Mujoco VR with PubSub communication

This is the development repo of Virtual Reality rendering with Mujoco Physics Environment with help of OpenVR SDK and HTC Vive HMD hardware. On top of it, a PubSub socket-based communication is introduced using the ZMQ library. Using this PubSub communication any application outside the Mujoco application can be used to operate actuators inside the Mujoco environment by just publishing the joint positions to the Topic to which the Mujoco has subscribed.

vive-mujoco

Setup

1. Install Mujoco 2.0 mujoco200 into the .mujoco/ directory and get a license key
2. Clone this repo into the .mujoco/ directory
3. Get dependencies: put header, dll, and lib files into directories in mujoco200/ as follows:
   • bin/
     • glew32.dll
     • glew32.lib
     • openvr_api.dll
     • openvr_api.lib
   • include/
     • GL/glew.h (make a new folder named GL)
     • openvr.h
4. Run makefile in src/ to build .exe files in the mujoco200/bin/ folder
   • Open VS2015 x64 Native Tools Command Prompt
   • Navigate to src/ directory in repo
   • Run nmake -f makefile
5. Run the code after making by navigating to mujoco200/bin/ and running mjvive.exe ..\..\vive-mujoco\model\sawyer_rope.xml

Notes

• mjvive.py currently doesn't work
• minivive.cpp is mjvive.cpp without controllers

Running the code

Instructions for starting the Vive

• Make sure the Vive is plugged in and turned on. Turn on the controllers.
• Move the headset and controllers to the play space where the base stations can track them.
• Run the SteamVR app and check that the Vive and controllers are tracking with the base stations.
• The Vive is now ready. To turn it off, close the apps and turn the Vive off.

Instructions for running the Vive + MuJoCo demo

• The Vive and at least one controller need to be on and tracking.
• Run the Anaconda Prompt as an administrator (right click and select run as admin)
• Navigate to ${HOME}\.mujoco\mjpro200\bin
• Run mjvive.exe. Type in a MuJoCo model file when prompted, for example: ..\model\humanoid.xml
• The view from the headset will appear in a window on the screen. You can now use the Vive to interact with the MuJoCo model.