LEGO Project MuJoCo

LEGO Project MuJoCo simulation framework with data recording.

Works in WSL Ubuntu-20.04, Conda environment with Python 3.10.16

Installation

Clone the repository and install dependencies.

🔧 Setting Up the Conda Environment

Using Conda (environment.yml)

Create and activate the Conda environment:

conda env create -f environment.yml
conda activate my_env  # Replace 'my_env' with the actual environment name

🚀 Running the Simulation

Start Example Sims

Use the following command to start the Duplo simulation with GUI enabled for 10 seconds:

python -m src.duplo -n example -t 10 -gui

Check all possible args with:

python -m src.duplo -h

Settings can be found in utils/all_args.py.

Edit Mass Properties

Mass properties of Duplo can be found in robots/duplo_ballfeet_mjcf/mass_config.yaml. Changes to the file will be loaded automatically when the simulation starts.

🎥 Recording simulation

Recording Scene and Data

Use the following command to start the Duplo simulation with for 10 seconds and record the scene and data to data/videos/example/

python -m src.duplo -n example -t 10 -r

Resulting videos are the data plot, the scene, and a composite video.