Andino MuJoCo simulation

📋 Description

This repository contains an Andino MJCF model for use in a MuJoCo simulation, along with some ready-to-use code samples.

📥 Workspace setup

This repository depends only on Docker for running MuJoCo and all samples.

🚀 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

🙌 Contributing

Issues or PRs are always welcome! Please refer to CONTRIBUTING doc.