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Link to Onshape to robot converter in top level README.

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Yuval Tassa
2025-03-06 23:15:26 -08:00
committed by Copybara-Service
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@@ -33,8 +33,9 @@ We also provide [Python bindings] and a plug-in for the [Unity] game engine.
## Documentation
MuJoCo's documentation can be found at [mujoco.readthedocs.io]. Upcoming features due for the next
release can be found in the [changelog] in the latest branch.
MuJoCo's documentation can be found at [mujoco.readthedocs.io]. Upcoming
features due for the next release can be found in the [changelog] in the
"latest" branch.
## Getting Started
@@ -54,14 +55,17 @@ running on Google Colab:
[![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/tutorial.ipynb)
- The **rollout** tutorial shows how to use the multithreaded `rollout` module:
[![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/rollout.ipynb)
- The **LQR** tutorial synthesizes a linear-quadratic controller, balancing a humanoid on one leg:
- The **LQR** tutorial synthesizes a linear-quadratic controller, balancing a
humanoid on one leg:
[![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/LQR.ipynb)
- The **least-squares** tutorial explains how to use the Python-based nonlinear least-squares solver:
- The **least-squares** tutorial explains how to use the Python-based nonlinear
least-squares solver:
[![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/least_squares.ipynb)
- The **MJX** tutorial provides usage examples of
[MuJoCo XLA](https://mujoco.readthedocs.io/en/stable/mjx.html), a branch of MuJoCo written in JAX:
[![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/mjx/tutorial.ipynb)
- The **differentiable physics** tutorial trains locomotion policies with analytical gradients automatically derived from MuJoCo's physics step:
- The **differentiable physics** tutorial trains locomotion policies with
analytical gradients automatically derived from MuJoCo's physics step:
[![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/mjx/training_apg.ipynb)
## Installation
@@ -75,7 +79,7 @@ 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
source] section of the documentation. However, note that the commit at
the tip of the `main` branch may be unstable.
### Python (>= 3.9)
@@ -111,7 +115,8 @@ GitHub [Issues](https://github.com/google-deepmind/mujoco/issues) are reserved
for bug reports, feature requests and other development-related subjects.
## Related software
MuJoCo is the backbone for numerous environment packages. Below we list several bindings and converters.
MuJoCo is the backbone for numerous environment packages. Below we list several
bindings and converters.
### Bindings
@@ -139,7 +144,6 @@ These packages give users of various languages access to MuJoCo functionality:
- **Java**: [mujoco-java](https://github.com/CommonWealthRobotics/mujoco-java)
- **Julia**: [MuJoCo.jl](https://github.com/JamieMair/MuJoCo.jl)
### Converters
- **OpenSim**: [MyoConverter](https://github.com/MyoHub/myoconverter) converts
@@ -148,6 +152,8 @@ These packages give users of various languages access to MuJoCo functionality:
two-way SDFormat <-> MJCF conversion tool.
- **OBJ**: [obj2mjcf](https://github.com/kevinzakka/obj2mjcf)
a script for converting composite OBJ files into a loadable MJCF model.
- **onshape**: [Onshape to Robot](https://github.com/rhoban/onshape-to-robot)
Converts [onshape](https://www.onshape.com/en/) CAD assemblies to MJCF.
## Citation
@@ -186,7 +192,6 @@ This is not an officially supported Google product.
[Getting Started]: https://mujoco.readthedocs.io/en/latest/programming#getting-started
[Unity]: https://unity.com/
[releases page]: https://github.com/google-deepmind/mujoco/releases
[GitHub Issues]: https://github.com/google-deepmind/mujoco/issues
[mujoco.readthedocs.io]: https://mujoco.readthedocs.io
[changelog]: https://mujoco.readthedocs.io/en/latest/changelog.html
[Python bindings]: https://mujoco.readthedocs.io/en/stable/python.html#python-bindings