- https://mujoco.readthedocs.io/en/stable/python.html
- https://mujoco.readthedocs.io/en/stable/python.html#named-access
- https://pab47.github.io/mujocopy.html
- https://github.com/joonhyung-lee/mujoco-py-usage
- https://github.com/joonhyung-lee/mujoco-robotics-usage
- https://github.com/sjchoi86/yet-another-mujoco-tutorial-v3
- https://github.com/Albusgive/mujoco_learning
- https://mujoco.readthedocs.io/en/stable/mjx.html
- Warp as backend since 3.3.5
- MJX Viewer: https://github.com/google-deepmind/mujoco/blob/main/mjx/mujoco/mjx/viewer.py
- google-deepmind/mujoco#2813
- https://github.com/google/brax
- https://github.com/ami-iit/jaxsim
- https://github.com/patsyuk03/MJX_Tutorial
- https://mujoco.readthedocs.io/en/stable/mjwarp
- https://github.com/google-deepmind/mujoco_warp
- https://github.com/google-deepmind/mujoco_warp/blob/main/mujoco_warp/viewer.py - https://github.com/google-deepmind/mujoco/blob/main/mjx/mujoco/mjx/third_party/mujoco_warp/viewer.py (Unclear yet why duplicated?)
- google-deepmind/mujoco#2865
- google-deepmind/mujoco_playground#197
- https://github.com/mujocolab/mjlab
- https://mujoco.readthedocs.io/en/stable/python.html#pyrollout
- https://mujoco.readthedocs.io/en/latest/python.html#code-sample-open-loop-rollout
- Model editing - Relationship to PyMJCF & binding
- dm_control: MJCF
- https://github.com/kscalelabs/mujoco-scenes
- https://github.com/felixokolo/MuJoCo_tutorials
- https://yasunori.jp/en/2024/07/13/mujoco-model-yourself.html
- https://github.com/HiroIshida/mujoco-xml-editor
- https://github.com/dtorre38/mujoco-xml-creator
- google-deepmind/mujoco#6
- https://github.com/google-deepmind/dm_control/blob/main/dm_control/mjcf/schema.xml
- https://github.com/ronansgd/xml-schema-mjcf
- https://github.com/julien-blanchon/mujoco-schema
- https://github.com/CommonWealthRobotics/mujoco-xml-schema-mjcf
Note: Please refer here for mesh geoms centering & alignment upon model compilation. This makes
model.geom('abc').pos/quatbe different from their settings in XML! In that case, useMjSpecto read those instead.
- https://mujoco.readthedocs.io/en/stable/XMLreference.html#asset-mesh
- https://mujoco.readthedocs.io/en/stable/XMLreference.html#asset-mesh-builtin
- https://mujoco.readthedocs.io/en/stable/python.html#mesh-creation
- https://mujoco.readthedocs.io/en/latest/models.html
- https://github.com/google-deepmind/mujoco/tree/main/model
- https://github.com/google-deepmind/mujoco/tree/main/test/engine/testdata
- https://github.com/google-deepmind/mujoco/tree/main/test/benchmark/testdata
- https://github.com/deepmind/mujoco_menagerie
- https://www.roboti.us/forum/index.php?resources
- https://www.worldlabs.ai
- https://github.com/ROBOTIS-GIT/robotis_mujoco_menagerie
- https://github.com/vikashplus/simhive
- https://github.com/vikashplus/object_sim
- https://github.com/kevinzakka/mujoco_cube
- https://github.com/kevinzakka/mujoco_scanned_objects
- https://github.com/isaac-sim/IsaacGymEnvs/tree/main/assets/mjcf
- https://github.com/zerchen/object_sim
- https://github.com/robot-descriptions/awesome-robot-descriptions
- https://github.com/robot-descriptions/robot_descriptions.py
- https://github.com/ARISE-Initiative/robosuite/tree/master/robosuite/models/assets
- https://github.com/microcosmAI/PITA-Procedural-and-Iterative-Terrain-Assembly
- Paper
- https://github.com/Rhoban/onshape-to-robot
mj_model.qpos0[:] = [0.3, 0.5]
mujoco.mj_setConst(mj_model, mj_data)
mjw_model.qpos0.numpy()[0, :] = [0.3, 0.5]
mjwarp.set_const(mjw_model, mjw_data)
- https://github.com/google-deepmind/mujoco_playground/tree/main/mujoco_playground/_src
- https://github.com/SarahWeiii/pamo
for turning models to Low-Polygon
- MuJoCo: Robotic Gripper Mechanism Modelling - XML
- https://github.com/google-deepmind/mujoco/blob/main/model/flex/gripper.xml
- https://github.com/google-deepmind/mujoco/blob/main/model/flex/gripper_trilinear.xml
- https://github.com/google-deepmind/mujoco_menagerie/tree/main/robotiq_2f85
- https://github.com/google-deepmind/mujoco_menagerie/tree/main/umi_gripper
- https://github.com/ARISE-Initiative/robosuite/tree/master/robosuite/models/assets/grippers
- https://github.com/dexsuite/dex-urdf (urdf only, convertible to mjcf)
- https://github.com/google-deepmind/mujoco_menagerie/tree/main/shadow_hand - MJX
- https://github.com/google-deepmind/mujoco_menagerie/tree/main/shadow_dexee
- https://github.com/google-deepmind/mujoco_menagerie/tree/main/leap_hand - MJX
- https://github.com/google-deepmind/mujoco_menagerie/tree/main/wonik_allegro
- https://github.com/google-research/robel-scenes
- Trifinger
- https://github.com/vikashplus/Adroit
- https://github.com/MyoHub/myosuite/tree/main/myosuite/envs/myo/assets/hand
- https://github.com/google-deepmind/mujoco_menagerie/blob/main/franka_emika_panda/hand.xml
- https://github.com/google-deepmind/mujoco_menagerie/blob/main/ufactory_xarm7/hand.xml
- https://github.com/TokyoRobotics/torobo_mujoco/tree/main/robots/hand_v4
- MJ Menagerie
- https://github.com/pollen-robotics/AmazingHand/tree/main/Demo/AHSimulation
- https://github.com/orcahand/orcahand_description
- MJ Menagerie
- https://www.roboti.us/forum/index.php?resources/modular-prosthetic-limb-shap-test-suites.19/history
- https://www.roboti.us/forum/index.php?resources/wam-and-barrett-hand.20/history
- https://www.roboti.us/forum/index.php?resources/sandia-hands.18/history
- https://github.com/csiz/hextech-mecha-hand-mujoco
- https://github.com/srl-ethz/faive_gym_oss/tree/main/assets/faive_hand_p0
- Indy7 - Indy7 + FT-Gripper
- Doosan m1013 & m0609: MJ Menagerie - https://github.com/KisangPark/mujoco_practice
- https://github.com/google-deepmind/mujoco_menagerie/tree/main/aloha - https://aloha-2.github.io
- https://github.com/tenfoldpaper/multipanda_ros2
- https://github.com/ir-lab/bimanual-imitation/tree/main/irl_control/assets
- https://github.com/Autrio/MuJoCo-Dual-Arm
- https://github.com/alinjar1996/Dual_Arm_Mujoco
- https://github.com/vikashplus/franka_sim
- https://github.com/enactic/openarm_mujoco
- https://github.com/TrossenRobotics/trossen_arm_mujoco
- https://github.com/google-deepmind/mujoco/blob/main/model/car google-deepmind/mujoco#2392
- https://github.com/JunHeonYoon/mujoco_mecanum
- https://github.com/UW-Advanced-Robotics-Lab/uwarl-mujoco-summit-wam-sim
- https://github.com/robotlearning123/dual_ur5_husky_mujoco
- MJ Menagerie
- https://github.com/joonhyung-lee/mujoco-robotics-usage/tree/main/asset/husky_ur5e
- Garmi - https://github.com/tenfoldpaper/multipanda_ros2/tree/humble/garmi_packages/garmi_description/mujoco
- https://github.com/prl-mushr/mushr_mujoco_ros
- https://mushr.io/tutorials/mujoco
- https://github.com/griloHBG/Rover4We
- https://github.com/vikashplus/fetch_sim
- https://github.com/JChunX/fetch_freight_mujoco
- https://github.com/google-deepmind/mujoco_menagerie/tree/main/pal_tiago_dual
- https://github.com/google-deepmind/mujoco_menagerie/tree/main/pal_tiago
- https://github.com/vikashplus/PR2
- https://roboti.us/forum/index.php?resources/pr2-willow-garage.14/history
- https://github.com/google-deepmind/mujoco_menagerie/tree/main/hello_robot_stretch_3
- https://github.com/google-deepmind/mujoco_menagerie/tree/main/agility_cassie
- https://github.com/TokyoRobotics/torobo_mujoco
- https://github.com/google-deepmind/mujoco_menagerie/tree/main/apptronik_apollo
- https://github.com/google-deepmind/mujoco_menagerie/tree/main/pal_talos
- https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_h1
- https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_g1
- https://github.com/siddharthdeore/icub_mujoco
- https://github.com/utra-robosoccer/unified-humanoid-getup
- https://github.com/bxirobotics/robot_models
- https://github.com/shbang91/rpc/tree/develop/robot_model
- https://github.com/isri-aist/jvrc_mj_description
- https://github.com/well-robotics/STRIDE/tree/main/Software/ROS2/description
- https://github.com/nico-bohlinger/one_policy_to_run_them_all/blob/main/one_policy_to_run_them_all/environments/nao_v5
- https://github.com/upkie/upkie
- https://www.alex-hattori.com/blog/stride-mujoco-sim-no-arms
- https://github.com/jaykorea/Isaac-RL-Two-wheel-Legged-Bot/tree/sim2sim_onnx/assets
- https://github.com/google-deepmind/dm_control/blob/main/dm_control/suite/quadruped.xml
- https://github.com/google-deepmind/dm_control/blob/main/dm_control/suite/dog.xml
- https://github.com/RoboticsDesignLab/jitterbug
- https://github.com/google-deepmind/mujoco_menagerie/tree/main/google_barkour_vb
- https://github.com/google-deepmind/mujoco_menagerie/tree/main/boston_dynamics_spot - https://github.com/MindSpaceInc/Spot-MuJoCo-ROS2
- https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_go2
- https://github.com/nimesh00/mjsim_quad
- https://github.com/robocasa/robocasa/tree/main/robocasa/models
- https://github.com/chernyadev/bigym/tree/master/bigym/envs/xmls/props
Utensils
- https://github.com/allenai/molmospaces
- https://github.com/etaoxing/kitchen-shift/tree/master/kitchen_shift/mujoco
- Peg
- Cable
- Bottle Cap
- https://github.com/vincekurtz/hydrax/tree/main/hydrax/models/crane
- https://github.com/nico-bohlinger/one_policy_to_run_them_all/blob/main/one_policy_to_run_them_all/environments/hexapod
- https://github.com/kevinzakka/obj2mjcf
-> Auto decompose OBJ to multi convex sub-meshes for collision
- https://github.com/newton-physics/mujoco-usd-converter
- https://github.com/LightwheelAI/mjcf2usd
- https://github.com/LightwheelAI/usd2mjcf
- https://mujoco.readthedocs.io/en/stable/modeling.html#mocap-bodies
- mjData.mocap_pos/mocap_quat
- https://github.com/google-deepmind/dm_control/tree/main/dm_control/locomotion/mocap
- https://github.com/kevincheng3/mocap-control
- https://github.com/mochan-b/mujoco_mocap_tutorial
- google-deepmind/mujoco#1965
- https://github.com/google-deepmind/mujoco/blob/main/python/mujoco/minimize.py
- https://github.com/google-deepmind/mujoco_mpc/blob/main/docs/DIRECT.md
- https://mujoco.readthedocs.io/en/stable/programming/simulation.html#jacobians
- google-deepmind/mujoco#222
- google-deepmind/mujoco#378
- https://github.com/deepmind/dm_control/blob/main/dm_control/utils/inverse_kinematics.py
