MuJoCo

MuJoCo

MuJoCo, short for Multi-Joint dynamics with Contact, is a physics engine designed for research and development in robotics, machine learning, and biomechanics. This open-source software provides accurate and efficient simulation of complex physical systems, making it highly regarded among researchers and engineers.

History

MuJoCo was developed at the University of Washington and released in 2012. Initially created to aid in the study of motor control in humans and robots, it quickly gained popularity for its ability to simulate complex physical interactions with high precision and efficiency. In 2021, DeepMind, a subsidiary of Alphabet Inc., acquired MuJoCo and made it freely available to the public.

Tips and Suggestions

When creating MuJoCo XML files, it can be helpful to start with a full robot model and then manually copy and paste sections to create single or dual-arm setups. This approach saves time and ensures consistency across different models.

Additionally, MuJoCo supports defining keyframes for specific poses directly in the XML, which can streamline the setup process for various robot configurations.

If you encounter issues with simulation stability, e.g. warnings about NaN values, consider fine-tuning the hyperparameters, including control gains and regularization terms, to achieve more stable and reliable simulations.

MuJoCo Menagerie

The MuJoCo Menagerie is a collection of pre-built models and simulation environments showcasing the capabilities of the MuJoCo physics engine. This resource is valuable for researchers, engineers, and enthusiasts exploring robotics, biomechanics, and machine learning applications.