Overview
MuJoCo (Multi-Joint dynamics with Contact) is a free and open source physics engine developed by Google DeepMind. It is specifically designed to facilitate research and development in robotics, biomechanics, graphics and animation, and other areas where fast and accurate simulation is needed.
Features
- Continuous-time Dynamics: Highly accurate contact solving using a mathematically rigorous convex optimization approach.
- Incredibly Fast: Used heavily in reinforcement learning environments because it can simulate physics faster than real-time.
- XML Model Format: Easily readable and expressive XML-based scene definition language (MJCF).
Use Cases
- Training Deep Reinforcement Learning agents (e.g., OpenAI Gym environments).
- Prototyping robotic kinematics and gait cycles.
- Multi-agent physics scaling.