Yuval Tassa
d507e92198
An actuator now owns a block of consecutive controls (actuator_ctrladr/ctrlnum, width defined by the actuator type) and a block of consecutive force outputs (actuator_outadr/outnum, width defined by the transmission type). Force outputs are the scalars of actuation space: one force, length, velocity and moment row each. nout = dim(actuator_force) is derived from transmission types; all current types have width 1, so all three counts coincide for every existing model and behavior is bit-exact. Array re-keying: ctrlrange/ctrllimited by nu; forcerange/forcelimited/gear/ acc0/length0/lengthrange and the moment row structure by nout; everything else per actuator. The mjModel actuator block is re-sorted by size key. Layout-breaking, not behavior-breaking: saved .mjb files are invalidated (size list changed) and recompilation is required. PiperOrigin-RevId: 948351772 Change-Id: Icbc196ffa083cb1eaa6f1a3710869c89d8f62540
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.