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mujoco

MuJoCo (Multi-Joint dynamics with Contact) is a physics-based simulation engine with graphics and animation.

Prerequisites

This demo depends on the mujoco-c library, which you can install using lingo by running lingo build in this directory.

In addition, MuJoCo depends on GLFW, a graphics library that you must install. On macOS:

brew install glfw

MuJoCo itself seems to be best installed from source. The following worked for me on macOS:

git clone [email protected]:google-deepmind/mujoco.git
cd mujoco
mkdir build
cd build
cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local
cmake --build .
sudo cmake --install .

The sudo on the last line is required to install it in /usr/local, which is what I did.

The mujoco.cmake file in the mujoco-c library will need to be changed if you change either of the above install locations.

Demos

  • Car.lf: A simple car simulation driven with the arrow keys and providing sensor outputs.