English | 中文

DACH_SIM

DACH_SIM is a local simulation and SDK validation workspace for the DACH_TRON2A dual-arm robot. It is used to bring up the MuJoCo simulator, the dual-arm controller, the joystick teleoperator, and the WebSocket SDK together on a single machine over 127.0.0.1.

See USER_MANUAL.md for the complete user workflow.

Project structure

DACH_SIM/
├── USER_MANUAL.md             # Complete user manual
├── robot_description/         # TRON2 robot model submodule
├── Tron2_simulation_mujoco/   # C++ motor-level MuJoCo simulator
├── Tron2_controller/          # TRON2 dual-arm controller runtime package
├── joystick_sim/              # Joystick teleoperator simulator / mode-switch scripts
└── Tron2_arm_tests/           # WebSocket SDK test suite

System dependencies

This repository includes some prebuilt runtime packages. Libraries such as libmujoco210.so and libmroslib.so are bundled with the repository, but the following runtime libraries are commonly absent from a minimal Linux installation and must come from the system package manager. Package names below use Ubuntu 20.04 / Debian-family distributions as the reference:

sudo apt update
sudo apt install libglfw3 libglew2.1 libgl1 libwebsockets15 libssl1.1

• Tron2_simulation_mujoco/tron2_mujoco_sim directly links libglfw.so.3, libGLEW.so.2.1, and libGL.so.1. The same binary is loaded by run_headless.sh, so these libraries are still required for headless startup.
• Tron2_controller/install/bin/signaling_node directly links libwebsockets.so.15.
• libssl1.1 is not a direct dependency of any binary in this repository. It is a transitive dependency of the libwebsockets15 package itself (Depends: libssl1.1), and is pulled in automatically by apt together with libwebsockets15.
• Ubuntu 22.04 and newer releases usually do not ship libssl1.1 in the default repositories. To run the current prebuilt controller directly, use an Ubuntu 20.04-compatible environment, or provide an OpenSSL 1.1 runtime (libssl.so.1.1 / libcrypto.so.1.1) that libwebsockets.so.15 can load.

Bring-up order

For local simulation, use four terminals and start them in the following order:

1. Set the robot SN: source Tron2_controller/install/local_setup.bash, then run setRobotSN DACH_TRON2A_001. Do not start the controller before the SN is set.
2. Tron2_simulation_mujoco: start the C++ MuJoCo simulator, which loads the top-level robot_description model by default and publishes /motor/state.
3. Tron2_controller: start the controller, which subscribes to /motor/state and publishes /motor/cmd.
4. joystick_sim: run ./pub.sh switch to publish idle (L1 + X) and then develop (R1 + Right) with the default 2 s gap. This workspace provides simulated joystick commands only; a physical remote controller is not part of the local simulation setup.
5. Tron2_arm_tests: run the short live smoke tests for the Move/Servo SDK, or the dedicated simulation test cases.

Key interfaces

Tron2_arm_tests -> ws://127.0.0.1:5000 -> Tron2_controller
Tron2_controller -> /motor/cmd -> Tron2_simulation_mujoco
Tron2_simulation_mujoco -> /motor/state -> Tron2_controller

Tron2_simulation_mujoco only handles low-level motor states and motor commands. SDK interfaces such as MoveJ, MoveP, ServoJ, and ServoP are provided by Tron2_controller over WebSocket.

Documentation

• USER_MANUAL.md: robot startup, mode switching, and SDK control workflow.
• Tron2_simulation_mujoco/README.md: C++ simulator environment and startup instructions.
• robot_description/README.md: robot model, URDF/xacro, and mesh documentation.
• Tron2_controller/install/README_INSTALL_NEW.md: instructions for launching the controller runtime package.
• joystick_sim/README.md: simulated joystick mode-switch commands, aliases, and runtime arguments.
• Tron2_arm_tests/USAGE.md: SDK test parameters, reports, and dedicated test cases.
• NOTICE: third-party attribution and the MROS / Fast DDS modification notice.
• THIRD_PARTY_NOTICES.md: full license texts of the third-party libraries.

CI and offline tests

The repository ships the GitHub Actions workflow .github/workflows/ci.yml. On every push or pull request it installs the Python dependencies required by the SDK tests and runs:

python3 -m pytest -q

This command only runs offline pytest tests that neither connect to the robot nor start the simulator. Tron2_arm_tests/scripts/run_all.sh and the dedicated scripts are live simulation bring-up tests: they connect to the local 127.0.0.1:5000 endpoint and send motion commands, so they are not executed as part of the default CI.

Notes

• setRobotSN DACH_TRON2A_001 must be executed before starting Tron2_controller; it writes to the default SN configuration path of the controller runtime package.
• The WebSocket control protocol follows the plain ws:// scheme used by the official tron2_env; it has no authentication and no TLS. This open-source workspace only keeps loopback simulation capability, and target addresses should be 127.0.0.1.
• The live SDK sends motion commands; this open-source workspace does not provide configurations for connecting to real hardware or to on-site internal networks.
• This project does not implement a software emergency stop. Stopping the SDK process, closing the WebSocket, or handling a failed test is not equivalent to an emergency stop; abnormal motions must be handled by the physical emergency stop, the joystick, or robot-side safety mechanisms.
• Tron2_simulation_mujoco is a C++ MuJoCo 2.1 runtime package for local simulation; robot XML and meshes come from the top-level robot_description.
• Tron2_controller is a prebuilt runtime package, not a full source project.

License

Unless otherwise noted, this project is distributed under the Apache License 2.0 in LICENSE. SPDX identifier: Apache-2.0. Attribution for the third-party components included in the prebuilt controller runtime is recorded in NOTICE and THIRD_PARTY_NOTICES.md.