官方教程

​​​​​MuJoCo自定义机器人建模指南https://zhuanlan.zhihu.com/p/143983506

• mujoco的快捷键和界面分解

2025新版mujoco学习笔记——常用快捷键_mujoco快捷键-CSDN博客

python -m mujoco.viewer

把xml拖到界面中

• 常用的mujoco的库

mink（基于qp的逆运动学）

kevinzakka/mink: Python inverse kinematics based on MuJoCo. (github.com)

mujoco_menagerie（机械臂模型库）

google-deepmind/mujoco_menagerie: A collection of high-quality models for the MuJoCo physics engine, curated by Google DeepMind. (github.com)

mujoco_mpc

google-deepmind/mujoco_mpc: Real-time behaviour synthesis with MuJoCo, using Predictive Control (github.com)

mujoco_warp

google-deepmind/mujoco_warp: GPU-optimized version of the MuJoCo physics simulator, designed for NVIDIA hardware. (github.com)

阻抗（franka，kuka，ur5）

kevinzakka/mjctrl: Minimal, clean, single-file implementations of common robotics controllers in MuJoCo. (github.com)

dm_control

• mujoco常用的教程

荔枝成LitchiCheng/mujoco-learning (github.com)

mujoco-learning

Albusgive/mujoco_learning (github.com)

mujoco教程

MuJoCo 教程 | 少帥的博客 (shawshai.cn)

• 碰撞网格

obj2mjcf
mujoco对于非凸物体需要对模型进行简化并分割成小凸包

使用开源库obj2mjcf

kevinzakka/obj2mjcf: A CLI for processing composite Wavefront OBJ files for use in MuJoCo. (github.com)

还有一个coacd

• URDF转mjcf

(99+ 封私信 / 80 条消息) Mujoco教程1：将URDF转换XML文件 - 知乎 (zhihu.com)

  <mujoco>
        <compiler 
        meshdir="../meshes/" 
        balanceinertia="true" 
        discardvisual="false" />
  </mujoco>

同时urdf中的<mesh filename=" "/>这个位置需要修改命名，可以直接为stl或obj的名字

• 接触刚度

MuJoCo中接触参数的设置与调试_mujoco friction-CSDN博客

(99+ 封私信 / 80 条消息) Mujoco 中solimp和solref参数 - 知乎 (zhihu.com)

• 录视频