VinRobotics MuJoCo

This repository contains a high-quality MuJoCo model of the VR_M3_1 robot for testing, development, and simulation experiments.

Prerequisites

The setup is intended for:

• Ubuntu 22.04
• Python 3.10

The required system libraries are checked by setup.sh. You can install them via apt-get:

sudo apt-get update
sudo apt-get install -y \
  libboost-all-dev \
  libyaml-cpp-dev \
  libeigen3-dev \
  libspdlog-dev \
  python3.10-venv

Setup

Run the setup script:

bash setup.sh

The script will:

1. Check and install the required system dependencies.
2. Create a Python virtual environment if it does not already exist.
3. Install the Python dependencies from mjlab/requirements.txt.
4. Set up MuJoCo 3.8.0.
5. Copy the VinverseConnector plugin.
6. Create the required ONNX Runtime library symlink.

Run

Start the locomotion scene:

bash run_locomotion.sh

After MuJoCo simulate starts, use the following keys to control the policy:

• Press 1 to start the standing policy.
• Press 2 to start the walking policy.

You can also control the robot velocity using the keyboard:

• W / S: move forward / backward
• A / D: move left / right
• Q / E: turn left / right

Expected Result

MuJoCo simulate should start successfully with the Vinverse connector plugin loaded.

The VR_M3_1 robot should appear in the locomotion scene and be ready for testing with the standing and walking policies, as shown below: