Understand Mujoco

[Combuster54]

Intro

Hi!

I am a Mechatronics Engineer at UPC, I use MuJoCo for my research on Quadruped Robots.

My setup

MuJoco 3.3.0, wsl2.

My question

Where can I start to understand the architecture and code of Mujoco? Any diagram? I see the paper, but I would like to know if there is another resource to see that. Besides the tutorials on GitHub

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[ShahhhVihaan]

If your goal is to understand how the engine works and the math, I've been reading this https://mujoco.readthedocs.io/en/stable/computation/index.html and looking at the code.