First, install the required apt packages:
$ sudo apt install libxrandr-dev libxinerama-dev libxcursor-dev libxi-dev libglew-devThen, 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 installAdd 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_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]To load MuJoCo plugins, specify the paths to the directories containing the plugin libraries in the PluginPaths entry in ~/.config/mc_rtc/mc_mujoco/mc_mujoco.yaml.
PluginPaths: ["<path-to-plugins>"]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.
The following callbacks are available for the controller when running inside mc_mujoco
| Signature | Description |
|---|---|
{robot}::SetPosW(const sva::PTransformd &) |
Set the position of the given robot. Also works with objects |
{robot}::SetPDGains(const std::vector<double> & p, const std::vector<double> & d) |
Set the PD gains for the actuation of the given robot. p and d must follow the robot's reference joint order |
{robot}::SetPDGainsByName(const std::string & jn, double p, double d) |
Set the PD gains for a given joint jn in robot |
{robot}::GetPDGains(std::vector<double> & p, std::vector<double> & d) |
Get the current PD gains for robot actuation |
{robot}::GetPDGainsByName(const std::string & jn, double & p, double & d) |
Get the current PD gains for a given joint jn in robot |
@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: