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dora/examples/mujoco-sim/basic_simulation/README.md

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01. Basic Simulation

This example demonstrates the simplest possible setup: loading and running a robot simulation using the dora-mujoco node.

  • Understand how the dora-mujoco node works
  • See how robot models are loaded from robot-descriptions
  • Learn the basic dataflow for physics simulation

The simulation runs at 500Hz and outputs:

  • Joint positions for all robot joints
  • Joint velocities
  • Sensor data (if available)
  • Current simulation time

Running the Example

cd basic_simulation
dora build basic.yml
dora run basic.yml

You should see:

  1. MuJoCo viewer window opens with GO2 robot
  2. Robot is effected by gravity (enabled by default)

What's Happening

  1. Model Loading: The dora-mujoco node loads the RoboDog (go2) model using load_robot_description("go2_mj_description")
  2. Physics Loop: Timer triggers simulation steps at 500Hz (This is default step time for Mujoco)
  3. Data Output: Joint states are published
  4. Visualization: MuJoCo viewer shows real-time simulation

Configuration Details

The basic.yml configures:

  • Model name: "go2" you change this to other robots name
  • Update rate: 2ms (500Hz)
  • Outputs: Joint positions, velocities, and sensor data