Mujoco Simulator for K1 #2130
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Mujoco Simulator for K1 #2130
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create mujoco-rust-server fix rebase fuckup add mujoco-simulator add torque-velocity-position control to simulation (wip) mujoco webrtc add three-js visualizer rename K1_serial -> K1 add robot camera and encoder remove unused code add websocket handler for camera frames rename motor_command -> motor_commands add time to simulation messages
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Just one more comment, otherwise looks good!
tools/mujoco-simulator/mujoco-simulator/mujoco_simulator/rate_logger.py
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Why? What?
This PR implements a simulator for the K1 robot in MuJoCo.
The main simulation loop is implemented in python, but the new
mujoco-rust-serverlibrary controls how the simulation advances and can be connected to via Websockets.Upon connection, a client has to send a
ConnectionInfo, which specifies a schedule for events.For example, the
hulk_mujocobinary sends aConnectionInfowhich resets the simulation, and specifies the update rate ofLowStateandLowCommandto be of 10ms in the same phase.The three-js webrenderer shows another application of this, where on connect, a description of the scene is sent and on every change in simulation, updated positions and rotations of all bodies are sent.
The simulation is not feature complete. While the architecture of the simulator is explicitly designed to handle connections from multiple frameworks, this is not yet implemented.
Also, the simulation scene is relatively boring and does not yet contain a field or a ball.
Fixes #2108
ToDo / Known Issues
LowState. For instance, if simulation time ist=5, step size is 2, and the controller asks for aLowStateatt=6, the simulation step will not be shortened, leading to a delayedLowStateatt=7.Ideas for Next Iterations (Not This PR)
How to Test
npm i && npm run devuv run main.pypepsi run hulk_mujoco