一个用于机器人研发的物理引擎,旨在帮助机器人、生物力学、图形和动画等领域的研究和开发(也包括其他需要快速准确模拟的领域)。

Kevin Zakka c13b9e89b6 Fix typos. 11 hours ago
.github 26bdb7c8b8 Replace `__attribute__((constructor))` with C++ constructor. 1 week ago
cmake 9b694103e6 Update dependencies in CMake. 2 weeks ago
dist 00576a3bf9 Update icons to match the new banner and add Windows version info. 1 week ago
doc c13b9e89b6 Fix typos. 11 hours ago
include 1e2a9a53bc Implement plugin mechanism for actuators and sensors. 1 week ago
introspect b1a79aa01b Replace internal-only imports and comments that aren't valid externally. 1 day ago
model d1027eff75 Minor fix to Humanoid model 5 days ago
python 6acc111c48 Remove internal-only paths from Colab notebook. 1 day ago
sample 94b6ae2b69 Bump version number to 2.2.2. 2 weeks ago
simulate 0a0acb3419 Display real-time percentage in paused mode, if different than 100% 1 week ago
src 36b47e56d0 Use squared distance for sphere comparison in collision filtering. 2 days ago
test b1a79aa01b Replace internal-only imports and comments that aren't valid externally. 1 day ago
unity 1e2a9a53bc Implement plugin mechanism for actuators and sensors. 1 week ago
.gitignore 6e67391fe9 Add `Info.framework.plist` to `.gitignore` 1 month ago
.readthedocs.yml b1e185bb9e Fix ReadTheDocs config. 2 months ago
CMakeLists.txt 1e2a9a53bc Implement plugin mechanism for actuators and sensors. 1 week ago
CONTRIBUTING.md 1913a02b40 Initial open sourcing of MuJoCo. 4 months ago
LICENSE 1f7eaae62e Version 2.1: documentation, public API headers, and sample programs. 11 months ago
README.md 00576a3bf9 Update icons to match the new banner and add Windows version info. 1 week ago
SECURITY.md 8ec3dd97a4 Add SECURITY.md. 7 months ago
STYLEGUIDE.md ee6fed1230 Add minor enhancements to compile binary. 1 month ago
banner.png 00576a3bf9 Update icons to match the new banner and add Windows version info. 1 week ago

README.md

MuJoCo

MuJoCo stands for Multi-Joint dynamics with Contact. It is a general purpose physics engine that aims to facilitate research and development in robotics, biomechanics, graphics and animation, machine learning, and other areas which demand fast and accurate simulation of articulated structures interacting with their environment.

This repository is maintained by DeepMind, please see our acquisition and open sourcing announcements.

MuJoCo has a C API and is intended for researchers and developers. The runtime simulation module is tuned to maximize performance and operates on low-level data structures that are preallocated by the built-in XML compiler. The library includes interactive visualization with a native GUI, rendered in OpenGL. MuJoCo further exposes a large number of utility functions for computing physics-related quantities. We also provide Python bindings and a plug-in for the Unity game engine.

Installation

Prebuilt binaries

Versioned releases are available as precompiled binaries from the GitHub releases page, built for Linux (x86-64 and AArch64), Windows (x86-64 only), and macOS (universal). This is the recommended way to use the software.

Building from source

Users who wish to build MuJoCo from source should consult the build from source section of the documentation. However, please note that the commit at the tip of the main branch may be unstable.

Python (>= 3.7)

The native Python bindings, which come pre-packaged with a copy of MuJoCo, can be installed from PyPI via:

pip install mujoco

Note that Pre-built Linux wheels target manylinux2014, see here for compatible distributions. For more information such as building the bindings from source, see the Python Bindings section of the documentation.

Documentation

MuJoCo's documentation is available at mujoco.readthedocs.io, which serves webpages derived from the documentation source files.

Getting Started

There are two easy ways to get started with MuJoCo:

  1. Run simulate on your machine. This video shows a screen capture of simulate, MuJoCo's native interactive viewer. Follow the steps described in the Getting Started section of the documentation to get simulate running on your machine.

  2. Explore our online IPython notebooks. If you are a Python user, you might want to start with our tutorial notebooks, running on Google Colab:

    • The first tutorial focuses on the basic MuJoCo Python bindings: Open In Colab

    • The second tutorial includes more examples of dm_control-specific functionality: Open In Colab

Asking Questions

We welcome community engagement: questions, requests for help, bug reports and feature requests. To read more about bug reports, feature requests and more ambitious contributions, please see our contributors guide.

Questions and requests for help are welcome on the GitHub issues and discussions pages. Issues should be focused on a specific problem or question, while discussions should address wider concerns that might require input from multiple participants.

Here are some guidelines for asking good questions:

  1. Search for existing questions or issues that touch on the same subject.

You can add comments to existing threads or start new ones. If you start a new thread and there are existing relevant threads, please link to them.

  1. Use a clear and specific title. Try to include keywords that will make your question easy for other to find in the future.

  2. Introduce yourself and your project more generally.

If your level of expertise is exceptional (either high or low), and it might be relevant to what we can assume you know, please state that as well.

  1. Take a step back and tell us what you're trying to accomplish, if we understand you goal we might suggest a different type of solution than the one you are having problems with

  2. Make it easy for others to reproduce the problem or understand your question.

If this requires a model, please include it. Try to make the model minimal: remove elements that are unrelated to your question. Pure XML models should be inlined. Models requiring binary assets (meshes, textures), should be attached as a .zip file. Please make sure the included model is loadable before you attach it.

  1. Include an illustrative screenshot or video, if relevant.

  2. Tell us how you are accessing MuJoCo (C API, Python bindings, etc.) and which MuJoCo version and operating system you are using.

Related software

MuJoCo forms the backbone of many environment packages, but these are too many to list here individually. Below we focus on bindings and converters.

Bindings

These packages give users of various languages access to MuJoCo functionality:

First-party bindings

Third-party bindings

Converters

  • OpenSim: O2MConverter converts openSIM models to MJCF.
  • SDFormat: gz-mujoco is a two-way SDFormat <-> MJCF conversion tool.
  • OBJ: obj2mjcf a script for converting composite OBJ files into a loadable MJCF model.

Citation

If you use MuJoCo for published research, please cite:

@inproceedings{todorov2012mujoco,
  title={MuJoCo: A physics engine for model-based control},
  author={Todorov, Emanuel and Erez, Tom and Tassa, Yuval},
  booktitle={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages={5026--5033},
  year={2012},
  organization={IEEE},
  doi={10.1109/IROS.2012.6386109}
}

License and Disclaimer

Copyright 2021 DeepMind Technologies Limited.

Box collision code (engine_collision_box.c) is Copyright 2016 Svetoslav Kolev.

ReStructuredText documents, images, and videos in the doc directory are made available under the terms of the Creative Commons Attribution 4.0 (CC BY 4.0) license. You may obtain a copy of the License at https://creativecommons.org/licenses/by/4.0/legalcode.

Source code is licensed under the Apache License, Version 2.0. You may obtain a copy of the License at https://www.apache.org/licenses/LICENSE-2.0.

This is not an officially supported Google product.