- https://scaron.info/robotics/differential-inverse-kinematics.html - https://manipulation.csail.mit.edu/pick.html#jacobian
- MJ Gauss-Newton IK
- https://github.com/kevinzakka/mink - kevinzakka/mink#2
- https://github.com/martantoine/Minc
- https://alefram.github.io/posts/Basic-inverse-kinematics-in-Mujoco
- https://github.com/ARISE-Initiative/robosuite/blob/master/robosuite/utils/ik_utils.py
- https://github.com/chungmin99/pyroki
- https://github.com/based-robotics/mjinx
- https://github.com/TrossenRobotics/trossen_arm_mujoco
- https://deepmind.google/discover/blog/opening-up-a-physics-simulator-for-robotics
- https://mujoco.readthedocs.io/en/stable/computation/index.html#general-framework
- https://mujoco.readthedocs.io/en/stable/programming/simulation.html#forward-dynamics
- https://mujoco.readthedocs.io/en/stable/programming/simulation.html#inverse-dynamics
- https://mujoco.readthedocs.io/en/stable/programming/simulation.html#jacobians
Ellipsoidal fluid model
- https://github.com/commanderxa/alphalabs
- Simulating box impact dynamics in MuJoCo
- https://www.danaukes.com/work-blog/2024-03-11-double-pendulum-inverse
- https://www.kwesirutledge.info/thoughts/mujoco1
- https://github.com/Aditya-gam/RigidBody-Simulation
- https://roboti.us/forum/index.php?resources/tennis-racket-theorem-dzhanibekov-effect.24/history
- https://www.roboti.us/forum/index.php?resources/tippe-top.25/history
- Simulating sand filled balls #867
- https://github.com/felixokolo/MuJoCo_tutorials
-red?style=flat-square&logo=youtube&logoColor=white){kind=icon}
- https://mujoco.readthedocs.io/en/stable/XMLreference.html#body-gravcomp -> mjData.qfrc_passive
- https://mujoco.readthedocs.io/en/stable/XMLreference.html#body-joint-actuatorgravcomp -> mjData.qfrc_actuator
- https://github.com/google-deepmind/mujoco/blob/main/model/balloons/balloons.xml
Gravity over-compensation (buoyancy)
- https://mujoco.readthedocs.io/en/stable/computation/index.html#constraint-model
- https://mujoco.readthedocs.io/en/stable/computation/index.html#constraint-solver
- https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/catenary.xml
- https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/weld.xml
- Convex and analytically-invertible dynamics with contacts and constraints: Theory and implementation in MuJoCo, Prof. Todorov
- https://mujoco.readthedocs.io/en/stable/computation/index.html#soft-contact-model
- https://mujoco.readthedocs.io/en/stable/computation/index.html#contact constraint type
- https://mujoco.readthedocs.io/en/stable/computation/index.html#collision-detection reporting active contacts
- https://mujoco.readthedocs.io/en/stable/computation/index.html#friction-cones - https://scaron.info/robotics/friction-cones.html - impratio: ratio of friction-to-normal contact impedance
- https://mujoco.readthedocs.io/en/latest/modeling.html#contact-parameters
- https://mujoco.readthedocs.io/en/latest/modeling.html#contact-override
- https://mujoco.readthedocs.io/en/stable/modeling.html#tips-and-tricks
- https://mujoco.readthedocs.io/en/latest/computation/index.html#sleeping-islands
- https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/armature_equivalence.xml - Joint armature
- google-deepmind/mujoco#278 Equality constraint bounciness
- https://github.com/google-deepmind/mujoco/tree/main/test/engine/testdata/actuation
- Stateless actuators
- Stateful actuators
- For free-joint/6-dof body
- Gear
