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dora/examples/mujoco-sim/README.md

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MuJoCo Sim Tutorial

This comprehensive tutorial demonstrates how to build a robot control system using Dora with the dora-mujoco simulation node and control logic.

Tutorial Structure

01. Basic Simulation

Load a robot in simulation using the dora-mujoco node.

  • Learn the fundamentals of MuJoCo simulation in Dora
  • Understand the simulation node architecture
  • See how robot descriptions are loaded automatically

02. Target Pose Control

Add control logic with pose commands as target.

  • Implement Cartesian space control.
  • Create generic controller node that is able to control any robotic arm by using dora-pytorch-kinematics

03. Gamepad Control

Connect a gamepad for real-time interactive control.

  • Integrate with dora's gamepad node
  • Demonstrate real-time teleoperation