This repository provides Python bindings for the MuJoCo physics engine, enabling detailed and efficient rigid body simulations. It is primarily targeted at researchers and developers in robotics and reinforcement learning who require a robust physics simulator for complex environments.

How It Works

The library acts as a Python wrapper around the C-based MuJoCo engine, allowing users to load MuJoCo XML models, step through simulations, and access simulation data directly from Python. It leverages compiled C extensions for performance-critical operations, bridging the gap between Python's ease of use and MuJoCo's simulation capabilities.

Quick Start & Requirements

• Install: pip3 install -U 'mujoco-py<2.2,>=2.1'
• Prerequisites: MuJoCo v2.1 binaries (download and extract to ~/.mujoco/mujoco210/ or set MUJOCO_PY_MUJOCO_PATH).
• OS Support: Linux (Python 3.6+), macOS (Python 3.6+). Windows and Python 2 are deprecated.
• Dependencies: libosmesa6-dev, libgl1-mesa-glx, libglfw3 on Ubuntu. macOS may require brew install llvm boost hdf5 and environment variable configuration.
• Documentation: Full documentation

Highlighted Details

• Supports MuJoCo version 2.1.
• Includes example scripts demonstrating advanced features like body interaction, texture modification, and serialization.
• Offers GPU-backed rendering tests.

Maintenance & Community

• Maintained by the OpenAI Robotics team.
• Notable contributors include Alex Ray, Bob McGrew, Jonas Schneider, Jonathan Ho, Peter Welinder, Wojciech Zaremba, and Jerry Tworek.

Licensing & Compatibility

• License: Not explicitly stated in the README, but typically associated with OpenAI's open-source projects. Compatibility for commercial use or closed-source linking is not specified.

Limitations & Caveats

This project is deprecated and does not support MuJoCo versions after 2.1.0. New users are directed to use the official MuJoCo Python bindings. Installation can be challenging due to native code compilation and platform-specific dependencies.