- https://github.com/joonhyung-lee/mujoco-robotics-usage
- https://github.com/mpflueger/mujoco-ompl
- https://github.com/zniihgnexy/niryo_project
MuJoCo + LLM
- https://github.com/bdaiinstitute/jacta-manipulation
Dexterous + Whole-body planning
- https://github.com/adlarkin/mjpl
utilizing mink
- https://github.com/wisdomagboh/multi-object-grasping
https://sites.google.com/view/multi-object-grasping
- https://mujoco.readthedocs.io/en/stable/programming/simulation.html#state-and-control
- MuJoCo Bootcamp, Prof. Pranav Bhounsule
- https://github.com/google-deepmind/dm_robotics
- https://github.com/kevinzakka/mjctrl
- https://github.com/alibaba-damo-academy/RynnMotion
- https://github.com/abr/abr_control
- https://github.com/lvjonok/mujoco-actuators-types
- https://github.com/jdj2261/Simple-Mujoco-Sim/tree/master/controllers
- https://github.com/DavidPL1/mujoco_ik_control
- https://github.com/TrossenRobotics/trossen_arm_mujoco
- https://github.com/rohit-kumar-j/SPD_Controller_Mujoco
- https://github.com/peterdavidfagan/mujoco_controllers
- https://github.com/aaronjohnsabu1999/flexiforce
- https://github.com/ian-chuang/Manipulator-Mujoco
- https://github.com/EladSharony/DiffMjStep
Differentiable MuJoCo Dynamics
- https://github.com/jsll/MuJoCo-simulating-prehensile-pushing
- https://github.com/rohanpsingh/mc_mujoco
- https://github.com/MahanFathi/iLQG-MuJoCo
- https://github.com/tenfoldpaper/multipanda_ros2
- https://github.com/adubredu/KinodynamicFabrics.jl
- https://github.com/tud-amr/fabrics/tree/ft-mujoco-example
Collision avoidance
- Online Planning and Control of Physics-Based Skateboarding Animation - Webpage
- https://github.com/simon-bachhuber/chain_control
Neural ODE control for kinematic chains
- https://github.com/wisdomagboh/parareal-manip
- https://github.com/Reconfigurable-Robotics-Lab/Simulation_CPG_Manipulation_Oripixel
- https://github.com/tomoya-yamanokuchi/disf-official
- https://reflexivegrasp.github.io - https://arxiv.org/abs/2509.15876
- https://github.com/Joohwan-Seo/GUFIC_mujoco
- https://github.com/Autrio/MuJoCo-Dual-Arm
- https://dualarmvil.github.io/Dual-Arm-VIL - https://arxiv.org/abs/2410.19712
Cartesian EE Control with Mocap using refsite & weld (handy but specialized/non-versatile) - Alternatives
- Site transmission
- https://mujoco.readthedocs.io/en/stable/XMLreference.html#actuator-general-refsite - https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/refsite.xml
- https://github.com/kevincheng3/mocap-control
- https://github.com/mochan-b/mujoco_mocap_tutorial
- https://github.com/google-deepmind/mujoco_mpc
- https://github.com/vincekurtz/hydrax
MJX
- https://github.com/iit-DLSLab/mpx
MJX
- https://github.com/vincekurtz/gpc
MJX
- https://github.com/bdaiinstitute/judo
CEM
- https://github.com/LeCAR-Lab/dial-mpc
MJX
- https://github.com/AKS-Lab-Univertsity-of-Tartu/bimanual_manipulation
CEM MJX
- https://github.com/mohakbhardwaj/mjmpc
- https://github.com/asu-iris/Complementarity-Free-Dexterous-Manipulation
- https://github.com/asu-iris/ContactSDF
- https://github.com/asu-iris/HSBC-Robust-Learning
- https://github.com/giulioturrisi/Flywheel-Pendulum-Robot
- https://github.com/unitreerobotics/unitree_mujoco
- Table Tennis Juggling using Model Predictive Control, David Nguyen
MPC: Humanoid
- https://github.com/tayalmanan28/Humanoid_push_recovery
- https://github.com/shbang91/rpc
on humanoids utilizing pinocchio
