Overview - MuJoCo Documentation

MuJoCo stands for Multi-Joint dynamics with Contact. It is a general purpose physics engine that aims to facilitate research and development in robotics, biomechanics, graphics and animation, machine learning, and other areas that demand fast and accurate simulation of articulated structures interacting with their environment. Initially developed by Roboti LLC, it was acquired and made freely available by Google DeepMind in October 2021, and open sourced in May 2022. The MuJoCo codebase is available at the google-deepmind/mujoco repository on GitHub. MuJoCo is a C/C++ library with a C API, intended for researchers and developers. The runtime simulation module is tuned to maximize performance and operates on low-level data structures which are preallocated by the built-in XML parser and compiler. The user defines models in the native MJCF scene description language – an XML file format designed to be as human readable and editable as possible. URDF model files can also be loaded. The li

saved by

• Nikki Guo