MuJoCo

Welcome to MuJoCo.jl! This package contains a Julia wrapper for DeepMind's general-purpose physics engine MuJoCo, allowing users to simulate robotic systems, their controllers, and their interactions with surrounding environments, all in native Julia. Please visit our docs page for more information.

Installation

To install MuJoCo.jl, run the following code in a Julia REPL:

import Pkg
Pkg.add("MuJoCo.jl")

This will download and install the package, along with the underlying C library. You should now be able to simulate MuJoCo models and visualise their motion. The following example loads a humanoid robot model and simulates its motion under passive or controlled dynamics through our in-built visualiser.

using MuJoCo
install_visualiser() # Run this to install dependencies only once
init_visualiser()    # Load required dependencies into session

# Load a model of a humanoid
model, data = MuJoCo.sample_model_and_data()

# Define a controller
function ctrl!(model, data)
    data.ctrl .= 2*rand(model.nu) .- 1
end

# Run the visualiser (press F1 for available options)
visualise!(model, data, controller=ctrl!)

A detailed walkthrough of this example can be found on our Getting Started page.

Acknowledgements

Much of this project builds upon the work from Lyceum and their package Lyceum/MuJoCo.jl, along with their visualisation project LyceumMuJoCoViz. We would like to thank the authors of these packages for their amazing work in originally bringing MuJoCo to Julia.