MuJoCo explained

Repo:	https://github.com/google-deepmind/mujoco
Programming Language:	C, C++, Python, C#
License:	Apache-2.0 license

MuJoCo, short for Multi-Joint dynamics with Contact, is a general purpose physics engine that is tailored to scientific use cases such as robotics, biomechanics and machine learning. It was first described in 2012 in a paper by Emanuel Todorov, Tom Erez, and Yuval Tassa, and later commercialized under Roboti LLC.^[1] According to a Google Scholar search,^[2] as of April 2024 the original publication has been cited 5329 times, and the MuJoCo engine 9250 times.^[3] It was described by Zhao and Queralta in their review as one of "the most widely used simulators in the literature".^[4]

MuJoCo was acquired by Google DeepMind in October 2021 and open-sourced under the Apache 2.0 license in May 2022.^[5] Parts of the Deepmind control suite are powered by the MuJoCo engine.

See also

• PhysX
• Bullet
• Havok Physics

External links

• • Official Documentation
• https://gymnasium.farama.org/environments/mujoco/
• https://www.therobotreport.com/mujoco-3-simulator-a-result-of-unified-efforts-at-google/

Notes and References

1. Book: MuJoCo: A physics engine for model-based control . 2023-12-07 . 2012 . 10.1109/IROS.2012.6386109 . Todorov . Emanuel . Erez . Tom . Tassa . Yuval . 5026–5033 . 978-1-4673-1736-8 .
2. Web site: Mujoco: A physics engine for model-based control search . Google Scholar . 2024-04-03 . scholar.google.com.au.
3. Web site: MuJoCo search . Google Scholar . 2024-04-03 . scholar.google.com.au.
4. Book: Zhao . Wenshuai . Queralta . Jorge Pena . Westerlund . Tomi . Sim-to-Real Transfer in Deep Reinforcement Learning for Robotics: A Survey . 2020 . 737–744 . 2020 IEEE Symposium Series on Computational Intelligence (SSCI) . http://dx.doi.org/10.1109/ssci47803.2020.9308468 . IEEE . 10.1109/ssci47803.2020.9308468. 2009.13303 . 978-1-7281-2547-3 .
5. Web site: 2022-05-23 . Open-sourcing MuJoCo . 2023-12-07 . Google DeepMind . en.