MuJoCo Simulator

MuJoCo stands for Multi-Joint dynamics with Contact. It is a general purpose physics engine that aims to facilitate research and development in robotics, biomechanics, graphics and animation, machine learning, and other areas that demand fast and accurate simulation of articulated structures interacting with their environment.

First you need to either install or clone the MuJoCo repository and then run the simulate with the Kangaroo MJCF model as follows.

./simulate kangaroo_robot/kangaroo_mj_description/xml/scene.xml

Note

MuJoCo doesn’t provide the same level of integration with ROS as previous simulators. This means that the different provided controllers couldn’t be executed on this simulator.