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.