- https://github.com/pocketxjl/humanoid-control
- https://github.com/loongOpen/openloong-dyn-control
- https://github.com/bridgedp/hunter_bipedal_control
- https://github.com/iiborisov/simrobs
- Catch & Carry: Reusable Neural Controllers for Vision-Guided Whole-Body Tasks
- https://github.com/google-deepmind/dm_env
- https://github.com/google-deepmind/dm_robotics/blob/main/py/moma/README.md
- https://robosuite.ai - https://github.com/ARISE-Initiative/robosuite-task-zoo
- https://robocasa.ai - https://github.com/robocasa/robocasa
- https://allenai.org/embodied-ai - https://github.com/allenai/molmospaces
- https://research.mels.ai/ide
- https://github.com/google/brax
- https://github.com/google-deepmind/dm_control
- https://github.com/google-deepmind/mujoco_playground
- https://github.com/MichalBortkiewicz/JaxGCRL
- https://github.com/dvalenciar/ReinforceUI-Studio
- https://github.com/Scitator/catalyst-rl-framework
- https://github.com/Farama-Foundation/Gymnasium-Robotics
- https://github.com/Farama-Foundation/Metaworld
- https://github.com/vikashplus/robohive
- https://github.com/rl-tools/rl-tools/tree/master/src/rl/environments/mujoco
- https://github.com/thu-ml/tianshou/tree/master/examples/mujoco
- https://github.com/opendilab/DI-engine/tree/main/dizoo/mujoco
- https://github.com/OpenRL-Lab/openrl/tree/main/examples/mujoco
- https://github.com/MushroomRL/mushroom-rl/tree/dev/mushroom_rl/environments/mujoco_envs
- https://github.com/agi-brain/xuance/blob/master/examples/ppo/ppo_mujoco.py
- https://github.com/aravindr93/mjrl
- https://github.com/automl/mdp-playground
- https://github.com/Co-Evolve/moojoco
- https://github.com/Tsinghua-Space-Robot-Learning-Group/SpaceRobotEnv
- https://libero-project.github.io https://github.com/Lifelong-Robot-Learning/LIBERO
- https://github.com/ALRhub/d3il
- https://github.com/MiYanDoris/GraspVLA-playground
- https://github.com/RROS-Lab/IROS2024-Bin-Packing
- https://github.com/google-deepmind/rgb_stacking
- https://dualarmvil.github.io/Dual-Arm-VIL
- https://github.com/michel-aractingi/gym-lowcostrobot/tree/environment_fixes
- https://github.com/michel-aractingi/Sim-LeRobotHackathon
- https://github.com/facebookresearch/TCDM
- https://pregrasps.github.io
- https://github.com/Joohwan-Seo/GIC_Learning_public
- https://github.com/google-research/robel
- https://github.com/biorobotics/Wombat_robosuite
- https://github.com/lsp-yh/RL-Robot-Manipulation
- https://github.com/ian-chuang/homestri-ur5e-rl
- https://github.com/PaulDanielML/MuJoCo_RL_UR5
- https://github.com/JadeCong/Robotic-Softbody-Manipulation
- https://github.com/hhanzifei/Manipulator-Mujoco-dm_control
- https://github.com/Learning-in-robotics/kinova_learning
- https://github.com/UW-Advanced-Robotics-Lab/seqopt
- https://github.com/Tsinghua-Space-Robot-Learning-Group/SpaceRobotEnv
- https://github.com/intelligent-soft-robots/pam_mujoco
- https://github.com/intelligent-soft-robots/learning_table_tennis_from_scratch
- https://github.com/kuds/rl-mujoco-tennis
- https://github.com/Joe-Khawand/Juggling-RL
- https://github.com/fhswf/MLPro-Int-MuJoCo - https://mlpro.readthedocs.io
- https://github.com/google-research/pddm
- https://github.com/google-research/robopianist
- https://github.com/kevinzakka/robopianist-rl
- https://github.com/leonasting/geometry-dex
- https://github.com/kochlisGit/Shadow-Hand-Controller
