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## Getting started
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To try out MuJoCo Playground locally on a simple locomotion environment, you can run the following:
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```py
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import jax
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import jax.numpy as jp
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from mujoco_playground import registry
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env = registry.load('Go1JoystickFlatTerrain')
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state = jax.jit(env.reset)(jax.random.PRNGKey(0))
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print(state.obs)
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state = jax.jit(env.step)(state, jp.zeros(env.action_size))
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print(state.obs)
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```
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For detailed tutorials on using MuJoCo Playground, see:
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1.[Intro. to the Playground with DM Control Suite](https://colab.research.google.com/github/google-deepmind/mujoco_playground/blob/main/learning/notebooks/dm_control_suite.ipynb)[](https://colab.research.google.com/github/google-deepmind/mujoco_playground/blob/main/learning/notebooks/dm_control_suite.ipynb)
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2.[Locomotion Environments](https://colab.research.google.com/github/google-deepmind/mujoco_playground/blob/main/learning/notebooks/locomotion.ipynb)[](https://colab.research.google.com/github/google-deepmind/mujoco_playground/blob/main/learning/notebooks/locomotion.ipynb)
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3.[Manipulation Environments](https://colab.research.google.com/github/google-deepmind/mujoco_playground/blob/main/learning/notebooks/manipulation.ipynb)[](https://colab.research.google.com/github/google-deepmind/mujoco_playground/blob/main/learning/notebooks/manipulation.ipynb)
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For tutorials on MuJoCo Playground with Madrona-MJX batch rendering, we offer two types of colabs. The first allows you to install Madrona-MJX directly in a GPU colab instance and run vision-based cartpole!
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1.[Training CartPole from Vision](https://colab.research.google.com/github/google-deepmind/mujoco_playground/blob/main/learning/notebooks/training_vision_1_t4.ipynb) on a Colab T4 Instance [](https://colab.research.google.com/github/google-deepmind/mujoco_playground/blob/main/learning/notebooks/training_vision_1_t4.ipynb)
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Two additional colabs require local runtimes with Madrona-MJX installed locally (see [Madrona-MJX](https://github.com/shacklettbp/madrona_mjx?tab=readme-ov-file#installation) for installation instructions):
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1.[Training CartPole from Vision (Local Runtime)](https://colab.research.google.com/github/google-deepmind/mujoco_playground/blob/main/learning/notebooks/training_vision_1.ipynb)[](https://colab.research.google.com/github/google-deepmind/mujoco_playground/blob/main/learning/notebooks/training_vision_1.ipynb)
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2.[Robotic Manipulation from Vision (Local Runtime)](https://colab.research.google.com/github/google-deepmind/mujoco_playground/blob/main/learning/notebooks/training_vision_2.ipynb)[](https://colab.research.google.com/github/google-deepmind/mujoco_playground/blob/main/learning/notebooks/training_vision_2.ipynb)
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### Basic Tutorials
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| Colab | Description |
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|-------|-------------|
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|[](https://colab.research.google.com/github/google-deepmind/mujoco_playground/blob/main/learning/notebooks/dm_control_suite.ipynb)| Introduction to the Playground with DM Control Suite |
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|[](https://colab.research.google.com/github/google-deepmind/mujoco_playground/blob/main/learning/notebooks/locomotion.ipynb)| Locomotion Environments |
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|[](https://colab.research.google.com/github/google-deepmind/mujoco_playground/blob/main/learning/notebooks/manipulation.ipynb)| Manipulation Environments |
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### Vision-Based Tutorials (GPU Colab)
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| Colab | Description |
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|-------|-------------|
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|[](https://colab.research.google.com/github/google-deepmind/mujoco_playground/blob/main/learning/notebooks/training_vision_1_t4.ipynb)| Training CartPole from Vision (T4 Instance) |
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### Local Runtime Tutorials
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*Requires local Madrona-MJX installation*
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| Colab | Description |
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|-------|-------------|
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|[](https://colab.research.google.com/github/google-deepmind/mujoco_playground/blob/main/learning/notebooks/training_vision_1.ipynb)| Training CartPole from Vision |
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|[](https://colab.research.google.com/github/google-deepmind/mujoco_playground/blob/main/learning/notebooks/training_vision_2.ipynb)| Robotic Manipulation from Vision |
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## How can I contribute?
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Get started by installing the library and exploring its features! Found a bug? Report it in the issue tracker. Interested in contributing? If you’re a developer with robotics experience, we’d love your help—check out the [contribution guidelines](CONTRIBUTING.md) for more details.
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Get started by installing the library and exploring its features! Found a bug? Report it in the issue tracker. Interested in contributing? If you are a developer with robotics experience, we would love your help—check out the [contribution guidelines](CONTRIBUTING.md) for more details.
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