mujoco-java

Java JNI binding for mujoco physics system

Platforms

This library supports

• Windows x86_64
• Linux x86_64
• MacOS x86_64
• MacOS arm64 (M1, M2, M3)

Examples

An example of loading a MuJoCo model and display in JavaFX 3d:

https://github.com/madhephaestus/MuJoCoTest/releases

Examples are designed to run in Bowler Studio

Maven

MuJoCo-Java is published on Maven Central via Sonatype.

Hosting is in:

https://oss.sonatype.org/content/repositories/staging/com/neuronrobotics/mujoco-java/

Maven:

<dependency>
  <groupId>com.neuronrobotics</groupId>
  <artifactId>mujoco-java</artifactId>
  <version>3.1.1-pre.1</version>
  <type>module</type>
</dependency>

Gradle

repositories {
	maven { url 'https://oss.sonatype.org/content/repositories/staging/' }
}

dependencies {
	implementation group: 'com.neuronrobotics', name: 'mujoco-java', version: '3.1.1-pre.1'
}

Windows System Dep

installing VC++ redist from:

https://www.microsoft.com/en-gb/download/details.aspx?id=48145

Build

Windows bash buiild-windows.sh

Linux bash build-linux.sh

Mac x86 bash build-mac.sh

Mac arm64 bash build-mac-m1.sh

HOWTO set up Publish

1. Export your gpg private key from the system that you have created it.

   1. Find your key-id (using gpg --list-secret-keys --keyid-format=long)
   2. Put the GPG id into a variable OSSRH_GPG_SECRET_KEY_ID
   3. Export the gpg secret key to an ASCII file using gpg --export-secret-keys -a <key-id> > secret.txt
   4. Edit secret.txt using a plain text editor, and replace all newlines with a literal "\n" until everything is on a single line

2. Set up GitHub Actions secrets

   1. Create a secret called OSSRH_GPG_SECRET_KEY using the text from your edited secret.txt file (the whole text should be in a single line)
   2. Create a secret called OSSRH_GPG_SECRET_KEY_PASSWORD containing the password for your gpg secret key

3. Add Maven Credentials

   1. In ~/gradle.properties, osshUsername MAVEN_USERNAME
   2. In ~/gradle.properties, osshPassword MAVEN_PASSWORD

4. Create a GitHub Actions step to install the gpg secret key

   1. Add an action similar to:

      - id: install-secret-key
        name: Install gpg secret key
        run: |
          cat <(echo -e "${{ secrets.OSSRH_GPG_SECRET_KEY }}") | gpg --batch --import
          gpg --list-secret-keys --keyid-format LONG

   2. Verify that the secret key is shown in the GitHub Actions logs
   3. You can remove the output from list secret keys if you are confident that this action will work, but it is better to leave it in there