= MuJoCo getting started
Tested on <Ubuntu 23.10>;
``
git clone https://github.com/google-deepmind/mujoco
cd mujoco
git checkout 5d46c39529819d1b31249e249ca399f306a108ac
mkdir -p build
cd build
cmake ..
make -j
``
Now let's play. Minimal interactive <UI> simulation of a simple <MJCF> scene with one falling cube:
``
bin/basic ../doc/_static/hello.xml
``
Test soure code: https://github.com/google-deepmind/mujoco/blob/5d46c39529819d1b31249e249ca399f306a108ac/sample/basic.cc[]. The only thing you can do is <rotate> the scene with the <computer mouse> it seems. Mentioned at: https://mujoco.readthedocs.io/en/2.2.2/programming.html\#sabasic
Some more interesting models can be found under the `model/` directory: https://github.com/google-deepmind/mujoco/tree/5d46c39529819d1b31249e249ca399f306a108ac/model E.g. the imaginary humanoid robot <DeepMind> used in many demos can be seen with:
``
bin/basic ../model/humanoid/humanoid.xml
``
A more advanced <UI> with a few controls:
``
bin/simulate ../doc/_static/hello.xml
``
Test soure code: https://github.com/google-deepmind/mujoco/tree/5d46c39529819d1b31249e249ca399f306a108ac/simulate[]. Mentioned at: https://mujoco.readthedocs.io/en/2.2.2/programming.html\#sasimulate
A very cool thing about that UI is that you can manually control joints. There are no joints in the hello.xml, but e.g. with the humanoid model:
``
bin/simulate ../model/humanoid/humanoid.xml
``
under "Control" you move each joint of the robot separately which is quite cool.
\Video[https://www.youtube.com/watch?v=0ORsj_E17B0]
{title=Demo of MuJoCo's built-in `simulate` viewer by Yuval Tassa (2019)}
There's also a `bin/record` test executable that presumably renders the simulation directly to a file:
``
bin/record ../doc/_static/hello.xml 5 60 rgb.out
ffmpeg -f rawvideo -pixel_format rgb24 -video_size 800x800 -framerate 60 -i rgb.out -vf "vflip" video.mp4
``
Mentioned at: https://mujoco.readthedocs.io/en/2.2.2/programming.html\#sarecord but TODO that produced a broken video, related issues:
* https://github.com/google-deepmind/mujoco/issues/127
* https://github.com/google-deepmind/mujoco/issues/824