Andino MuJoCo simulation
January 24, 2025 ยท View on GitHub
<img src=docs/andino_mujoco.png width=700 />
:clipboard: Description
This repository contains an Andino MJCF model for use in a MuJoCo simulation, along with some ready-to-use code samples.
:inbox_tray: Workspace setup
This repository depends only on Docker for running MuJoCo and all samples.
:rocket: Usage
MuJoCo's Python native bindings
This repository provides a base Docker image called mujoco_python that includes MuJoCo's native Python bindings. It can be run using the following command:
docker compose -f ./docker/docker-compose.yml run --rm mujoco_python
Note
When running the MuJoCo visualizer from Docker, you may encounter the error: X11: Failed to open display :0. This indicates that you need to add your host to the xhost list.
You can do this by running the following command: xhost +si:localuser:root.
Samples
Samples can be run using the following command (see docker/docker-compose.yml for the service definition of the samples):
docker compose -f ./docker/docker-compose.yml run --rm andino_mujoco_teleoperation
:raised_hands: Contributing
Issues or PRs are always welcome! Please refer to CONTRIBUTING doc.