- https://github.com/Xiang-Zhang-98/Mujoco3_manipulation_sim
- https://robotics.farama.org/envs/adroit_hand/index.html
- https://github.com/aravindr93/hand_dapg
- https://github.com/Director-of-G/hand_dapg/tree/devel_jyp
on LeapHand + Contact tracking
- https://github.com/GT-STAR-Lab/KODex
- https://github.com/google-deepmind/dm_control/tree/main/dm_control/locomotion
- https://github.com/mujocolab/g1_spinkick_example
- https://github.com/goncalog/ai-robotics
- https://github.com/TokyoRobotics/torobo_mujoco
- https://github.com/rohanpsingh/LearningHumanoidWalking
- https://github.com/carlosferrazza/humanoid-bench/tree/main/humanoid_bench/mjx
- https://github.com/rohanpsingh/LearningHumanoidWalking
- https://github.com/utra-robosoccer/unified-humanoid-getup
- https://github.com/tianxintao/get_up_control
- https://github.com/robfiras/loco-mujoco
- https://github.com/microsoft/MoCapAct
- https://github.com/jiawei-ren/diffmimic
- https://github.com/Khrylx/RFC
- https://github.com/ZhengyiLuo/UHC
- https://github.com/ZhengyiLuo/SMPLSim
- https://github.com/bdaiinstitute/jacta-manipulation
- https://github.com/TuragaLab/flybody
- https://github.com/NeLy-EPFL/flygym
- https://github.com/varadVaidya/cf2_mujoco
- https://github.com/alefram/ingenuity-mujoco
- https://github.com/lachlanhurst/balance-robot-mujoco-rl
- https://github.com/noah-boeckmann/Learning_Balance_Control_PNU2025-1
- https://github.com/prl-mushr/mushr?tab=readme-ov-file#simulation
- https://github.com/adipandas/gym_multirotor
- https://github.com/luigimuratore/CtrlAltRover/tree/v1_BASE/MuJoCo
- https://github.com/ubi-coro/MagBotSim
- https://github.com/jaykorea/Isaac-RL-Two-wheel-Legged-Bot/tree/sim2sim_onnx
- https://huggingface.co/docs/lerobot/en/il_sim
- https://robosuite.ai - https://github.com/ARISE-Initiative/robosuite-task-zoo
- https://robomimic.github.io
- https://github.com/isri-aist/RoboManipBaselines
- https://github.com/jeongeun980906/lerobot-mujoco-tutorial
ACT (Action-Chunking-Transformer)
- https://github.com/ir-lab/bimanual-imitation
- https://github.com/NVlabs/Optimus
- https://github.com/princeton-vl/FetchBench-Imit
- https://github.com/yzqin/dexmv-learn
- https://github.com/yzqin/dexmv-sim
- https://github.com/facebookresearch/TCDM
- https://github.com/kristery/dex-affordance
- https://github.com/NYU-robot-learning/DIME-Models https://github.com/NYU-robot-learning/dime_env
- https://github.com/zerchen/vividex_mujoco
- Batch visualizer
- https://github.com/shacklettbp/madrona_mjx
- https://github.com/michaal94/muble
MuJoCo + Blender
- https://github.com/Andrew-Luo1/jax_shac/blob/main/vision/2dof_ball.ipynb
Configure MuJoCo to use the EGL rendering backend (requires GPU) If requiring X11 virtual buffer, use xvfbwrapper. Do NOT run Xvfb directly, of which the process owns its lock file created temporarily at /tmp, which in some edge case has to be deleted manually afterward, which is not always convenient to do if running on a shared server that grants limited write-right to OS users.
with Xvfb(width=720, height=4801080) as xvfb: # -> xvfb will delete its own lock upon exit
print(f"Using Xvfb display: {xvfb.new_display}")
headless = True
if headless:
os.environ["MUJOCO_GL"] = "egl"
os.environ["PYOPENGL_PLATFORM"] = "egl"
assert os.environ["DISPLAY"] is not None, "Xvfb is required to start in advance!\n"
"Please use xvfbwrapper. DON'T RUN: `Xvfb :<no> -screen 0 720x480x24` DIRECTLY!"
