google-deepmind/mujoco
Mujoco
MuJoCo is a physics simulation engine designed for the dynamics of multi-joint articulated structures. It provides a computational framework for calculating the forces, velocities, and physical interactions of complex models within a virtual environment, supporting research in robotics, biomechanics, and machine learning.
The engine utilizes a constraint-based dynamics solver and recursive algorithms to manage the motion of articulated systems. It includes a native graphical interface for real-time visualization, allowing users to inspect physical behaviors and contact dynamics as they occur. Models are defined through a structured markup language, and the system includes utilities to translate standard design and robotics file formats into this native schema.
The software exposes its core functionality through a stable binary interface, enabling integration with various programming languages and external tools. It employs sparse matrix linear algebra and hardware-accelerated rendering to maintain performance during the simulation of complex physical systems.
Features
- Physics Engines - A high-performance library for simulating the dynamics of multi-joint articulated structures in robotics, biomechanics, and machine learning research.
- Physics Simulations - Calculate the movement and interaction of multi-joint structures within a physical environment to support research in robotics, biomechanics, and machine learning applications.
- Physics - Calculates the motion of multi-joint systems by solving linear complementarity problems to enforce physical constraints and contact forces.
- Simulation Frameworks - A computational environment for calculating forces, velocities, and physical interactions of complex models within a virtual space.
- Robotics and Control - Modeling the movement and physical interactions of multi-joint robotic systems to test control algorithms and mechanical designs in virtual environments.
- Visualization Interfaces - A native graphical interface for rendering and inspecting the real-time behavior of articulated physical systems during active simulation.
- Dynamics Solvers - Perform mathematical operations to determine forces, velocities, and other physical properties required for executing complex simulation tasks within a virtual environment.
- Visualization Tools - Inspecting the behavior of articulated structures during active simulation to debug motion patterns and verify physical properties in a graphical interface.
- Library Interfaces - Exposes core simulation functions through a stable binary interface to allow integration with various programming languages and external tools.
- Embodied Simulators - Physics engine optimized for model-based control and robotics.
- Educational Robot Models - Core physics-ready models for educational simulation.
- Physics Simulation - Multi-joint dynamics with contact for physics-based simulation.
- Kinematic Tree Traversers - Computes joint accelerations and forces by traversing the kinematic tree to achieve efficient simulation of complex articulated structures.
- Model Converters - Translate standard design and robotics file formats into a native simulation schema to ensure compatibility with existing industry tools and external model libraries.
- Sparse Linear Algebra Routines - Optimizes the computation of physical interactions by focusing calculations only on non-zero elements within large-scale system dynamics equations.
- Simulation Model Converters - A set of tools for translating standard design and robotics file formats into a native schema for physics-based simulation.
- Model Importers - Converting standard 3D design files into simulation-ready formats to bridge the gap between mechanical engineering tools and virtual testing environments.
- Hardware-Accelerated Rendering - Visualizes simulation states by mapping geometric data to hardware-accelerated graphics buffers for real-time inspection of physical interactions.
