MuJoCo - Advanced physics simulation

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 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 library includes interactive visualization with a native GUI, rendered in OpenGL. MuJoCo further exposes a large number of utility functions for computing physics-related quantities.

MuJoCo can be used to implement model-based computations such as control synthesis, state estimation, system identification, mechanism design, data analysis through inverse dynamics, and parallel sampling for machine learning applications. It can also be used as a more traditional simulator, including for gaming and interactive virtual environments.