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192 lines
8.8 KiB
Markdown
192 lines
8.8 KiB
Markdown
<h1>
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<a href="#"><img alt="MuJoCo" src="banner.png" width="100%"/></a>
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</h1>
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<p>
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<a href="https://github.com/google-deepmind/mujoco/actions/workflows/build.yml?query=branch%3Amain" alt="GitHub Actions">
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<img src="https://img.shields.io/github/actions/workflow/status/google-deepmind/mujoco/build.yml?branch=main">
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</a>
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<a href="https://mujoco.readthedocs.io/" alt="Documentation">
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<img src="https://readthedocs.org/projects/mujoco/badge/?version=latest">
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</a>
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<a href="https://github.com/google-deepmind/mujoco/blob/main/LICENSE" alt="License">
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<img src="https://img.shields.io/github/license/google-deepmind/mujoco">
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</a>
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</p>
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**MuJoCo** stands for **Mu**lti-**Jo**int dynamics with **Co**ntact. It is a
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general purpose physics engine that aims to facilitate research and development
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in robotics, biomechanics, graphics and animation, machine learning, and other
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areas which demand fast and accurate simulation of articulated structures
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interacting with their environment.
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This repository is maintained by [Google DeepMind](https://www.deepmind.com/).
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MuJoCo has a C API and is intended for researchers and developers. The runtime
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simulation module is tuned to maximize performance and operates on low-level
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data structures that are preallocated by the built-in XML compiler. The library
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includes interactive visualization with a native GUI, rendered in OpenGL. MuJoCo
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further exposes a large number of utility functions for computing
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physics-related quantities.
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We also provide [Python bindings] and a plug-in for the [Unity] game engine.
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## Documentation
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MuJoCo's documentation can be found at [mujoco.readthedocs.io]. Upcoming features due for the next
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release can be found in the [changelog] in the latest branch.
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## Getting Started
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There are two easy ways to get started with MuJoCo:
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1. **Run `simulate` on your machine.**
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[This video](https://www.youtube.com/watch?v=P83tKA1iz2Y) shows a screen capture
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of `simulate`, MuJoCo's native interactive viewer. Follow the steps described in
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the [Getting Started] section of the documentation to get `simulate` running on
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your machine.
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2. **Explore our online IPython notebooks.**
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If you are a Python user, you might want to start with our tutorial notebooks
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running on Google Colab:
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- The **introductory** tutorial teaches MuJoCo basics:
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[](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/tutorial.ipynb)
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- The **LQR** tutorial synthesizes a linear-quadratic controller, balancing a humanoid on one leg:
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[](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/LQR.ipynb)
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- The **least-squares** tutorial explains how to use the Python-based nonlinear least-squares solver:
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[](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/least_squares.ipynb)
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- The **MJX** tutorial provides usage examples of
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[MuJoCo XLA](https://mujoco.readthedocs.io/en/stable/mjx.html), a branch of MuJoCo written in JAX:
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[](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/mjx/tutorial.ipynb)
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- The **differentiable physics** tutorial trains locomotion policies with analytical gradients automatically derived from MuJoCo's physics step:
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[](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/mjx/training_apg.ipynb)
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## Installation
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### Prebuilt binaries
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Versioned releases are available as precompiled binaries from the GitHub
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[releases page], built for Linux (x86-64 and AArch64), Windows (x86-64 only),
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and macOS (universal). This is the recommended way to use the software.
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### Building from source
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Users who wish to build MuJoCo from source should consult the [build from
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source] section of the documentation. However, please note that the commit at
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the tip of the `main` branch may be unstable.
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### Python (>= 3.9)
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The native Python bindings, which come pre-packaged with a copy of MuJoCo, can
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be installed from [PyPI] via:
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```bash
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pip install mujoco
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```
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Note that Pre-built Linux wheels target `manylinux2014`, see
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[here](https://github.com/pypa/manylinux) for compatible distributions. For more
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information such as building the bindings from source, see the [Python bindings]
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section of the documentation.
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## Contributing
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We welcome community engagement: questions, requests for help, bug reports and
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feature requests. To read more about bug reports, feature requests and more
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ambitious contributions, please see our [contributors guide](CONTRIBUTING.md)
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and [style guide](STYLEGUIDE.md).
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## Asking Questions
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Questions and requests for help are welcome as a GitHub
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["Asking for Help" Discussion](https://github.com/google-deepmind/mujoco/discussions/categories/asking-for-help)
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and should focus on a specific problem or question.
