MuJoCo-Wrapper--Delphi-Demos

Delphi projects demonstrating real-time simulation and control via MuJoCo Wrapper

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README

MuJoCo-Wrapper Example Projects (Delphi)

Example projects demonstrating how to use the MuJoCo-Wrapper (Delphi)
for real-time physics simulation, humanoid control, and neural integration.

Humanoid demo running in Delphi

✨ Overview

This repository contains several Delphi / Object Pascal examples showcasing real-time integration with the MuJoCo physics engine through the custom C++ DLL wrapper (mujoco_delphi_wrapper.dll).

Each example demonstrates a different aspect of the wrapper API — from basic physics stepping and rendering, to multi-threaded humanoid control and live torque application.

🧩 Included examples

Example	Description
Minimal Torso (Featherstone)	Simple body with one hinge joint and base motor control.
Two-Legs Creature	Bipod test model with alternating joint torques and balance simulation.
Humanoid Control	Full humanoid model with random torque input on hips, knees, and ankles.
Console Joint Logger	Non-visual example showing how to read `qpos` and `qvel` values in real time.

All examples use:

FMX-based rendering (OpenGL context)
Native mouse camera (orbit / pan / zoom)
The complete MJW_* API from the MuJoCo-Wrapper (Delphi) DLL

🧠 Requirements

MuJoCo-Wrapper (Delphi) — build this DLL first
MuJoCo SDK installed or extracted
Delphi 10.x or newer
Windows 64-bit
mujoco_delphi_wrapper.dll in the same folder as the EXE

Optional (recommended):

A GPU with OpenGL 3.3 or newer
FMX multi-threading enabled for smoother rendering

🛠️ How to run the demos

Build the wrapper
Follow the build guide from the main wrapper repository
to generate mujoco_delphi_wrapper.dll.
Open a demo project
In Delphi, open one of the example .dpr or .lpi files (e.g. MuJoCo_Test_Physics_V1.dpr).
Run
Make sure the DLL and the MuJoCo models\humanoid.xml file are in the working directory.
Interact
- Left mouse → Orbit camera
- Right mouse → Pan
- Scroll wheel → Zoom
- (Optional) Use MJW_SetMouseCamParams for sensitivity tuning

📂 Repository structure

MuJoCo-Wrapper--Example-Code/ ├─ examples/ │
├─ MuJoCo_Test_Physics_V1/ │
├─ Minimal_Torso/ │
├─ Two_Legs_Creature/ │
├─ Humanoid_Control/ │ └─ Console_JointLogger/ │ ├─ examples_common/ │
├─ MujocoWrapper.pas │
├─ PhysicsThreadTemplate.pas │ └─ FMXHelpers.pas │ ├─ models/ │ └─ humanoid.xml │ ├─ docs/ │ └─ demo_humanoid.png │ ├─ README.md └─ LICENSE.txt

🧭 Controls (FMX viewer)

Action	Input
Rotate camera	Left mouse drag
Pan camera	Right mouse drag
Zoom	Mouse wheel
Pause / resume	F5
Quit	Esc

🧱 Building from source

You don’t need to rebuild the C++ DLL for these demos.
Just copy the latest mujoco_delphi_wrapper.dll next to your Delphi project output folder.

To build the DLL from scratch, refer to the MuJoCo-Wrapper (Delphi) instructions (CMake + Visual Studio).

📘 Example code snippet

pascal

procedure TForm1.OnTick(Sender: TObject);
begin
  MJW_ClearApplied(H);

  // Read current joint angle and velocity
  var angle := MJW_Joint1D_Angle(H, 'knee_left');
  var speed := MJW_Joint1D_Vel(H, 'knee_left');

  // Simple PD torque control
  var target := 0.3;
  var torque := (target - angle) * 400 - speed * 10;
  MJW_ApplyDof(H, KneeL_Dv, torque);

  MJW_Step(H);
  MJW_Render(H);
  MJW_PollEvents(H);
end;

---

???? License

All Delphi example code in this repository is released under the MIT License ?? 2025 Roelof Emmerink.
See LICENSE.txt for details.

This repository depends on the MuJoCo-Wrapper (Delphi) project and the MuJoCo SDK, both licensed separately.

---

???? Acknowledgements

MuJoCo ??? Multi-Joint dynamics with Contact

GLFW ??? OpenGL window and input handling

Google DeepMind for open-sourcing MuJoCo

Roelof Emmerink ??? author of the MuJoCo-Wrapper (Delphi)

Live chat for Free Pascal, Lazarus, Delphi and every Pascal programmer.

MMuJoCo-Wrapper--Delphi-Demos