DEEPRobotics Simulation

English | 简体中文

DEEPRobotics Simulation is a MuJoCo-based simulation repository for DEEPRobotics products.

Each product keeps its runtime configuration, scene composition, Topics, and control behavior in its own directory. This README documents only the shared environment, repository layout, and product navigation.

Products

Product	Start Command	Documentation
DR02 Pro	python3 run_sim.py dr02_pro	English / 中文

Supported Environments

The following environment combinations are supported:

Ubuntu	ROS 2	Python
22.04	Humble	3.10
24.04	Jazzy	3.12

Environment Setup

Install ROS 2 and the drdds message interface package before configuring the Python environment. drdds is provided by the deep-robotics-msg repository; follow its README for installation and environment setup.

First-Time Setup

Run the following commands once from the repository root:

sudo apt install python3-venv
python3 -m venv --system-site-packages .venv
source .venv/bin/activate
python3 -m pip install -r requirements.txt

python3-venv only needs to be installed once on a system. After .venv has been created, it does not need to be recreated and the dependencies do not need to be reinstalled on subsequent runs.

Run

After the first-time setup, run the following commands from the repository root in each new terminal:

source /opt/ros/<ros-distro>/setup.bash
source .venv/bin/activate
python3 run_sim.py <product>

Using with the SDK

The simulator and deep-robotics-sdk2 run as separate processes. Start the simulation for the selected product in one terminal, then follow the SDK product documentation to run a supported program in another terminal.

Both terminals must use the same ROS 2 distribution and drdds message interface version. If ROS_DOMAIN_ID is configured, use the same value in both terminals. See the corresponding product documentation for supported SDK features and configuration.

Repository Layout

run_sim.py       Product simulation entry point
simulator.py     Shared MuJoCo lifecycle, timing, viewer, and cleanup
sim_config.py    Shared YAML loading and runtime configuration validation
worlds/basic/    Shared skybox, lighting, and collidable ground
worlds/demo/     Built-in demonstration terrain and environment assets
<product>/       Product-specific simulation, model, scene, and documentation

Related Repositories

• deep-robotics-sdk2: ROS 2 SDK, state machines, and Topic examples for DEEPRobotics products.
• deep-robotics-msg: ROS 2 message interface package shared by the Simulation and SDK. Its ROS 2 package name is drdds.