This repository contains the most up to date Woofer code that accounts for full state feedback from the MOCAP room.
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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.
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Save the license
mjkey.txt
somewhere and set the environment variableMUJOCO_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.
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Install Julia by visiting https://julialang.org/downloads/
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Install this repository through Julia's Package Manager (Pkg)
pkg> add https://github.com/tpunnoose/WooferSim
- Enter the Julia REPL in the WooferSim directory (this will be in the .julia/dev folder).
- Run
include("main.jl")
- 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.