From f5936eac7bea147bf023d6f1ef4285de9fca87fb Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Fri, 19 May 2023 06:11:06 -0700 Subject: [PATCH] - Mention mujoco_wasm in README. - Move Documentation and Getting Started above Installation. - Delete link to the acquisition and open-sourcing announcements. PiperOrigin-RevId: 533434989 Change-Id: I5ac9281cee953c46d618d63fdf9bfd7d39e8f264 --- README.md | 56 +++++++++++++++++++++++++++---------------------------- 1 file changed, 28 insertions(+), 28 deletions(-) diff --git a/README.md b/README.md index 35426831..08002f26 100644 --- a/README.md +++ b/README.md @@ -20,8 +20,7 @@ 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. +This repository is maintained by [DeepMind](https://www.deepmind.com/). 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 @@ -32,6 +31,30 @@ physics-related quantities. We also provide Python bindings and a plug-in for the [Unity] game engine. +## 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](https://www.youtube.com/watch?v=0ORsj_E17B0) 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 basics of MuJoCo: [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/deepmind/mujoco/blob/main/python/tutorial.ipynb) + - For a more advanced example, see the LQR tutorial which creates an LQR + controlled to balance a humanoid on one leg using MuJoCo's dynamics + derivatives: [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/deepmind/mujoco/blob/main/python/LQR.ipynb) + ## Installation ### Prebuilt binaries @@ -60,30 +83,6 @@ Note that Pre-built Linux wheels target `manylinux2014`, see 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](https://www.youtube.com/watch?v=0ORsj_E17B0) 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 basics of MuJoCo: [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/deepmind/mujoco/blob/main/python/tutorial.ipynb) - - For a more advanced example, see the LQR tutorial which creates an LQR - controlled to balance a humanoid on one leg using MuJoCo's dynamics - derivatives: [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/deepmind/mujoco/blob/main/python/LQR.ipynb) - ## Asking Questions We welcome community engagement: questions, requests for help, bug reports and @@ -146,6 +145,9 @@ These packages give users of various languages access to MuJoCo functionality: #### Third-party bindings +- **WebAssembly**: [mujoco_wasm](https://github.com/zalo/mujoco_wasm) by @zalo with contributions by + @kevinzakka, based on the [emscripten build](https://github.com/stillonearth/MuJoCo-WASM) by + @stillonearth. [Click here](zalo.github.io/mujoco_wasm/) for a live demo of MuJoCo in a browser. - **Swift**: [swift-mujoco](https://github.com/liuliu/swift-mujoco) - **Java**: [mujoco-java](https://github.com/CommonWealthRobotics/mujoco-java) - **Julia**: [Lyceum](https://github.com/Lyceum/MuJoCo.jl) (unmaintained) @@ -195,8 +197,6 @@ This is not an officially supported Google product. [build from source]: https://mujoco.readthedocs.io/en/latest/programming#building-mujoco-from-source [Getting Started]: https://mujoco.readthedocs.io/en/latest/programming#getting-started -[acquisition]: https://www.deepmind.com/blog/opening-up-a-physics-simulator-for-robotics -[open sourcing]: https://www.deepmind.com/blog/open-sourcing-mujoco [Unity]: https://unity.com/ [releases page]: https://github.com/deepmind/mujoco/releases [GitHub Issues]: https://github.com/deepmind/mujoco/issues