Embodied AI Robotic Arm (MuJoCo)

A minimal MuJoCo-based robotic arm simulation using the Google Robot model. It includes a runnable environment and assets for quick experimentation.

Base idea of project(under development)

        +-----------------+
        | Natural Language |
        |   Command Input  |
        +--------+--------+
                 |
                 v
          Text Encoder (CLIP)
                 |
                 v
   +-------------------------------+
   |        VLA Policy Module       |
   |  (Vision + Language → Action)  |
   +-------+-----------------------+
           |             ^
           v             |
     MuJoCo Simulator     |
     (robot + objects)    |
           |              |
           v              |
  RGB Camera Image    Vision Encoder (CLIP)
           |              |
           +--------------+

Features

• MuJoCo XML model in robot_sim/mjmodel.xml
• Google Robot assets in robot_sim/assets/google_robot
• Simple Python simulation entrypoint in robot_sim/robot_env.py

Prerequisites

• Python 3.9+
• MuJoCo (see https://mujoco.readthedocs.io/)
• Linux with OpenGL drivers
• Optional headless rendering via EGL

Install

# From the repository root (e.g. venv)
python3 -m venv .venv
source .venv/bin/activate
pip install -U pip
pip install -r requirements.txt

Run

# From the repository root
python robot_sim/robot_env.py