vive-mujoco

Setup

1. Install Mujoco 2.0 mujoco200 into the .mujoco/ directory and get a license key
2. Clone this repo into the .mujoco/ directory
3. Get dependencies: put header, dll, and lib files into directories in mujoco200/ as follows:
   • bin/
     • glew32.dll
     • glew32.lib
     • openvr_api.dll
     • openvr_api.lib
   • include/
     • GL/glew.h (make a new folder named GL)
     • openvr.h
4. Run makefile in src/ to build .exe files in the mujoco200/bin/ folder
   • Open VS2015 x64 Native Tools Command Prompt
   • Navigate to src/ directory in repo
   • Run nmake -f makefile
5. Run the code after making by navigating to mujoco200/bin/ and running mjvive.exe ..\..\vive-mujoco\model\sawyer_rope.xml

Notes

• mjvive.py currently doesn't work
• minivive.cpp is mjvive.cpp without controllers

Running the code

Instructions for starting the Vive

• Make sure the Vive is plugged in and turned on. Turn on the controllers.
• Move the headset and controllers to the play space where the base stations can track them.
• Run the SteamVR app and check that the Vive and controllers are tracking with the base stations.
• The Vive is now ready. To turn it off, close the apps and turn the Vive off.

Instructions for running the Vive + MuJoCo demo

• The Vive and at least one controller need to be on and tracking.
• Run the Anaconda Prompt as an administrator (right click and select run as admin)
• Navigate to ${HOME}\.mujoco\mjpro200\bin
• Run mjvive.exe. Type in a MuJoCo model file when prompted, for example: ..\model\humanoid.xml
• The view from the headset will appear in a window on the screen. You can now use the Vive to interact with the MuJoCo model.