{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/mc-mujoco-simulating-articulated-robots-with","title":"mc-mujoco: Simulating Articulated Robots with FSM Controllers in MuJoCo","arxiv_id":"2209.00274","date":"2022-09-01","proceeding":null,"authors":["Rohan P. Singh","Pierre Gergondet","Fumio Kanehiro"],"abstract":"For safe and reliable deployment of any robot controller on the real hardware platform, it is generally a necessary practice to comprehensively assess the performance of the controller with the specific robot in a realistic simulation environment beforehand. While there exist several software solutions that can provide the core physics engine for this purpose, it is often a cumbersome and error-prone effort to interface the simulation environment with the robot controller being evaluated. The controller may have a complex structure consisting of multiple states and transitions within a finite-state machine (FSM), and may even require input through a GUI. In this work, we present mc-mujoco -- an open-source software framework that forms an interface between the MuJoCo physics simulator and the mc-rtc robot control framework. We provide implementation details and describe the process for adding support for essentially any new robot. We also demonstrate and publish a sample FSM controller for bipedal locomotion and stable grasping of a rigid object by the HRP-5P humanoid robot in MuJoCo. The code and usage instructions for mc-mujoco, the developed robot modules, and the FSM controller are available online.","url_abs":"https://arxiv.org/abs/2209.00274v1","url_pdf":"https://arxiv.org/pdf/2209.00274v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"mc-mujoco-simulating-articulated-robots-with","repo_url":"https://github.com/rohanpsingh/mc_mujoco","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}