tpunnoose / WooferJuliaSim

Woofer Julia Simulation

Overview

This repository contains the most up to date Woofer code that accounts for full state feedback from the MOCAP room.

Installation for Simulation

1. Acquire a license for MuJoCo at http://mujoco.org/. You can get a free trial of the professional license for a month, or with a student account, a free year.

2. Save the license mjkey.txt somewhere and set the environment variable MUJOCO_KEY_PATH to that location. One way to set the environment variable is through your bash profile. On a mac this is done by adding the line

export MUJOCO_KEY_PATH=[YOUR PATH]/mjkey.txt

to your ~/.bash_profile.

3. Install Julia by visiting https://julialang.org/downloads/

4. Clone this repository.

5. Enter the Package Manager by typing the ] key and activate the environment with

pkg> activate .

6. Install MuJoCo.jl while still in the Package Manager with

pkg> add https://github.com/klowrey/MuJoCo.jl

7. Then instantiate the environment, which should download all other dependencies.

pkg> instantiate

Run Simulation

1. Enter the Julia REPL in the WooferSim directory (this will be in the .julia/dev folder).
2. Run

include("main.jl")

In order to change what simulation is being run, scroll to the bottom of the WooferSim.jl and uncomment the desired controller. 3. The MuJoCo simulator should then pop up in a new window with various interactive options. Press space to start the simulation.

• Click and drag with the left mouse button to orbit the camera, and with the right mouse button to pan the camera.
• To perturb the robot, double click on the body you want to perturb, then hold Control and click and drag with the mouse. Using the left mouse button will apply a rotational torque while the right button will apply a translational force.
• Press space to play or pause the simulation.