This repository contains demonstration applications using the MuJoCo simulation of ChonkUR L Rail-E.
This project is intended to be included in an application workspace such as the clr_ws repository.
The examples here, as well as the simulation itself, have been used to trial a sim-to-real pipeline for developing behaviors to run in iMETRO facilities. These include behaviors requiring color/depth perception, force/torque sensors, or realistic dynamics of the robot in its environment.
As of now there is a single example available for public consumption made with open-source tools:
This project falls under the purview of the iMETRO project. If you use this in your own work, please cite the following paper:
@INPROCEEDINGS{imetro-facility-2025,
author={Dunkelberger, Nathan and Sheetz, Emily and Rainen, Connor and Graf, Jodi and Hart, Nikki and Zemler, Emma and Azimi, Shaun},
booktitle={2025 22nd International Conference on Ubiquitous Robots (UR)},
title={Design of the iMETRO Facility: A Platform for Intravehicular Space Robotics Research},
year={2025},
volume={},
number={},
pages={390-397},
keywords={NASA;Moon;Seals;Maintenance engineering;Maintenance;Robots;Standards;Open source software;Testing;Logistics},
doi={10.1109/UR65550.2025.11077983}}