MuJoCo getting started
New to topics? Read the documentation here!
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 -jNow let's play. Minimal interactive UI simulation of a simple MJCF scene with one falling cube:Test soure code: 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: mujoco.readthedocs.io/en/2.2.2/programming.html#sabasic
bin/basic ../doc/_static/hello.xmlSome more interesting models can be found under the
model/ directory: 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.xmlA more advanced UI with a few controls:Test soure code: github.com/google-deepmind/mujoco/tree/5d46c39529819d1b31249e249ca399f306a108ac/simulate. Mentioned at: mujoco.readthedocs.io/en/2.2.2/programming.html#sasimulate
bin/simulate ../doc/_static/hello.xmlA 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:under "Control" you move each joint of the robot separately which is quite cool.
bin/simulate ../model/humanoid/humanoid.xmlThere's also a Mentioned at: mujoco.readthedocs.io/en/2.2.2/programming.html#sarecord but TODO that produced a broken video, related issues:
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