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