Saran Tunyasuvunakool
c669ec35cf
PiperOrigin-RevId: 435166719 Change-Id: I6531008950a7492c5f6c4557b78492cee0fe8822
116 lines
4.5 KiB
Markdown
116 lines
4.5 KiB
Markdown
# MuJoCo Physics
|
|
|
|
**MuJoCo** stands for **Mu**lti-**Jo**int dynamics with **Co**ntact. It is a
|
|
general purpose physics engine that aims to facilitate research and development
|
|
in robotics, biomechanics, graphics and animation, machine learning, and other
|
|
areas which demand fast and accurate simulation of articulated structures
|
|
interacting with their environment.
|
|
|
|
DeepMind has acquired MuJoCo, and we are currently making preparations to open
|
|
source the codebase. In the meantime, MuJoCo is available for download as a free
|
|
and unrestricted precompiled binary under the Apache 2.0 license from
|
|
the [GitHub Releases page](https://github.com/deepmind/mujoco/releases).
|
|
|
|
MuJoCo's source code will be released through this GitHub repository once it is
|
|
ready. In the meantime, the repository hosts MuJoCo's documentation, C header
|
|
files for its public API, sample program code, along with the full source code
|
|
for the Python bindings and Unity plugin. If you wish to report bugs or make
|
|
feature requests, please file them as [GitHub Issues]. You are also welcome to
|
|
send us pull requests to improve anything that has been released into this
|
|
repository.
|
|
|
|
|
|
## Overview
|
|
|
|
MuJoCo is a compiled library with a C API, intended for researchers and
|
|
developers. The runtime simulation module is tuned to maximize performance and
|
|
operates on low-level data structures which are preallocated by the built-in XML
|
|
parser and compiler. The user defines models in the native MJCF scene
|
|
description language -- an XML file format designed to be as human readable and
|
|
editable as possible. URDF model files can also be loaded. The library includes
|
|
interactive visualization with a native GUI, rendered in OpenGL. MuJoCo further
|
|
exposes a large number of utility functions for computing physics-related
|
|
quantities, not necessarily in a simulation loop. Features include
|
|
|
|
- Simulation in generalized coordinates, avoiding joint violations.
|
|
|
|
- Inverse dynamics that are well-defined even in the presence of contacts.
|
|
|
|
- Unified continuous-time formulation of constraints via convex optimization.
|
|
|
|
- Constraints include soft contacts, limits, dry friction, equality
|
|
constraints.
|
|
|
|
- Simulation of particle systems, cloth, rope and soft objects.
|
|
|
|
- Actuators including motors, cylinders, muscles, tendons, slider-cranks.
|
|
|
|
- Choice of Newton, Conjugate Gradient, or Projected Gauss-Seidel solvers.
|
|
|
|
- Choice of pyramidal or elliptic friction cones, dense or sparse Jacobians.
|
|
|
|
- Choice of Euler or Runge-Kutta numerical integrators.
|
|
|
|
- Multi-threaded sampling and finite-difference approximations.
|
|
|
|
- Intuitive XML model format (called MJCF) and built-in model compiler.
|
|
|
|
- Cross-platform GUI with interactive 3D visualization in OpenGL.
|
|
|
|
- Run-time module written in ANSI C and hand-tuned for performance.
|
|
|
|
[Python bindings](https://github.com/deepmind/mujoco/tree/main/python) and a
|
|
[plugin for the Unity game engine](https://github.com/deepmind/mujoco/tree/main/unity)
|
|
are also provided and are actively supported by the MuJoCo development team.
|
|
|
|
|
|
## Requirements
|
|
|
|
MuJoCo binaries are currently built for Linux (x86-64 and AArch64),
|
|
Windows (x86-64 only), and macOS. If you require a build for a different
|
|
platform, please let us know via [GitHub Issues] or
|
|
[Discussions](https://github.com/deepmind/mujoco/discussions).
|
|
|
|
|
|
## Documentation
|
|
|
|
MuJoco's current documentation is available at [mujoco.org/book], which is
|
|
serving Sphinx-based webpages derived from the ReStructuredText
|
|
[documentation source files].
|
|
|
|
|
|
## Citation
|
|
|
|
If you use MuJoCo for published research, please cite:
|
|
|
|
```
|
|
@inproceedings{todorov2012mujoco,
|
|
title={Mujoco: A physics engine for model-based control},
|
|
author={Todorov, Emanuel and Erez, Tom and Tassa, Yuval},
|
|
booktitle={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
|
|
pages={5026--5033},
|
|
year={2012},
|
|
organization={IEEE}
|
|
}
|
|
```
|
|
|
|
|
|
## License and Disclaimer
|
|
|
|
Copyright 2021 DeepMind Technologies Limited
|
|
|
|
ReStructuredText documents, images, and videos in the `doc` directory are made
|
|
available under the terms of the Creative Commons Attribution 4.0 (CC BY 4.0)
|
|
license. You may obtain a copy of the License at
|
|
https://creativecommons.org/licenses/by/4.0/legalcode.
|
|
|
|
Source code is 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.
|
|
|
|
|
|
[GitHub Issues]: https://github.com/deepmind/mujoco/issues
|
|
[documentation source files]: https://github.com/deepmind/mujoco/tree/main/doc
|
|
[mujoco.org/book]: https://mujoco.org/book
|