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This demo helps you to test RoboPilot's joystick functionality in MuJoCo - even without physically owning an AhaRobot :P
git clone <https://github.com/apolloil/robopilot.git>
cd robopilot
pip install -r requirements.txt
# Install modified Python packages from source
# To keep the inverse kinematics calculation for teleoperation consistent with AhaRobot, we use the same modified Python packages.
# You do not need to execute the following commands if you have already configured the AhaRobot environment.
pip install .\\modified_pkg\\mr_urdf_loader\\
pip install .\\modified_pkg\\urchin\\
Make sure that the camera is facing the user .Then complete the calibration of the camera's internal parameters, and put the results under robopilot/calibration
See Teleoperation Handle Installation and Testing for details of the calibration process
Switch the directory to robopilot/src and run the main_teleop.py program
cd src
python main_teleop.py
💡 If the program runs successfully, the window for real-time camera monitoring and the window for MuJoCo simulation will appear at the same time (see below)