mujoco

Multi-Joint dynamics with Contact. A general purpose physics simulator.

https://github.com/google-deepmind/mujoco

Science Score: 49.0%

This score indicates how likely this project is to be science-related based on various indicators:

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CITATION.cff file
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codemeta.json file
Found codemeta.json file
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.zenodo.json file
Found .zenodo.json file
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DOI references
Found 1 DOI reference(s) in README
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Academic publication links
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Committers with academic emails
4 of 87 committers (4.6%) from academic institutions
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Scientific vocabulary similarity
Low similarity (16.5%) to scientific vocabulary

Keywords

mujoco physics robotics

Keywords from Contributors

distributed model-predictive-control motor-control mpc mpc-control predictive-control jax deep-neural-networks pypi interpretability

Last synced: 6 months ago · JSON representation

Repository

Multi-Joint dynamics with Contact. A general purpose physics simulator.

Basic Info

Host: GitHub
Owner: google-deepmind
License: apache-2.0
Language: C++
Default Branch: main
Homepage: https://mujoco.org
Size: 110 MB

Statistics

Stars: 10,531
Watchers: 117
Forks: 1,105
Open Issues: 196
Releases: 40

Topics

mujoco physics robotics

Created over 4 years ago · Last pushed 6 months ago

Metadata Files

Readme Contributing License Security

MuJoCo stands for Multi-Joint dynamics with Contact. 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.

This repository is maintained by Google DeepMind.

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 data structures that are preallocated by the built-in XML compiler. 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.

We also provide Python bindings and a plug-in for the Unity game engine.

Documentation

MuJoCo's documentation can be found at mujoco.readthedocs.io. Upcoming features due for the next release can be found in the changelog in the "latest" branch.

Getting Started

There are two easy ways to get started with MuJoCo:

Run simulate on your machine. This video 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.
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 introductory tutorial teaches MuJoCo basics:
The Model Editing tutorial shows how to create and edit models procedurally:
The rollout tutorial shows how to use the multithreaded rollout module:
The LQR tutorial synthesizes a linear-quadratic controller, balancing a humanoid on one leg:
The least-squares tutorial explains how to use the Python-based nonlinear least-squares solver:
The MJX tutorial provides usage examples of MuJoCo XLA, a branch of MuJoCo written in JAX:
The differentiable physics tutorial trains locomotion policies with analytical gradients automatically derived from MuJoCo's physics step:

Installation

Prebuilt binaries

Versioned releases are available as precompiled binaries from the GitHub releases page, built for Linux (x86-64 and AArch64), Windows (x86-64 only), and macOS (universal). This is the recommended way to use the software.

Building from source

Users who wish to build MuJoCo from source should consult the build from source section of the documentation. However, note that the commit at the tip of the main branch may be unstable.

Python (>= 3.9)

The native Python bindings, which come pre-packaged with a copy of MuJoCo, can be installed from PyPI via:

bash pip install mujoco

Note that Pre-built Linux wheels target manylinux2014, see here for compatible distributions. For more information such as building the bindings from source, see the Python bindings section of the documentation.

Contributing

We welcome community engagement: questions, requests for help, bug reports and feature requests. To read more about bug reports, feature requests and more ambitious contributions, please see our contributors guide and style guide.

Asking Questions

Questions and requests for help are welcome as a GitHub "Asking for Help" Discussion and should focus on a specific problem or question.

Bug reports and feature requests

GitHub Issues are reserved for bug reports, feature requests and other development-related subjects.

Related software

MuJoCo is the backbone for numerous environment packages. Below we list several bindings and converters.

Bindings

These packages give users of various languages access to MuJoCo functionality:

First-party bindings:

Python bindings
- dm_control, Google DeepMind's related environment stack, includes PyMJCF, a module for procedural manipulation of MuJoCo models.
C# bindings and Unity plug-in

Third-party bindings:

WebAssembly: mujoco_wasm by @zalo with contributions by @kevinzakka, based on the emscripten build by @stillonearth.

:arrow_right: Click here for a live demo of MuJoCo running in your browser. - MATLAB Simulink: Simulink Blockset for MuJoCo Simulator by Manoj Velmurugan. - Swift: swift-mujoco - Java: mujoco-java - Julia: MuJoCo.jl

Converters

OpenSim: MyoConverter converts OpenSim models to MJCF.
SDFormat: gz-mujoco is a two-way SDFormat <-> MJCF conversion tool.
OBJ: obj2mjcf a script for converting composite OBJ files into a loadable MJCF model.
onshape: Onshape to Robot Converts onshape CAD assemblies to MJCF.

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}, doi={10.1109/IROS.2012.6386109} }

License and Disclaimer

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.

