About: This mini course aims to give you working knowledge of MuJoCo, a rigid body dynamics simulator. The tutorials are based on using mujoco200 available at roboti.us. The software needs the file mjkey.txt which is freely available on the website. A shortened link to this webste is http://tiny.cc/mujoco. The YouTube playlist is here: http://tiny.cc/mujoco2. The course is taught using C interface of MuJoCo. Prior knowledge of C/unix commands is not assumed. Everything is taught from scratch. All software used in this course is freely available. This includes MuJoCo 200, Atom Editor, C, make, NLOPT, Visual Studio (community edition) for Windows. If you have any feedback including suggestions for more course content use this form.
NEW (Aug 11, 2022): MuJoCo Python course (ongoing in Fall 2022) https://tiny.cc/mujocopy Shorter videos, new examples, and taught using the python bindings of MuJoCo
NEW (Aug 2, 2022): Bolun Dai converted all C code into python code. A new column with python code is added to the webpage. In cmd or terminal type pip install mujoco to install the python bindings to mujoco.
A 12-week MuJoCo course for senior-level undergraduates / first year graduate is here: https://pab47.github.io/mujoco2022.html
Citing this course:
@misc{mujoco,
author={Bhounsule, Pranav A. and Dai, Bolun},
title = {MuJoCo Bootcamp,
howpublished = {\url{https://pab47.github.io/mujoco.html},
year = {2022},
note = {Accessed: {2022–07-07}} }
| Content | Concepts Tested |
|---|---|
| HW1: Rube Goldberg Machine | Generate different geometries in xml and initializing using code (lec 0, lec 1, and lec 2). |
| HW2: Rott's pendulum & Coupled pendulum | Model systems with pin joints. Simulate spring behavior (lec 0, lec 1, and lec 3). |
| HW3: Pumping a pendulum swing | Model systems with pin/hinge joints. Position control. Finite State machine (lec 0, lec 1, lec 3, lec 5). |
| HW4: Manipulator drawing & Balance a cart-pendulum | Jacobian and Inverse Kinematics. Linearization and linear quadratic control (lec 6 and lec 7). |
| HW5: Simulate a biped on level ground | Position control. Finite State machine. 2D hopper/biped (lec 0, lec 1, lec 3, lec 5, lec 9, and lec 13). |