add chinese

mjx/mujoco/mjx/codegen/README.md

@@ -1,11 +1,10 @@
-# MJX Warp Codegen
+# MJX Warp 代码生成（Codegen）
 
-Generates the MJX-Warp shim layer in `mujoco/mjx/warp/` by reading the vendored
-`mujoco_warp` source in `mujoco/mjx/third_party/mujoco_warp/`.
+通过读取 `mujoco/mjx/third_party/mujoco_warp/` 中内嵌的 `mujoco_warp` 源码，在 `mujoco/mjx/warp/` 下生成 MJX-Warp 垫片适配层（shim layer）。
 
-## Setup
+## 环境配置
 
-From the root `mjx/` directory, once you install [`uv`](https://docs.astral.sh/uv/getting-started/installation/), install the latest MuJoCo and local MJX:
+在根目录 `mjx/` 下，安装 [`uv`](https://docs.astral.sh/uv/getting-started/installation/) 之后，安装最新的 MuJoCo 和本地 MJX：
 
 ```bash
 uv venv .venv --default-index https://pypi.org/simple
@@ -14,9 +13,9 @@ uv pip install --upgrade --force-reinstall mujoco --default-index https://pypi.o
 uv pip install -e ".[warp,dev]" --default-index https://pypi.org/simple
 ```
 
-## Run codegen
+## 运行代码生成
 
-From the root `mjx/` directory:
+在根目录 `mjx/` 下执行：
 
 ```bash
 bash mujoco/mjx/codegen/update_for_mujoco_warp.sh

mjx/mujoco/mjx/test_data/barkour_v0/README.md

@@ -1,19 +1,19 @@
 # Google Barkour v0
 
-## MJCF Instructions
+## MJCF 说明
 
-The MuJoCo config in `assets/barkour_v0_mjx.xml` was copied from https://github.com/deepmind/mujoco_menagerie/google_barkour_v0. The following edits were made to the MJCF specifically for brax:
+`assets/barkour_v0_mjx.xml` 中的 MuJoCo 配置复制自 https://github.com/deepmind/mujoco_menagerie/google_barkour_v0 。为了适配 Brax，对该 MJCF 进行了以下专门修改：
 
-* `meshdir` was changed from `assets` to `.`.
-* `frictionloss` was removed. `damping` was changed to 0.5239.
-* A custom `init_qpos` was added.
-* A sphere geom `lowerLegFoot` was added to all feet. All other contacts were turned off.
-* The compiler option was changed to `<option timestep="0.002" iterations="4" solver="CG"/>`.
-* Non-visual geoms were removed from the torso, to speed up rendering.
+* `meshdir` 从 `assets` 修改为 `.`。
+* 移除 `frictionloss`，将 `damping` 修改为 0.5239。
+* 添加了自定义 `init_qpos`。
+* 为所有足部添加了球体几何体 `lowerLegFoot`。关闭了所有其他碰撞接触。
+* 编译器选项修改为 `<option timestep="0.002" iterations="4" solver="CG"/>`。
+* 移除了躯干上的非可视化几何体，以加快渲染速度。
 
-## Publications
+## 发表文献
 
-If you use this work in an academic context, please cite the following publication:
+如果您在学术研究中使用了本项工作，请按如下格式引用：
 
     @misc{caluwaerts2023barkour,
           title={Barkour: Benchmarking Animal-level Agility with Quadruped Robots},

mjx/mujoco/mjx/test_data/humanoid/README.md

@@ -1,26 +1,17 @@
-Humanoid
-========
+# 人形机器人（Humanoid）
 
-Degrees of Freedom: 27
-Actuators: 21
+* 自由度（Degrees of Freedom）：27
+* 执行器（Actuators）：21
 
-This is a clone of the [MuJoCo Humanoid](https://github.com/google-deepmind/mujoco/blob/main/model/humanoid/humanoid.xml)
-with the following changes:
+这是 [MuJoCo Humanoid](https://github.com/google-deepmind/mujoco/blob/main/model/humanoid/humanoid.xml) 的克隆版本，包含以下修改：
 
-* Solver switched to CG with 8 iterations
-* Explicit contact pairs for feet and ground (compatible with
-  [OpenAI Gym Humanoid](https://gymnasium.farama.org/environments/mujoco/humanoid/)
-  environment)
+* 求解器切换为带有 8 次迭代的 CG（共轭梯度法）
+* 足部和地面的显式接触对（兼容 [OpenAI Gym Humanoid](https://gymnasium.farama.org/environments/mujoco/humanoid/) 环境）
 
-This simplified humanoid model, introduced in [1], is designed for bipedal
-locomotion behaviours. While several variants of it exist in the wild, this
-version is based on the model in the DeepMind Control Suite [2], which has
-fairly realistic actuator gains.
+本简化人形机器人模型最初在文献 [1] 中提出，专为双足运动控制行为设计。尽管社区中存在多种变体，但此版本基于 DeepMind Control Suite [2] 中的模型构建，具备较为逼真的执行器增益。
 
-[1] [Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization]
-     (https://doi.org/10.1109/IROS.2012.6386025).
+[1] [Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization](https://doi.org/10.1109/IROS.2012.6386025).
 
 [2] [DeepMind Control Suite](https://arxiv.org/abs/1801.00690).
 
-
 ![humanoid](humanoid.png)

mjx/mujoco/mjx/test_data/shadow_hand/README.md

@@ -1,28 +1,24 @@
-# Shadow Hand E3M5 Description (MJCF)
+# Shadow Hand E3M5 模型描述（MJCF）
 
-Requires MuJoCo 3.0.0 or later.
+需要 MuJoCo 3.0.0 或更高版本。
 
-## Overview
+## 概述
 
-This package contains assets of the "E3M5" version of the Shadow Hand robot,
-including both right-handed and left-handed versions.
-The original URDF and assets were provided directly by
-[Shadow Robot Company](https://www.shadowrobot.com/) under the
-[Apache 2.0 License](LICENSE).
+本软件包包含 Shadow Hand 机器人“E3M5”版本的资产，包括右手和左手版本。
+原始 URDF 和资产由 [Shadow Robot Company](https://www.shadowrobot.com/) 在 [Apache 2.0 许可证](LICENSE) 下直接提供。
 
-The [original Menagerie Shadow Hand](https://github.com/google-deepmind/mujoco_menagerie/tree/main/shadow_hand)
-has been modified for MJX simulation in the following ways:
+来自 [Menagerie 的原始 Shadow Hand](https://github.com/google-deepmind/mujoco_menagerie/tree/main/shadow_hand) 针对 MJX 仿真进行了如下修改：
 
-* Solver switched to CG with 8 iterations
-* Condim switched to 3 (MJX does not yet support condim != 3)
-* Object converted from ellipsoid to sphere (MJX does not yet support ellipsoids)
-* Explicit contact pairs for fingers and object
-* Removed some unused geoms in the arm base
+* 求解器切换为带有 8 次迭代的 CG（共轭梯度法）
+* Condim 切换为 3（MJX 暂不支持 condim != 3）
+* 物体从椭球体转换为球体（MJX 暂不支持椭球体）
+* 为手指和物体设置显式接触对（contact pairs）
+* 移除了机械臂基座中一些未使用的几何体
 
 <p float="left">
   <img src="shadow_hand.png" width="400">
 </p>
 
-## License
+## 开源许可证
 
-These models are released under an [Apache-2.0 License](LICENSE).
+这些模型基于 [Apache-2.0 许可证](LICENSE) 发布。