Basic Concept

This is the foundational introductory module of the MJCF Web Editor documentation, designed to help you quickly build a core cognitive framework for MuJoCo simulation modeling. Note: This module only provides simplified explanations of MuJoCo’s basic logic. For the full definitions and detailed configuration specifications of all properties and parameters, please refer to the official MuJoCo documentation. This module includes the following core content:

• Body Construction Logic and Hierarchical

  • Breaks down the construction rules of Body (the core hierarchical container of MuJoCo scenes) and the relationship between Body and its child elements (e.g., Joint, Geom). This is the basis for understanding the model’s hierarchical structure.

• Equality Overview

  • Explains the basic mechanism of equality constraints in MuJoCo, helping you master how to define fixed relationships between model elements via constraints.

• Contact: Pair and Exclude Overview

  • Outlines MuJoCo’s collision management rules, including the configuration of collision pairs and the usage of collision exclusion. This helps you precisely control the scope of collision interactions in simulations.

• Actuator Overview

  • Introduces the basic concepts and core types of Actuators, explains their binding logic with joints and how driving forces are transmitted. This is the key entry point for implementing motion control in your model.

• MuJoCo Solver Guide: Solref & Solimp

  • Interprets the basic functions of the core parameters (Solref, Solimp) of MuJoCo’s contact solver, helping you understand how these parameters affect the physical properties of contact interactions (e.g., stiffness, damping).

• solref\solimp Parameter Cheat Sheet

  • Provides a quick reference table for Solref and Solimp parameters, allowing you to quickly match parameter configurations for different materials/scenes to fit common simulation needs.