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tron1-mujoco-sim Usage Guide

1. Run the Simulation

Step 1: Open a terminal

Step 2: Clone the MuJoCo simulation code

git clone --recurse https://github.com/limxdynamics/tron1-mujoco-sim.git

Step 3: Install the motion control SDK

For Linux x86_64:

pip install tron1-mujoco-sim/limxsdk-lowlevel/python3/amd64/limxsdk-*-py3-none-any.whl

For Linux aarch64:

pip install tron1-mujoco-sim/limxsdk-lowlevel/python3/aarch64/limxsdk-*-py3-none-any.whl

Step 4: Set Robot Type

Use the following shell command to list available robot types:

tree -L 1 tron1-mujoco-sim/robot-description/pointfoot

Example output:

tron1-mujoco-sim/robot-description/pointfoot
├── PF_P441A
├── PF_P441B
├── PF_P441C
├── PF_P441C2
├── PF_TRON1A
├── SF_TRON1A
└── WF_TRON1A

Take PF_P441C as an example (replace it with your actual robot type):

echo 'export ROBOT_TYPE=PF_P441C' >> ~/.bashrc && source ~/.bashrc

Step 5: Run the MuJoCo simulator

python tron1-mujoco-sim/simulator.py

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2. Compile and Run the Controller

Step 1: Open a terminal

Step 2: Install required build tools

sudo apt update
sudo apt install -y cmake build-essential

Step 3: Compile the SDK example controller

cd tron1-mujoco-sim/limxsdk-lowlevel
mkdir -p build
cd build
cmake ..
make

Step 4: Run the example controller

./examples/pf_groupJoints_move