QMuJoCoSim

Controls Guide

Function	Key/Action
Open	Ctrl + O
Quit	Ctrl + Q
Play / Pause	Space
Speed Up / Down	+ / -
Step Back / Forward	Left / Right Arrow
Zoom	Scroll / Middle drag
View Orbit	Left drag
View Pan	Shift + Right Drag

Build Specifications

The following are the primary components and specific versions utilized for development (similar versions may also work):

• CMake: 3.22.1
• C++ Compiler: g++ 11.4.0 (C++20 standard)
• Qt6: 6.6.2
• MuJoCo: 3.1.2

Compilation

mkdir -p build && cd build
# e.g. cmake ../ -DCMAKE_PREFIX_PATH:PATH="/opt/mujoco-3.1.2/;/home/admin1/Qt/6.6.2/gcc_64/"
cmake ../ -DCMAKE_PREFIX_PATH:PATH="path/to/mujoco;path/to/qt/library"
cmake --build . --config Release

To-Do List

• drag and drop
• screenshot
• print model/data
• toggling OpenGL Effects
• free camera control
• free camera align
• toggling model elements
• slowdown
• headlight control
• history buffer
• settings dialog
• profiler

Known Issues

• As we use QOpenGLWindow to embed MuJoCo, handling key press events is a bit tricky. Right now, almost all key presses are caught by the simulation window instead of the main window.
• Currently, the rendering operates at a constant FPS, based on the presumption that simulation speed surpasses real-time. Should this not be the case, the program could become overloaded. Updated the simulation loop to mirror the approach used in MuJoCo's official simulation example. However, rendering still occurs at a constant FPS.
• When the simulation is paused, the thread halts until resumed, rather than continuously calling mj_forward. Consequently, the profiler's CPU time measurement remains static during pauses, unlike in the official simulator.

Reference

• https://gist.github.com/JeanElsner/755d0feb49864ecadab4ef00fd49a22b

• https://github.com/google-deepmind/mujoco/tree/main/simulate

• https://stackoverflow.com/a/37119983/15687189