Reachy 2 MuJoCo Assets

This repository contains scenes and configuration files for the robot Reachy 2 in MuJoCo. These assets are used by Reachy's 2 software stack.

Stack installation

Install the Reachy 2 software stack easily by using the one liner provided in the documentation.

Available Scenes

• base_scene.xml: the default empty scene
• fruits_scene.xml: a scene for sorting fruits on a table
• kitchen_scene.xml: full kitchen for complex manipulation tasks (adapted from RoboCasa)
• table_scene.xml: a simple scene with just one cube to manipulate on a table

Visualization

A viewer script is provided to visualize the scenes in Mujoco. You can run it with the following command:

python viewer.py <scene_file.xml>

Note: Mujoco must be installed via pip:

pip install mujoco

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Credits

The kitchen_scene.xml is based on assets from the RoboCasa project.

RoboCasa is an open-source collection of realistic home environments for robotics research, developed by the RoboCasa team.