Owner

Name: Google DeepMind
Login: google-deepmind
Kind: organization

Website: https://www.deepmind.com/
Repositories: 245
Profile: https://github.com/google-deepmind

Committers

Last synced: 9 months ago

All Time

Total Commits: 2,830
Total Committers: 87
Avg Commits per committer: 32.529
Development Distribution Score (DDS): 0.714

Past Year

Commits: 1,129
Committers: 48
Avg Commits per committer: 23.521
Development Distribution Score (DDS): 0.711

Top Committers

Name	Email	Commits
Yuval Tassa	t**a@g**m	809
Alessio Quaglino	q**o@g**m	528
Saran Tunyasuvunakool	s**a@g**m	264
Kyle Bayes	k**s@g**m	211
Nimrod Gileadi	n**d@g**m	133
Baruch Tabanpour	b**a@g**m	103
Kevin Zakka	z**a@g**m	93
Taylor Howell	t**l@g**m	85
Google DeepMind	n**y@d**m	66
Abhishek Joshi	a**j@g**m	63
Erik Frey	e**y@g**m	55
Bálint Hodossy	b**6@i**k	51
Levi Burner	l**r@g**m	49
Tom Erez	e**m@g**m	44
Andrew	a**1@o**m	26
Matthew Bennice	m**e@g**m	23
Sam Haves	s**s@g**m	19
Gabe Oppenheimer	g**r@g**m	17
Kristian Hartikainen	k**n@g**m	13
Meghha Dhoke	d**e@g**m	13
Silvio Traversaro	s**o@t**t	10
Tom Power	t**r@g**m	9
Benjamin Nauck	b**n@n**e	8
Jan Margeta	j**a@g**m	8
Alexis	c**o@g**m	6
Vyankatesh	v**1@g**m	6
Silvia Cruciani	s**i@g**m	5
Yuxuan Jiang	j**4@c**k	5
Robin Alazard	r**d@g**m	4
Nicholas Nadeau	n**u@g**m	4
and 57 more...

Committer Domains (Top 20 + Academic)

google.com: 26 deepmind.com: 1 ic.ac.uk: 1 traversaro.it: 1 nauck.se: 1 connect.hku.hk: 1 nvidia.com: 1 zju.edu.cn: 1 mlutter.eu: 1 mit.edu: 1 liuliu.me: 1 halodi.com: 1 qq.com: 1 me.com: 1 tmplt.dev: 1 rachum.com: 1 edu.pucrs.br: 1 hanyang.ac.kr: 1 yahoo.it: 1

Issues and Pull Requests

Last synced: 6 months ago

All Time

Total issues: 1,096
Total pull requests: 367
Average time to close issues: 2 months
Average time to close pull requests: 21 days
Total issue authors: 591
Total pull request authors: 110
Average comments per issue: 2.45
Average comments per pull request: 1.39
Merged pull requests: 132
Bot issues: 0
Bot pull requests: 14

Past Year

Issues: 274
Pull requests: 185
Average time to close issues: 10 days
Average time to close pull requests: 7 days
Issue authors: 167
Pull request authors: 66
Average comments per issue: 1.57
Average comments per pull request: 1.18
Merged pull requests: 60
Bot issues: 0
Bot pull requests: 2

View more stats

Top Authors

Issue Authors

jjyyxx (25)
hartikainen (21)
kankanzheli (20)
vikashplus (20)
Kallinteris-Andreas (15)
kurtenkera (14)
rishabkr29 (10)
giorgionicola (10)
2-woo-10 (10)
Yingfan99327 (9)
Balint-H (9)
driesmarzougui (8)
Josh00-Lu (7)
JewelryForge (7)
coder-rakeshpaul (6)

Pull Request Authors

Balint-H (38)
aftersomemath (25)
traversaro (20)
abhihjoshi (17)
hartikainen (14)
dependabot[bot] (14)
jjyyxx (12)
jaro-sevcik (10)
Rahul-Lashkari (8)
JewelryForge (6)
vidurvij-apptronik (6)
nishbo (6)
fanminshi (6)
kevinzakka (6)
Andrew-Luo1 (6)

Top Labels

Issue Labels

question (600) bug (308) enhancement (142) Unity (15) MJX (12) good first issue (3) building (3) documentation (3) python (2) duplicate (2) help wanted (1)

Pull Request Labels

dependencies (14) python (2) Unity (1)

Packages

Total packages: 2
Total downloads:
- pypi 508,912 last-month
Total docker downloads: 24,428,206

Total dependent packages: 71
(may contain duplicates)
Total dependent repositories: 276
(may contain duplicates)
Total versions: 63
Total maintainers: 10

pypi.org: mujoco

MuJoCo Physics Simulator

Homepage: https://github.com/google-deepmind/mujoco
Documentation: https://mujoco.readthedocs.io/en/3.3.5
License: Apache License 2.0
Latest release: 3.3.5
published 7 months ago

Versions: 40
Dependent Packages: 66
Dependent Repositories: 275
Downloads: 439,034 Last month
Docker Downloads: 24,428,206

Rankings

Dependent packages count: 0.3%

Stargazers count: 0.4%

Docker downloads count: 0.7%

Downloads: 0.8%

Average: 0.9%

Dependent repos count: 0.9%

Forks count: 2.1%

Maintainers (10)

deepmind nimrodgileadi saran-t kbayes erikfrey quagla btaba Meghha_dhoke gabeoppenheimer thowell

Last synced: 6 months ago

pypi.org: mujoco-mjx

MuJoCo XLA (MJX)

