Overview
MuJoCo (Multi-Joint dynamics with Contact and general optimization) is a physics engine that facilitates research and development in robotics, biomechanics, graphics and animation, and other areas requiring fast and accurate simulation. It excels in model-based optimization, allowing for techniques like optimal control and system identification to be applied to complex dynamical systems. MuJoCo uses a unified continuous-time formulation of constraints via convex optimization. Its key features include simulation in generalized coordinates, inverse dynamics, and support for various constraints like soft contacts, limits, and friction. MuJoCo is utilized for testing control schemes, interactive scientific visualization, virtual environments, animation, and gaming. It offers an intuitive XML model format and cross-platform GUI.