MuJoCo is a remarkable free and open source physics engine with a wide range of applications. It is specifically designed to facilitate research and development in various fields such as robotics, biomechanics, graphics, animation, and more. One of the key strengths of MuJoCo is its unique combination of speed, accuracy, and modeling power. It offers simulation in generalized coordinates, ensuring that joint violations are avoided. The inverse dynamics are well-defined even in the presence of contacts, and it features a unified continuous-time formulation of constraints via convex optimization. This includes soft contacts, limits, dry friction, and equality constraints. MuJoCo also enables the simulation of particle systems, cloth, rope, and soft objects. It provides a variety of actuators, including motors, cylinders, muscles, tendons, and slider-cranks. Users have a choice of solvers, friction cones, Jacobians, and numerical integrators. Additionally, it offers multi-threaded sampling and finite-difference approximations. The intuitive XML model format (MJCF) and built-in model compiler make it user-friendly. The cross-platform GUI with interactive 3D visualization in OpenGL enhances the user experience. The run-time module is written in ANSI C and is hand-tuned for optimal performance. Overall, MuJoCo is a powerful tool that opens up new possibilities in the world of physics simulation and related fields.
MuJoCo
MuJoCo offers advanced physics simulation with unique features for various applications.
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