mujoco-py

MuJoCo (Multi-Joint dynamics with Contact) is a physics-based simulation engine with graphics and animation for the Python target. This repo defines a base reactor and some example derived reactors. The MuJoCoBase reactor provides a single simulator with graphical animation. The derived reactors customize this base class for particular MuJoCo model files.

Prerequisites

Install Python MuJoCo and LF tooling:

python3 -m pip install mujoco

Library Reactors

• MuJoCoBase: Base class providing navigation of the view and methods to update the scene and advance the simulator. This is not meant to be directly instantiated.
• MuJoCoAdvance extends MuJoCoBase: Base class providing an advance input to advance the simulation to the logical time and update the scene. This refers to the hello basic demo model, which has a box and a floor.
• MuJoCoAuto extends MuJoCoBase: Base class that automatically advances the simulation and outputs a tick for each step. This separates the updating of the scene, which is driven by a periodic timer. This refers to the hello basic demo model, which has a box and a floor.
• MuJoCoCar extends MuJoCoAdvance: Simulator for the car basic demo model, providing a two-wheel vehicle and keyboard controlled driving. This version actively controls the simulator advance.
• MuJoCoCarAuto extends MuJoCoAuto: Simulator for the car basic demo model, providing a two-wheel vehicle and keyboard controlled driving. This version lets the simulator advance automatically.
• MuJoCoPanda.lf extends MuJoCoAuto: Simulator for a Franka Emika Panda robot.

Demos

Build the demos using lfc or make:

• MuJoCoBasicDemo: Rectangular object that falls to the floor.
• MuJoCoCarDemo: Simple drivable car.
• MuJoCoCarAutoDemo: Simple drivable car.
• PandaDemo: Franka Emika Panda robot doing gyrations.