Unitree Mujoco Integration

This project integrates Unitree robots with MuJoCo 2.1.0 physics simulator in a Docker environment.

Prerequisites

• Docker
• Docker Compose
• X11 for visualization
• Git
• At least 4GB of free disk space

Quick Start

1. Clone the repository:

git clone https://github.com/AGiXT/robot_simulator
cd robot_simulator

2. Build the Docker container:

docker-compose build

3. Run the simulation:

xhost +local:docker  # Allow X11 connections from Docker
docker-compose up

Troubleshooting

Library Issues

If you encounter library-related issues:

1. Run the diagnostic script:

# Start container in debug mode
docker-compose run --rm unitree-mujoco /bin/bash

# Inside container, run diagnostics
/patches/check_libs.sh

2. Common issues and solutions:

   a. Missing libraries:

   # Check library paths
   ldconfig -p | grep mujoco
   ls -l /usr/local/lib/libmujoco*

   b. Header file issues:

   # Verify header installation
   ls -l /usr/local/include/mj*.h
   ls -l /usr/local/include/mujoco/

   c. Library load errors:

   # Check library dependencies
   ldd /usr/local/lib/libmujoco210.so

Graphics Issues

1. For NVIDIA GPU support, uncomment the relevant section in docker-compose.yml:

deploy:
  resources:
    reservations:
      devices:
        - driver: nvidia
          count: 1
          capabilities: [graphics,compute,utility]

2. For Mesa/software rendering issues:

# Inside container
export LIBGL_ALWAYS_SOFTWARE=1

Development

Building from Source

1. Debug build:

docker-compose build --progress=plain

# For verbose output
docker-compose build --progress=plain --no-cache

2. Modifying source files:
   • Source files are in patches/unitree_mujoco/
   • Build system files in patches/
   • Changes require container rebuild

Directory Structure

.
├── docker-compose.yml   # Container configuration
├── Dockerfile          # Build instructions
├── patches/           # Source and build files
│   ├── apply_patches.sh
│   ├── check_libs.sh
│   └── unitree_mujoco/
│       ├── CMakeLists.txt
│       ├── main.cc
│       ├── platform_ui_adapter.cc
│       ├── simulate.cc
│       └── simulate.h
└── README.md

Notes

• MuJoCo 2.1.0 specific changes:
  • Uses direct header includes (no mujoco/ prefix)
  • Links against libmujoco210.so
  • Modified include order for proper compilation