X2 Sim + MC Deployment

Note: This document targets x86 host-side simulation, driving the MuJoCo simulation sim_mujoco with the motion-control module mc; robot model lx2501_3_t2d5 (X2 T2.5). Together with RL Deployment these are two parallel simulation pipelines — pick one; do not drive the same simulation at the same time.

• sim_mujoco: MuJoCo-based physics simulation acting as the robot body (HAL layer) — subscribes to joint commands and publishes joint and IMU states

• mc: motion-control module, identical to the real robot, with built-in skills (standing / walking / getting up / animations, etc.) — receives high-level commands and outputs joint commands

• Drive the robot by sending high-level commands via the SDK examples (py_examples / examples); suitable for competition simulation and host-side algorithm integration.

Note

When to use this chapter: no reinforcement learning involved — drive the MuJoCo simulation with the official motion-control module mc (the same one used on the real robot) and validate your own high-level control logic on an x86 host. The skills (stand / walk / get-up / animation / upper body) are provided by mc, so you do not need to train a policy yourself.

If you only want to wire an existing onnx model into the SDK, see X2 RL Deployment.

• 1 X2 MuJoCo Motion-Control Simulation
  • 1.1 Contents
  • 1.2 Software Components
  • 1.3 Prerequisites
  • 1.4 Prepare the Software Directory
  • 1.5 Option 1: Local Deployment
    • Configure Mirrors in Mainland China
    • Install Dependencies
    • Create the MC Runtime Directory
    • Build AimDK
    • Terminal 1: Start MuJoCo
    • Terminal 2: Start MC
    • Terminal 3: Check Communication
  • 1.6 Option 2: Docker Deployment
    • Configure Docker Registry Mirrors (Host)
    • Download the ROS 2 Base Image (Host)
    • Create the MC Runtime Directory (Host)
    • Create the Dockerfile (Host)
    • Create the Launch Script (Host)
    • Build the Image (Host)
    • Start the Container (Host)
    • Build AimDK (Inside the Container)
    • Start the Simulation and MC
      • Terminal 1: Start MuJoCo
      • Terminal 2: Start MC
      • Terminal 3: Check Communication
  • 1.7 Verify Motion Control
    • Stand
    • Move Forward
    • Turn
  • 1.8 Stop the Environment
    • Local deployment
    • Docker Deployment
  • 1.9 Troubleshooting
    • Base Image Download Fails
    • The MuJoCo Window Does Not Open
    • MC Crashes After Startup
    • AimDK Cannot Communicate with MC