Assuming that you have mujoco installed under ${HOME}/.mujoco/mujoco212,
$ git clone --recursive git@github.com:rohanpsingh/mc_mujoco.git
$ cd mc_mujoco
$ mkdir build && cd build
$ cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo -DMUJOCO_ROOT_DIR=$HOME/.mujoco/mujoco212
$ make
$ make installAdd the following line to your ~/.bashrc:
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${HOME}/.mujoco/mujoco212/lib:${HOME}/.mujoco/mujoco212/bin
Then, to run the interface:
$ mc_mujocoThere 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
xmlModelPathattribute. 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.
@article{singh2022mcmujoco,
title={mc-mujoco: Simulating Articulated Robots with FSM Controllers in MuJoCo},
author={Singh, Rohan Pratap and Gergondet, Pierre and Kanehiro, Fumio},
journal={arXiv preprint arXiv:2209.00274},
year={2022}
}
This package includes code from: