axis: Controls forward/backward motion (affects the X-axis).
- Horizontal Axis: Controls left/right motion (affects the Y-axis).
- Right Stick:
- Vertical Axis: Controls up/down motion (affects the Z-axis).
- Left Stick:
- Gripper Control:
- Right Trigger: Adjusts the gripper position continuously based on how hard the trigger is pressed. A fully pressed trigger closes the gripper (0.0), and a released trigger keeps it open (1.0).
- User Position Configuration:
- At startup, you are prompted to enter 1 if you are behind the robot or 2 if you are facing the robot. This setting determines how the left stick inputs are mapped to the X and Y axes.
-
Clone the Repository:
git clone https://github.com/yourusername/robot-arm-controller.git cd robot-arm-controller