mjorbit documentation

mjorbit combines orbital dynamics with MuJoCo multibody simulation for space robotics. Begin with a free body, then explore articulated spacecraft, contact, control, and batched GPU simulation.

Read the paper, mjorbit: A Simulation Framework for Space Robotics, for the methods and evaluation. Citation metadata and BibTeX are available in the repository README.

• Install and run the viewer.

• Write your first simulation.

• Understand frames and units.

• Configure forces and disturbances.

• Run the paper examples.

Getting started

• Installation
• Your first simulation
• Browser viewer
• Examples and paper reproduction

Concepts and guides

• Architecture
• Frames and units
• Build a model
• Forces and disturbances
• Actuators and sensors
• Rollouts and MPPI
• Batched GPU simulation

Reference and development

• Python API reference
• Development and release checks
• Publish the project page and documentation

The project page presents the paper and visual examples. The source repository contains the experiments and recording tools used to reproduce those results.