mujoco （机器人物理仿真引擎）

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  <a href="https://mujoco.org"><img alt="MuJoCo" src="banner.png" width="100%"/></a>
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  <a href="https://mujoco.org" alt="Website">
    <img src="https://img.shields.io/badge/website-mujoco.org-0053d6">
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  <a href="https://github.com/google-deepmind/mujoco/actions/workflows/build.yml?query=branch%3Amain" alt="GitHub Actions">
    <img src="https://img.shields.io/github/actions/workflow/status/google-deepmind/mujoco/build.yml?branch=main">
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  <a href="https://mujoco.readthedocs.io/" alt="Documentation">
    <img src="https://readthedocs.org/projects/mujoco/badge/?version=latest">
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  <a href="https://github.com/google-deepmind/mujoco/blob/main/LICENSE" alt="License">
    <img src="https://img.shields.io/github/license/google-deepmind/mujoco">
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**MuJoCo** stands for **Mu**lti-**Jo**int dynamics with **Co**ntact. 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](https://www.deepmind.com/).

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 in native desktop windows and web browsers.
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

1. **Try MuJoCo in your browser.**
Visit [mujoco.org](https://mujoco.org) to explore MuJoCo on desktop or mobile
with nothing to install, or open [live.mujoco.org](https://live.mujoco.org) to
inspect and drag and drop your own models in the WebAssembly version of the
[MuJoCo Studio] app (slower than native C, since it runs in WebAssembly).

2. **Run a viewer on your machine.**
Follow the [Getting Started] guide in the documentation to download a prebuilt
release and run the [MuJoCo Studio] app or the classic `simulate` viewer (shown
in [this video](https://www.youtube.com/watch?v=P83tKA1iz2Y)) on your machine.

3. **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:
   [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/tutorial.ipynb)
 - The **Model Editing** tutorial shows how to create and edit models procedur