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Making the end effector of an 8 joint modular snake robot to reach a desired position in 3d space

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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)

Fluxus-10.0-IIT-Indore

  • Requirements/Installations :

    1. Ubuntu 20.04 Desktop LTS.

    2. Python3 (3.5+).

    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 2.3.1 from here
    • open terminal and type the following command to install libglfw package.
      sudo apt install libglfw3-dev
      
    • navigate to sample directory in mujoco-2.3.1 in terminal and run :
      make
      

  • Running the simulation :

Fluxus-10.0-IIT-Indore

  1. Clone this repo in mujoco-2.3.1 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
    

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Making the end effector of an 8 joint modular snake robot to reach a desired position in 3d space

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