mujoco — MuJoCo is a general-purpose physics engine designed for fast and accurate simulation of articulated structures interacting with their environment.

MuJoCo is a general-purpose physics engine designed for fast and accurate simulation of articulated structures interacting with their environment.

About this project

MuJoCo (Multi-Joint dynamics with Contact) is a physics engine maintained by Google DeepMind, primarily used for research and development in robotics, biomechanics, machine learning, graphics, and animation. Key technical features include: - A high-performance runtime simulation module with a C API. - A built-in XML compiler for preallocating low-level data structures. - Native interactive visualization via an OpenGL-rendered GUI. - Extensive utility functions for computing physics-related quantities. Integration and accessibility options: - Official bindings for Python, JavaScript (WebAssembly), and C# (Unity plug-in). - Support for various third-party bindings including MATLAB Simulink, Swift, Java, Julia, and Rust. - Compatibility with external model formats through converters for OpenSim, SDFormat, OBJ, and Onshape. - MuJoCo XLA (MJX), a version written in JAX for differentiable physics and accelerated simulation.