Dual Arm Manipulation with MuJoCo and ROS Integration

📚 Overview

This repository provides a setup for dual-arm robotic manipulation using:

• MuJoCo for simulation and dynamic interactions.
• ROS for controlling the dual-arm setup in Gazebo.

The repository is divided into two primary folders:

• Other/: Contains MuJoCo-related files and configurations.
• src/: Contains ROS packages and setup for dual-arm manipulation in Gazebo.

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🛠️ Folder Structure

.
├── Other
│   ├── heal_gym_openai
│   ├── MUJOCO
│   ├── MUJOCO_LOG.TXT
│   └── Non-Package Material
│
└── src
    ├── CMakeLists.txt
    ├── heal_left
    ├── heal_left_and_right_independent
    ├── heal_multiple_arms
    ├── heal_multiple_arms_moveit_config
    └── heal_right

• Other/: Contains simulation assets, MuJoCo scripts, and configuration files.
• src/: Contains ROS workspace packages for controlling and simulating dual-arm robots.

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🚀 Replication Steps

Step 1: Add src to Your ROS Workspace

Place the src folder into your ROS workspace:

cd ~/catkin_ws
cp -r <path-to-repo>/src ./
catkin_make
source devel/setup.bash

Note : The below mentioned steps are not yet verified please when you replicate it in your system please update the following also :-

Step 2: Update Configuration Files

Update the following configuration files based on your environment:

• Other/MUJOCO/config.ini (e.g., paths to MuJoCo assets)
• src/heal_left/launch/ and src/heal_right/launch/ (e.g., adjust joint controllers and robot descriptions)

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✅ Running the Simulation

Hold and move/shift large objects with two hands (large objects that do not have handles).

This repository enables a dual-arm robot setup to hold and move large objects that do not have handles, using two manipulators. The setup currently supports the following packages:

• heal_left: Controls for the left manipulator.
• heal_right: Controls for the right manipulator.
• heal_multiple_arms: Combined controls and coordination for both manipulators to perform tasks collaboratively.

Note: This repository is still under development.

Prerequisites

ROS (The packages have been developed in ROS Noetic on Ubuntu 20.04) | Gazebo | MoveIt

Cloning the Repository

Clone the required packages to your ROS workspace:

• heal_left
• heal_right
• heal_multiple_arms

MoveIT! Configuration

The heal_multiple_arms_moveit_config package provides a comprehensive setup for motion planning, collision detection, and kinematics tailored to the dual-arm Heal robot setup.

The current setup includes separate controllers for the left and right arms also combined controllers for commanding all the 12 angles for the robots, allowing both arms to be operated either independently or in a combined manner for dual-arm tasks.

Running the Dual-Arm Setup in Gazebo and RViz

To start the dual-arm simulation in Gazebo and RViz, follow these steps:

1. Launch Gazebo and RViz with MoveIt!
   Run the following command to load the heal_multiple_arms robot configuration in both Gazebo and RViz with MoveIt! enabled:

   roslaunch heal_multiple_arms bring_moveit.launch
   

2. After it is launched you can use the controllers to command the robot.

3. For Example : Currently, you can find, sequence.py inside the scripts folder of heal_multiple_arms. This code currently takes both the heal manipulator to the contact points.

4. Start ROS Core:

roscore

2. Launch Dual-Arm Setup in Gazebo:

roslaunch heal_left_and_right_independent dual_cobot_launch.launch

3. Run MuJoCo Simulation: Navigate to Other/MUJOCO and run your MuJoCo script:

python3 script_name.py

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📄 Dependencies

Ensure the following are installed:

• ROS Noetic
• MuJoCo (licensed installation)
• Python dependencies (requirements.txt if available)

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🤝 Contributing

Feel free to open issues or submit pull requests for improvements.

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📧 Contact

For queries or collaboration, reach out via email or open an issue.

Happy Simulating! 🤖✨