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MuJoCo

Bimanual MJCF

Multi-Joint dynamics with Contact is a physics engine maintained by Google Deepmind.

MJCFs (MuJoCo description Files) are XML files used to describe all the moving components of a scene, enabling the experimentation of algorithms in a reproducible environment.

To get started, download the latest MuJoCo binaries and open a simulate window.

For example, for MuJoCo 3.3.4 on x86 linux:

MUJOCO_VERSION="3.3.4"
wget -q --show-progress "https://github.com/google-deepmind/mujoco/releases/download/${MUJOCO_VERSION}/mujoco-${MUJOCO_VERSION}-linux-x86_64.tar.gz"
tar --extract --gzip --verbose --file="mujoco-${MUJOCO_VERSION}-linux-x86_64.tar.gz"
rm "mujoco-${MUJOCO_VERSION}-linux-x86_64.tar.gz"
cd "mujoco-${MUJOCO_VERSION}/bin"
./simulate

Then, clone the openarm_mujoco repository:

git clone https://github.com/enactic/openarm_mujoco.git

Open a file explorer and drag the v1/openarm_bimanual.mjcf.xml file into the simulate window.

Mujoco Tutorial​

MuJoCo uses torque control for actuators. This enables more realistic simulation, but requires control to be handled by client code.

The MJCF is composed of a set of visual (group 2) and collision (group 3) geom groups.

The convex hull of the collision geometries is used to determine the physics of the simulation.

ROS2 Bridge via Docker and WebSockets​

To simulate OpenArm with realistic physics, MuJoCo can be used as a mock hardware interface. This ROS2 package will be available shortly after the v1 release.