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## Bug reports and feature requests
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GitHub [Issues](https://github.com/google-deepmind/mujoco/issues) are reserved
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for bug reports, feature requests and other development-related subjects.
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## Related software
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MuJoCo is the backbone for numerous environment packages. Below we list several bindings and converters.
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### Bindings
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These packages give users of various languages access to MuJoCo functionality:
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#### First-party bindings:
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- [Python bindings](https://mujoco.readthedocs.io/en/stable/python.html)
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- [dm_control](https://github.com/google-deepmind/dm_control), Google
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DeepMind's related environment stack, includes
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[PyMJCF](https://github.com/google-deepmind/dm_control/blob/main/dm_control/mjcf/README.md),
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a module for procedural manipulation of MuJoCo models.
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- [C# bindings and Unity plug-in](https://mujoco.readthedocs.io/en/stable/unity.html)
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#### Third-party bindings:
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- **WebAssembly**: [mujoco_wasm](https://github.com/zalo/mujoco_wasm) by [@zalo](https://github.com/zalo) with contributions by
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[@kevinzakka](https://github.com/kevinzakka), based on the [emscripten build](https://github.com/stillonearth/MuJoCo-WASM) by
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[@stillonearth](https://github.com/stillonearth).
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:arrow_right: [Click here](https://zalo.github.io/mujoco_wasm/) for a live demo of MuJoCo running in your browser.
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- **MATLAB Simulink**: [Simulink Blockset for MuJoCo Simulator](https://github.com/mathworks-robotics/mujoco-simulink-blockset)
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by [Manoj Velmurugan](https://github.com/vmanoj1996).
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- **Swift**: [swift-mujoco](https://github.com/liuliu/swift-mujoco)
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- **Java**: [mujoco-java](https://github.com/CommonWealthRobotics/mujoco-java)
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- **Julia**: [MuJoCo.jl](https://github.com/JamieMair/MuJoCo.jl)
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### Converters
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- **OpenSim**: [MyoConverter](https://github.com/MyoHub/myoconverter) converts
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OpenSim models to MJCF.
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- **SDFormat**: [gz-mujoco](https://github.com/gazebosim/gz-mujoco/) is a
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two-way SDFormat <-> MJCF conversion tool.
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- **OBJ**: [obj2mjcf](https://github.com/kevinzakka/obj2mjcf)
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a script for converting composite OBJ files into a loadable MJCF model.
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## Citation
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If you use MuJoCo for published research, please cite:
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```
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@inproceedings{todorov2012mujoco,
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title={MuJoCo: A physics engine for model-based control},
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author={Todorov, Emanuel and Erez, Tom and Tassa, Yuval},
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booktitle={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
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pages={5026--5033},
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year={2012},
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organization={IEEE},
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doi={10.1109/IROS.2012.6386109}
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}
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```
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## License and Disclaimer
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Copyright 2021 DeepMind Technologies Limited.
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Box collision code ([`engine_collision_box.c`](https://github.com/google-deepmind/mujoco/blob/main/src/engine/engine_collision_box.c))
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is Copyright 2016 Svetoslav Kolev.
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ReStructuredText documents, images, and videos in the `doc` directory are made
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available under the terms of the Creative Commons Attribution 4.0 (CC BY 4.0)
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license. You may obtain a copy of the License at
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https://creativecommons.org/licenses/by/4.0/legalcode.
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Source code is licensed under the Apache License, Version 2.0. You may obtain a
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copy of the License at https://www.apache.org/licenses/LICENSE-2.0.
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This is not an officially supported Google product.
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[build from source]: https://mujoco.readthedocs.io/en/latest/programming#building-mujoco-from-source
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[Getting Started]: https://mujoco.readthedocs.io/en/latest/programming#getting-started
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[Unity]: https://unity.com/
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[releases page]: https://github.com/google-deepmind/mujoco/releases
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[GitHub Issues]: https://github.com/google-deepmind/mujoco/issues
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[mujoco.readthedocs.io]: https://mujoco.readthedocs.io
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[changelog]: https://mujoco.readthedocs.io/en/latest/changelog.html
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[Python bindings]: https://mujoco.readthedocs.io/en/stable/python.html#python-bindings
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[PyPI]: https://pypi.org/project/mujoco/
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