Yuval Tassa
4787c8094c
https://www.youtube.com/watch?v=PdSdrqhSiZA The new geom attribute surfacevel (6 numbers: linear and angular velocity in the geom's local frame, angular about the geom frame origin) specifies the velocity of the geom's surface material relative to the geom frame. The relative surface velocity of the two geoms is added to the tangential contact rows of efc_vel in mj_referenceConstraint, so friction drives touching bodies toward the motion of the surface: objects on a conveyor are transported at belt speed, turntables impart omega x r with torsional spin-up for condim >= 4, and surface velocities compose with each other and with body motion. The component along the contact normal is projected out: probe experiments showed that velocity-space emission chatters mass-independently and ingestion merely deepens penetration; normal-direction effects belong to force-space features. surfacevel is interpreted in the geom frame as authored: for mesh geoms, whose compiled frame absorbs the mesh centering and principal-axes transform, the compiler re-expresses the authored value in the compiled frame. No special interaction with sleeping: objects being transported do not fall asleep because they are moving; objects at rest on an active surface may sleep like any other resting object. Includes showcase models (model/surfacevel/): a luggage carousel whose ring is a spinning square-profile supertorus fed by a cascade of belts with matched spinning end rollers, bags dropping in and circulating indefinitely; and a treadmill with a passive humanoid. PiperOrigin-RevId: 948647785 Change-Id: I0c6559a91cc7ece1237eb8ac2e51986e7342d962
MuJoCo Python Bindings
This package is the canonical Python bindings for the MuJoCo physics engine. These bindings are developed and maintained by Google DeepMind, and is kept up-to-date with the latest developments in MuJoCo itself.
The mujoco package provides direct access to raw MuJoCo C API functions,
structs, constants, and enumerations. Structs are provided as Python classes,
with Pythonic initialization and deletion semantics.
It is not the aim of this package to provide fully fledged
scene/environment/game authoring API, as there are already a number of existing
packages that do this well. However, this package does provide a number of
lower-level components outside of MuJoCo itself that are likely to be useful to
most users who access MuJoCo through Python. For example, the egl, glfw, and
osmesa subpackages contain utilities for setting up OpenGL rendering contexts.
Installation
The recommended way to install this package is via PyPI:
pip install mujoco
A copy of the MuJoCo library is provided as part of the package and does not need to be downloaded or installed separately.
Source
IMPORTANT: Building from source is only necessary if you are modifying the Python bindings (or are trying to run on exceptionally old Linux systems). If that's not the case, then we recommend installing the prebuilt binaries from PyPI.
If you need to build the Python bindings from source, please consult the documentation.
Usage
Once installed, the package can be imported via import mujoco. Please consult
our documentation for
further detail on the package's API.
We recommend going through the tutorial notebook which covers the basics of
MuJoCo using Python:
Versioning
The major.minor.micro portion of the version number matches the version of
MuJoCo that the bindings provide. Optionally, if we release updates to the
Python bindings themselves that target the same version of MuJoCo, a .postN
suffix is added, for example 2.1.2.post2 represents the second update to the
bindings for MuJoCo 2.1.2.
License and Disclaimer
Copyright 2022 DeepMind Technologies Limited
MuJoCo and its Python bindings are 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.