Mujoco Simulation
-----------------

This repository is a sub-repository of the Project March repository. It
contains the ROS2 workspace for running the Mujoco simulation-to-High
level control loop. It is mainly used for testing high-level controllers
on a simulated exoskeleton in Mujoco. This allows for rapid prototyping
of these controllers before the physical exoskeleton is operational.

Please note that once this repository is deemed feature-complete, it
will be integrated into the main March repository as a mock for the
hardware interface.

How to Build
------------

-  To install required ROS environment, please follow the `Installation
   ROS and
   tools <https://docs.projectmarch.nl/doc/getting_started/install_ros_and_tools.html>`__
   instructions.

-  Then, to set up the workspace, copy-paste the following instructions
   line by line:

::

   $ pip3 install mujoco
   $ source /opt/ros/foxy/setup.bash
   $ git clone https://gitlab.com/project-march/sideprojects/Mujoco-simulation --recurse-submodules
   $ cd Mujoco-simulation
   $ colcon build --packages-select acados
   $ colcon build --packages-select acados_solver
   $ colcon build
   $ source install/setup.bash