First, install the required apt packages:
$ sudo apt install libxrandr-dev libxinerama-dev libxcursor-dev libxi-dev libglew-dev
Then, assuming that you have mujoco installed under ${HOME}/.mujoco/mujoco235
,
$ git clone --recursive [email protected]:rohanpsingh/mc_mujoco.git
$ cd mc_mujoco
$ mkdir build && cd build
$ cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo -DMUJOCO_ROOT_DIR=$HOME/.mujoco/mujoco235
$ make
$ make install
Add the following line to your ~/.bashrc
:
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${HOME}/.mujoco/mujoco235/lib:${HOME}/.mujoco/mujoco235/bin
Then, to run the interface:
$ mc_mujoco
There are several steps needed to be followed:
- First, create your object's XML file under
mc_mujoco/robots
. For example, longtable.xml - Then, create a simple config file with the
xmlModelPath
attribute. For example, longtable.in.yaml - Then, install your object by adding it to the end of
mc_mujoco/robots/CMakeLists.txt
. For example, add setup_env_object(box object)
Your object is now created and installed. Next you want to tell mc-mujoco
to load it and place it at the desired pose.
Find ~/.config/mc_rtc/mc_mujoco/mc_mujoco.yaml
(create it manually if needed) and paste the following:
objects:
box1:
module: "box"
init_pos:
translation: [3.1, 0, 0.9]
rotation: [0, 0, 0]
box2:
module: "box"
init_pos:
translation: [3.7, 0.2, 0.9]
rotation: [0, 0, 0]
An object is selected by left-double-click. The user can then apply forces and torques on the selected object by holding Ctrl
key and dragging the left-mouse-button for torques and right-mouse-button for forces.
A basic example of what you can do using this package is here.
@inproceedings{singh2023mc,
title={mc-mujoco: Simulating Articulated Robots with FSM Controllers in MuJoCo},
author={Singh, Rohan P and Gergondet, Pierre and Kanehiro, Fumio},
booktitle={2023 IEEE/SICE International Symposium on System Integration (SII)},
pages={1--5},
year={2023},
organization={IEEE}
}
This package includes code from: