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DR02 Std Simulation

This document describes the DR02 Std simulation. After completing the environment setup in the DEEPRobotics Simulation README, run the following command from the repository root:

python3 run_sim.py dr02_std

The drdds interfaces come from deep-robotics-msg. Follow Install the Message Interfaces for the shared installer. The simulator and SDK must use the same interface version.

1. Configuration

config.yaml controls the DR02 Std runtime behavior.

Section Field Description
Root scene Complete MJCF scene path, relative to config.yaml.
simulation timestep_s MuJoCo physics timestep in seconds.
simulation publish_frequency_hz /JOINTS_DATA and IMU publish frequency in Hz.
simulation command_timeout_s Command timeout in seconds. Whole mode applies zero torque and continues; upper mode pauses physics and holds the actual pose.
control mode default, whole, or upper.
viewer enabled Whether to launch the MuJoCo Viewer.
viewer update_frequency_hz Viewer refresh frequency in Hz.
viewer distance, lookat, azimuth, elevation Free-camera pose.

2. Control Modes

Mode Control Scope
default Equivalent to whole.
whole /JOINTS_CMD controls every MuJoCo actuator.
upper /JOINTS_CMD controls the waist and arms; the floating base and lower-body joints are constrained by the model.

After a command timeout, whole mode continues physics with zero torque on every actuator. Upper mode pauses physics and holds the actual pose at the timeout. Upper mode resumes when a new effective control command arrives; all-zero commands do not resume a paused simulation.

3. Scene Composition

scene.xml is the complete MJCF scene selected by the default configuration:

<include file="model/dr02_std.xml"/>
<include file="../worlds/basic/basic.xml"/>
<include file="../worlds/demo/demo.xml"/>
  • model/dr02_std.xml: DR02 Std simplified-collision MuJoCo model.
  • worlds/basic/basic.xml: shared skybox, lighting, and collidable ground.
  • worlds/demo/demo.xml: optional built-in buildings, stairs, terrain, and environment assets.

To run without the demo terrain, remove or comment out only the demo include. The basic environment should remain enabled to keep the ground and lighting. To use a custom world, replace that include with a custom world XML. Include paths are relative to scene.xml; place custom world resources under worlds/ rather than modifying the robot model. To select a different complete scene, change scene in config.yaml.

Whole mode requires a world with collidable ground. Upper mode can run with the robot model and basic environment only.

4. Topics

Direction Topic Type
SDK to simulator /JOINTS_CMD drdds/msg/JointsCmd
Simulator to SDK /JOINTS_DATA drdds/msg/Joints
Simulator to SDK /IMU_DATA_BASE sensor_msgs/msg/Imu

The current simulation publishes the modeled Base IMU data to /IMU_DATA_BASE with base_link as its frame.

The SDK and MuJoCo model both define 21 joints and actuators. Simulation state is published in the DR02 Std joint order.