This repository is Real2Sim MuJoCo usuage And this is a package for RL task using a manipulator in Mujoco.

• Parsing an MJCF file: demo_ur_00_parse.ipynb
• usuage of some Render functions: demo_ur_01_render.ipynb
• Spawn Apriltag and estimate it's pose: demo_ur_02_apriltag.ipynb
• Randomly spawn Obejct: demo_ur_03_object.ipynb
• Get PointCloud data at MuJoCo sim: demo_ur_04_pointcloud.ipynb
• Set robot joint configurations: demo_ur_05_control.ipynb
• Triangulation about multiple view: demo_ur_06_triangulation.ipynb
• Compare apriltag pose using apriltag, solvepnp libraries: demo_ur_07_pnp.ipynb
• Extrinsic calibration(Solve AX=XB): demo_ur_08_calibration.ipynb
• Add PID Controller : demo_ur_09_pid.ipynb

• Solving AX=XB, Extrinsic Calibration: demo_calibration.ipynb
• Robotics Planning methods: demo_planning.ipynb