Version 2.1: documentation, public API headers, and sample programs.

PiperOrigin-RevId: 403900419
2021-10-18 12:23:02 +01:00
commit 1f7eaae62e
96 changed files with 28272 additions and 0 deletions
@@ -0,0 +1,106 @@
+# MuJoCo Physics
+
+**MuJoCo** stands for **Mu**lti-**Jo**int dynamics with **Co**ntact. 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.
+
+DeepMind has acquired MuJoCo, and we are currently making preparations to open
+source the codebase. In the meantime, MuJoCo is available for download as a free
+and unrestricted precompiled binary under the Apache 2.0 license from
+[mujoco.org](https://mujoco.org/).
+
+MuJoCo's source code will be released through this GitHub repository once it is
+ready. In the meantime, the repository hosts MuJoCo's documentation, C header
+files for its public API, and sample program code. If you wish to report bugs or
+make feature requests, please file them as [GitHub Issues]. You are also
+welcome to make pull requests for the [documentation source files].
+
+## Overview
+
+MuJoCo is a C/C++ library with a C API, intended for researchers and developers.
+The runtime simulation module is tuned to maximize performance and operates on
+low-level data structures which are preallocated by the built-in XML parser and
+compiler. The user defines models in the native MJCF scene description language
+-- an XML file format designed to be as human readable and editable as possible.
+URDF model files can also be loaded. 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, not
+necessarily in a simulation loop. Features include
+
+-   Simulation in generalized coordinates, avoiding joint violations.
+
+-   Inverse dynamics that are well-defined even in the presence of contacts.
+
+-   Unified continuous-time formulation of constraints via convex optimization.
+
+-   Constraints include soft contacts, limits, dry friction, equality
+    constraints.
+
+-   Simulation of particle systems, cloth, rope and soft objects.
+
+-   Actuators including motors, cylinders, muscles, tendons, slider-cranks.
+
+-   Choice of Newton, Conjugate Gradient, or Projected Gauss-Seidel solvers.
+
+-   Choice of pyramidal or elliptic friction cones, dense or sparse Jacobians.
+
+-   Choice of Euler or Runge-Kutta numerical integrators.
+
+-   Multi-threaded sampling and finite-difference approximations.
+
+-   Intuitive XML model format (called MJCF) and built-in model compiler.
+
+-   Cross-platform GUI with interactive 3D visualization in OpenGL.
+
+-   Run-time module written in ANSI C and hand-tuned for performance.
+
+
+## Requirements
+
+MuJoCo binaries are currently built for Linux, macOS (Intel), and Windows.
+
+
+## Documentation
+
+MuJoco's current documentation is available at [mujoco.org/book], which is
+serving Sphinx-based webpages derived from the ReStructuredText
+[documentation source files].
+
+
+## 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}
+}
+```
+
+
+## License and Disclaimer
+
+Copyright 2021 DeepMind Technologies Limited
+
+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.
+
+
+[GitHub Issues]: https://github.com/deepmind/mujoco/issues
+[documentation source files]: https://github.com/deepmind/mujoco/tree/main/doc
+[mujoco.org/book]: https://mujoco.org/book
+