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.
