https://github.com/rohanpsingh/mc_mujoco
MuJoCo interface for mc-rtc
https://github.com/rohanpsingh/mc_mujoco
mc-rtc mujoco simulation
Last synced: 4 months ago
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MuJoCo interface for mc-rtc
- Host: GitHub
- URL: https://github.com/rohanpsingh/mc_mujoco
- Owner: rohanpsingh
- License: bsd-2-clause
- Created: 2021-09-13T06:08:06.000Z (over 4 years ago)
- Default Branch: main
- Last Pushed: 2025-09-30T10:26:19.000Z (4 months ago)
- Last Synced: 2025-09-30T12:26:50.202Z (4 months ago)
- Topics: mc-rtc, mujoco, simulation
- Language: C++
- Homepage: https://arxiv.org/abs/2209.00274
- Size: 4.49 MB
- Stars: 115
- Watchers: 8
- Forks: 32
- Open Issues: 9
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# mujoco interface for mc-rtc
## Usage
First, install the required apt packages:
```sh
$ sudo apt install libxrandr-dev libxinerama-dev libxcursor-dev libxi-dev libglew-dev
```
Then, execute the following command to install mujoco (`$HOME/.mujoco/mujoco301`), and build `mc_mujoco`:
```sh
$ git clone --recursive git@github.com:rohanpsingh/mc_mujoco.git
$ cd mc_mujoco
$ mkdir build && cd build
$ cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
$ make
$ make install
```
> If mujoco is already installed, you can add the following option to specify the path :\
```
cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo -DMUJOCO_ROOT_DIR=$HOME/.mujoco/mujoco301
```
Add the following line to your `~/.bashrc`:
```
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${HOME}/.mujoco/mujoco301/lib:${HOME}/.mujoco/mujoco301/bin
```
Then, to run the interface:
```sh
$ mc_mujoco
```
---
#### To load additional objects in the scene
There are several steps needed to be followed:
- First, create your object's XML file under `mc_mujoco/robots`. For example, [longtable.xml](robots/longtable.xml)
- Then, create a simple config file with the `xmlModelPath` attribute. For example, [longtable.in.yaml](robots/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)](robots/CMakeLists.txt#L15)
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:
```yaml
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
To load [MuJoCo plugins](https://mujoco.readthedocs.io/en/latest/programming/extension.html#engine-plugins), specify the paths to the directories containing the plugin libraries in the `PluginPaths` entry in `~/.config/mc_rtc/mc_mujoco/mc_mujoco.yaml`.
```yaml
PluginPaths: [""]
```
---
#### GUI: Mouse Interaction
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.
## Example
A basic example of what you can do using this package is [here](https://github.com/rohanpsingh/grasp-fsm-sample-controller).
## Datastore callbacks
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 & p, const std::vector & 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 & p, std::vector & 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` |
## Citation
```
@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}
}
```
### Credits
This package includes code from:
- [imgui v1.84.2](https://github.com/ocornut/imgui/)
- [implot v0.11](https://github.com/epezent/implot)
- [ImGuizmo](https://github.com/CedricGuillemet/ImGuizmo)
- [pugixml v1.11.4](https://github.com/zeux/pugixml)
- [Roboto font](https://github.com/googlefonts/roboto)