mujoco_sim

ROS interface for MuJoCo simulator

Overview

mujoco_sim_x4.mp4

spawning.robots.mp4

Key Features

• Incorporates an advanced physics engine sourced from https://mujoco.org/
• Supports import and export of URDF and MJCF formats
• Enables exporting of simulation results in the USD format
• Integrates controller interfaces, controller managers, and hardware interfaces sourced from http://wiki.ros.org/ros_control
• Implements PD computed-torque control for enhanced stability
• Enables spawning and destruction of objects during run-time via rosservice
• Synchronizes simulation time with real time, with the ability to adjust simulation time for faster or slower execution
• Provides comprehensive visualization of MuJoCo elements within rviz
• Offers velocity control for the base
• Supports mimic joints from URDF format

Installation

1. Create a workspace

source /opt/ros/<ros-version>/setup.bash    # source ROS
mkdir -p ~/mujoco_ws/src                    # create directory for workspace

2. Initialize the workspace from this file and update the workspace

wstool init ~/mujoco_ws/src                 # initialize .rosinstall
wstool merge -t ~/mujoco_ws/src https://raw.githubusercontent.com/HoangGiang93/mujoco_ws/main/noetic.rosinstall
wstool update -t ~/mujoco_ws/src            # pull the repositories

3. Install dependency of all packages in the workspace

rosdep install --ignore-src --from-paths ~/mujoco_ws/src/mujoco_sim/ ~/mujoco_ws/src/mujoco_msgs/ ~/mujoco_ws/src/mujoco_world/  # install dependencies available through apt

4. Build packages

cd ~/mujoco_ws                              # go to the workspace directory
catkin_make                                 # build packages (or catkin build)
source ~/mujoco_ws/devel/setup.bash         # source new overlay

Troubleshooting

1. ERROR: gladLoadGL error

• Solution: sudo apt install nvidia-driver-515

2. Model errors when using a custom controller

• Specify the controller in robot.yaml
• Load the URDF to the parameter server after spawning the mujoco_sim node

Software architecture