main(record_video=headless)
- https://mujoco.readthedocs.io/en/stable/programming/samples.html#sarecord
- https://github.com/google-deepmind/mujoco/blob/main/python/mujoco/renderer.py
- https://github.com/google-deepmind/dm_control/blob/main/dm_control/viewer/renderer.py
- render_many()
- https://github.com/rohanpsingh/mujoco-python-viewer/blob/main/examples/offscreen_demo.py
- https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/tutorial.ipynb#scrollTo=AGm5-e0sHEAF
- google-deepmind/mujoco#753
- https://mujoco.readthedocs.io/en/stable/python.html#interactive-viewer
- https://github.com/rohanpsingh/mujoco-python-viewer
- https://github.com/joonhyung-lee/mujoco-robotics-usage/blob/main/code/miscellaneous/demo_multi_viewer.py
- https://mimicgen.github.io
- https://dexmimicgen.github.io
- https://github.com/alibaba-damo-academy/RynnMotion
- https://github.com/TrossenRobotics/trossen_arm_mujoco
- https://mujoco.readthedocs.io/en/latest/XMLreference.html#collision-sensors (geometric)
- https://mujoco.readthedocs.io/en/stable/XMLreference.html#sensor-contact (dynamics)
- https://mujoco.readthedocs.io/en/latest/computation/index.html#convex-decomposition
- https://github.com/kevinzakka/obj2mjcf
- https://github.com/CoMMALab/foam
- https://github.com/kevinzakka/obj2mjcf
- https://mujoco.readthedocs.io/en/stable/XMLreference.html#sensor-tactile
- https://github.com/google-deepmind/mujoco/tree/main/model/tactile
- https://github.com/google-deepmind/mujoco/test/plugin/sensor/testdata/touch_grid_test.xml
- https://github.com/isri-aist/MujocoTactileSensorPlugin
- https://github.com/ubi-agni/mujoco_contact_surfaces
- Video
- https://github.com/ubi-agni/mujoco_ros_demos/tree/noetic-devel/hydroelastic_contacts
- https://github.com/rlamprell/GelSightMujoco/blob/main/Test_bed/envs/utils/gelsight_driver.py
- https://github.com/ewernn/TactileManipulation
- https://github.com/sizhe-li/mujoco-phys-sim
- https://github.com/joonhyung-lee/mujoco-robotics-usage/blob/main/code/miscellaneous/demo_multi_viewer.py
- https://github.com/joonhyung-lee/mujoco-robotics-usage/blob/main/code/miscellaneous/demo_sam.ipynb
- https://github.com/joonhyung-lee/mujoco-robotics-usage/blob/main/code/miscellaneous/demo_voxel_value_map.ipynb
- https://github.com/joonhyung-lee/mujoco-robotics-usage/tree/main/code/point-cloud
- https://github.com/RogerQi/human-policy/blob/main/docs/humanoid_mujoco.md
- https://github.com/zerchen/object_sim
- https://github.com/AimRT/aimrt_mujoco_sim
C++
- https://github.com/moveit/mujoco_ros2_control
- https://github.com/moveit/mujoco_ros2_control_examples
- https://github.com/ubi-agni/mujoco_ros_demos
- https://github.com/ubi-agni/mujoco_ros_pkgs
- https://github.com/ubi-agni/franka_ros_mujoco
- https://github.com/Woolfrey/mujoco_ros2
- https://github.com/peterdavidfagan/mujoco_ros
- https://github.com/saga0619/mujoco_ros_sim
- https://github.com/tenfoldpaper/multipanda_ros2/tree/humble/franka_description/mujoco
- https://github.com/Caltech-AMBER/drop/tree/main/cube_rotation_ws/src/cro_ros
- https://github.com/A2R-Lab/indy7-sdk/blob/main/src/mujoco_sim/src/mujoco_sim_node.cpp
