Physical operation engine software "MuJoCo Pro"

■ This is an article posted on June 2017, 3, so the content of the information may be out of date.

Physical operation engine software on Unipos website MuJoCo Pro Page has been added.

Mu Jo CoIs a physics engine developed by Emo Todorov, a researcher in the Mobility Control Laboratory at the University of Washington. It is a dynamic library of C / C ++ APIs, including an XML parser, model compiler, simulator and interactive OpenGL visualizer.

MuJoCo is used for control simulation in the robotics field in the laboratory, but other general-purpose simulators such as biomechanics, graphics, animation, machine learning, etc.
It is expected to play an active part in various fields.

[Main function]

・ Simulation in generalized coordinates, avoiding joint violations;
・ Choice of projected Gauss-Seidel, sparse conjugate gradient, elliptic solver;
・ Inverse dynamics that are well-defined even in the presence of contacts;
・ Unified continuous-time formulation of constraints via convex optimization;
・ Constraints include soft contacts, limits, dry friction, equality constraints;
・ Multiple numerical integrators including Runge-Kutta methods;
・ Actuators including motors, cylinders, muscles, tendons, slider-cranks;
・ Multi-threaded sampling and finite-difference approximations;
・ Intuitive XML model format (called MJCF) and built-in model compiler;
・ Cross-platform GUI with interactive 3D visualization in OpenGL;
・ Run-time module written in ANSI C and hand-tuned for performance.

For details, see the manufacturer site. Documentationplease look at

■ Click here for product details and inquiries
MuJoCo Pro | Physics Engine Software
Manufacturer (Roboti LLC) Website