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Extension of the repo to simulate the robot using Mujoco#29

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glpuga merged 9 commits intomainfrom
glpuga/mujoco_exp_cont
Mar 21, 2025
Merged

Extension of the repo to simulate the robot using Mujoco#29
glpuga merged 9 commits intomainfrom
glpuga/mujoco_exp_cont

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@glpuga glpuga commented Mar 4, 2025 •
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  • Refactors the package structure to have a clear separation between bringup packages and simulation packages.
  • Adds a new simulation back-end based on Mujoco to the existing two based on Gazebo Sim and Isaac.
mujoco_small_2.mp4

@glpuga glpuga changed the base branch from main to glpuga/mujoco_exp March 4, 2025 23:48
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glpuga commented Mar 5, 2025

For awareness @IDavGal

@glpuga glpuga force-pushed the glpuga/mujoco_exp_cont branch 4 times, most recently from 7f7e123 to d0a4b36 Compare March 6, 2025 02:27
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olmerg commented Mar 6, 2025

we have a mujoco simulation of the ar4 in the repo ar4_mujoco_playground we are creating an enviroment to run some RL tests.

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glpuga commented Mar 6, 2025 •
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we have a mujoco simulation of the ar4 in the repo ar4_mujoco_playground we are creating an enviroment to run some RL tests.

@olmerg Thanks! I'm aware but I created a mujoco integration here to evaluate mujoco_ros2_control as integration between mujoco and ROS.

I don't have access to https://github.com/ekumenlabs/ar4_mujoco_playground , would you give me access? thanks!

@glpuga glpuga force-pushed the glpuga/mujoco_exp_cont branch 10 times, most recently from a740263 to 976af43 Compare March 10, 2025 14:44
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olmerg commented Mar 11, 2025

on't have access to https://github.com/ekumenlabs/ar4_mujoco_playground , would you give me access? thanks!
done

@glpuga glpuga changed the title Mujoco simulation Extension of the repo to simulate the robot using Mujoco Mar 11, 2025
@glpuga glpuga force-pushed the glpuga/mujoco_exp_cont branch from 976af43 to fbff94c Compare March 18, 2025 21:46
@glpuga glpuga mentioned this pull request Mar 18, 2025
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@glpuga glpuga force-pushed the glpuga/mujoco_exp_cont branch 3 times, most recently from ac965db to 8555fc9 Compare March 20, 2025 03:23
@glpuga glpuga requested a review from stevendes March 20, 2025 14:38
@glpuga glpuga marked this pull request as ready for review March 20, 2025 14:38
@glpuga glpuga changed the base branch from glpuga/mujoco_exp to main March 20, 2025 14:39
@glpuga glpuga force-pushed the glpuga/mujoco_exp_cont branch from 8555fc9 to 1990765 Compare March 20, 2025 14:44
glpuga
glpuga commented Mar 20, 2025
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Comment thread docker/docker-compose.yml Outdated
stevendes
stevendes requested changes Mar 20, 2025
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@glpuga I left some comments, I'm not sure how to test MuJoCo.

Comment thread ar4_description/launch/display.launch.py
Comment thread ar4_gazebo_sim/launch/main.launch.py Outdated
Comment thread docker/docker-compose.yml Outdated
Comment thread ar4_isaac/README.md
Comment thread ar4_mujoco_bringup/launch/main.launch.py Outdated
Comment thread ar4_realbot_bringup/launch/main.launch.py Outdated
Comment thread docker/Dockerfile.isaac
Comment thread ar4_mujoco_sim/package.xml
Comment thread README.md
Comment thread ar4_mujoco_sim/README.md
@glpuga glpuga force-pushed the glpuga/mujoco_exp_cont branch 2 times, most recently from 45347d6 to eaf4bac Compare March 21, 2025 01:53
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glpuga commented Mar 21, 2025

@stevendes comments addressed. The last two commits contain the changes.

glpuga added 8 commits March 20, 2025 22:59
@glpuga
Restructure package structure
b3a350a 
Signed-off-by: Gerardo Puga <glpuga@gmail.com>
@glpuga
Refactor docker
4e85f6b 
Signed-off-by: Gerardo Puga <glpuga@gmail.com>
@glpuga
Add mujoco
378c8c8 
Signed-off-by: Gerardo Puga <glpuga@gmail.com>
@glpuga
Fix internal collisions in Mujoco model
54f67f4 
Signed-off-by: Gerardo Puga <glpuga@gmail.com>
@glpuga
Refactor isaac dockerfile
08b0e22 
Signed-off-by: Gerardo Puga <glpuga@gmail.com>
@glpuga
Minor fixes
036637b 
Signed-off-by: Gerardo Puga <glpuga@gmail.com>
@glpuga
Update docker/docker-compose.yml
78a5b4f 
Signed-off-by: Gerardo Puga <glpuga@gmail.com>
@glpuga
Address review comments
59e685d 
Signed-off-by: Gerardo Puga <glpuga@gmail.com>
@glpuga glpuga force-pushed the glpuga/mujoco_exp_cont branch 3 times, most recently from 3c9a4b6 to e4aced9 Compare March 21, 2025 02:26
@glpuga
Update README
45d8668 
Signed-off-by: Gerardo Puga <glpuga@gmail.com>
@glpuga glpuga force-pushed the glpuga/mujoco_exp_cont branch from e4aced9 to 45d8668 Compare March 21, 2025 02:32
stevendes
stevendes approved these changes Mar 21, 2025
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Tested and the 3 simulators seemed to work fine with MoveIt, LGTM!

@glpuga glpuga merged commit e7f0a77 into main Mar 21, 2025
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@glpuga glpuga deleted the glpuga/mujoco_exp_cont branch March 21, 2025 14:00
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@glpuga @olmerg @stevendes