Homepage: https://github.com/google-deepmind/mujoco/tree/main/mjx
Documentation: https://mujoco.readthedocs.io/en/3.3.5
License: apache-2.0
Latest release: 3.3.5
published 7 months ago

Versions: 23
Dependent Packages: 5
Dependent Repositories: 1
Downloads: 69,878 Last month

Rankings

Stargazers count: 0.3%

Forks count: 2.0%

Downloads: 6.3%

Average: 8.1%

Dependent packages count: 10.1%

Dependent repos count: 21.5%

Maintainers (10)

deepmind nimrodgileadi saran-t kbayes erikfrey quagla btaba Meghha_dhoke gabeoppenheimer thowell

Last synced: 6 months ago

Dependencies

.github/workflows/build.yml actions

actions/checkout v3 composite
actions/setup-python v4 composite

doc/requirements.txt pypi

Jinja2 *
Sphinx ==5.3.0
furo ==2022.9.29
jq ==1.4.1
markupsafe ==2.0.1
nbsphinx ==0.9.1
pandoc ==1.1.0
pygments ==2.15.0
sphinx-copybutton ==0.5.2
sphinx-favicon ==1.0.1
sphinx-reredirects ==0.1.1
sphinx-toolbox ==3.4.0
sphinxcontrib-bibtex ==2.6.1
sphinxcontrib-katex ==0.9.4
sphinxcontrib-youtube ==1.2.0
wheel *

mjx/cuda_requirements.txt pypi

jax ==0.4.13
jax ==0.4.18
jaxlib ==0.4.13
jaxlib ==0.4.18

mjx/pyproject.toml pypi

absl-py *
etils [epath]
jax *
jaxlib *
mujoco >=3.1.6.dev0
scipy *
trimesh *

mjx/requirements.txt pypi

absl-py ==2.0.0
attrs ==23.1.0
colorama ==0.4.6
etils ==1.3.0
etils ==1.5.1
exceptiongroup ==1.1.3
execnet ==2.0.2
fsspec ==2023.9.2
importlib-metadata ==6.8.0
importlib-resources ==6.1.0
iniconfig ==2.0.0
jax ==0.4.13
jax ==0.4.18
jaxlib ==0.4.18
jaxlib ==0.4.13
ml-dtypes ==0.3.1
ml-dtypes ==0.2.0
numpy ==1.24.4
numpy ==1.26.0
opt-einsum ==3.3.0
packaging ==23.2
pip ==23.3.1
pluggy ==1.3.0
pyparsing ==3.1.1
pytest ==7.4.2
pytest-xdist ==3.3.1
scipy ==1.10.1
scipy ==1.11.3
setuptools ==68.2.2
tomli ==2.0.1
trimesh ==4.0.0
typing_extensions ==4.8.0
wheel ==0.41.2
zipp ==3.17.0

python/build_requirements.txt pypi

PyOpenGL ==3.1.7
absl-py ==2.1.0
attrs ==24.2.0
auditwheel ==5.4.0
build ==1.2.2.post1
colorama ==0.4.6
etils ==1.10.0
etils ==1.5.2
exceptiongroup ==1.2.2
fsspec ==2024.10.0
glfw ==2.7.0
importlib-metadata ==8.5.0
importlib-resources ==6.4.5
iniconfig ==2.0.0
numpy ==2.1.3
numpy ==2.0.2
packaging ==24.2
pip ==24.3.1
pluggy ==1.5.0
pyelftools ==0.31
pyproject_hooks ==1.2.0
pytest ==8.3.3
setuptools ==75.5.0
tomli ==2.1.0
typing_extensions ==4.12.2
wheel ==0.45.0
zipp ==3.21.0

python/build_requirements_usd.txt pypi

pillow ==10.4.0
usd-core ==24.11

python/make_sdist_requirements.txt pypi

absl-py ==2.1.0
build ==1.2.2.post1
colorama ==0.4.6
importlib-metadata ==8.5.0
packaging ==24.2
pip ==24.3.1
pyproject_hooks ==1.2.0
setuptools ==75.5.0
tomli ==2.1.0
zipp ==3.21.0

python/pyproject.toml pypi

absl-py *
etils [epath]
glfw *
numpy *
pyopengl *

python/setup.py pypi

unity/package.json npm

mujoco

Science Score: 49.0%

Keywords

Keywords from Contributors

Repository

Basic Info

Statistics

Topics

Metadata Files

README.md

Documentation

Getting Started

Installation

Prebuilt binaries

Building from source

Python (>= 3.9)

Contributing

Asking Questions

Bug reports and feature requests

Related software

Bindings

First-party bindings:

Third-party bindings:

Converters

Citation

License and Disclaimer

Owner

Committers

All Time

Past Year

Top Committers

Committer Domains (Top 20 + Academic)

Issues and Pull Requests

All Time

Past Year

Top Authors

Issue Authors

Pull Request Authors

Top Labels

Issue Labels

Pull Request Labels

Packages

pypi.org: mujoco

Rankings

Maintainers (10)

pypi.org: mujoco-mjx

Rankings

Maintainers (10)

Dependencies