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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.