======================
DexRobot MuJoCo
======================

DexRobot MuJoCo provides MuJoCo simulation and visualization capabilities for DexRobot systems, with seamless ROS/ROS2 integration.

.. figure:: assets/hands.png
   :width: 80%
   :align: center

   DexHand Model in MuJoCo

Key Features
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- Automatic URDF to MJCF conversion with optimized configurations
- Simplified collision models for improved performance
- Built-in ROS/ROS2 integration
- VR visualization support
- Comprehensive scene creation tools
- Data recording in multiple formats (ROS bags, CSV, MP4)

Documentation Contents
--------------------

.. toctree::
   :maxdepth: 2
   :caption: User Guide
   :titlesonly:

   getting-started
   hand_models/index
   scenes/index
   ros_integration/index

.. toctree::
   :maxdepth: 2
   :caption: API Reference

   api/index


Indices and tables
==================

* :ref:`genindex`
* :ref:`modindex`
* :ref:`search`

Support
-------
For issues, questions, or contributions:

* Check our `GitHub Issues <https://github.com/dexrobot/dexrobot_mujoco/issues>`_
* Submit pull requests via GitHub

License
-------
Copyright 2024 DexRobot

Licensed under the Apache License, Version 2.0. See LICENSE file for details.