WINDOWS_SETUP.md

Windows Setup Guide

Prerequisites

1. Python 3.8+

   • Download from python.org
   • Make sure to check "Add Python to PATH" during installation

2. Git

   • Download from git-scm.com

Installation Steps

1. Clone the Repository

git clone <your-repo-url>
cd my_ros2_project/genchip_replication

2. Create Virtual Environment

python -m venv mujoco_env
mujoco_env\Scripts\activate

3. Install Dependencies

pip install -r requirements.txt

Running the Simulation

Headless Mode (No Viewer)

python scripts/run_mujoco_genchip.py --headless

Interactive 3D Viewer

Note: On Windows, use regular Python (not mjpython):

python scripts/run_mujoco_genchip.py

Troubleshooting

MuJoCo Installation Issues

If you get MuJoCo errors, try:

pip install --upgrade mujoco

Viewer Not Opening

• Make sure you have OpenGL support
• Update your graphics drivers
• Try headless mode first to verify the simulation works

Project Structure

genchip_replication/
├── envs/                          # MuJoCo environment XML files
│   └── simple_cartesian_robot.xml
├── scripts/                       # Python scripts
│   ├── run_mujoco_genchip.py     # Main simulation
│   └── mujoco_genchip_controller.py
├── docs/                          # Documentation
├── outputs/                       # Generated plots
└── requirements.txt               # Python dependencies

Expected Output

The simulation will show:

• Phase 1: Peg descends until contact
• Phase 2: Searches laterally for hole
• Phase 3: Inserts into hole

Force plots are saved to outputs/mujoco_genchip_comparison.png