Company deepmind opened the initial texts of the engine for simulating physical processes mujoco (multi-joint dynamics with contact) and transferred the project to an open development model implying the possibility of participation in the development of community representatives. The project is considered as a platform for research and joint work on new technologies related to the simulation of robots and complex mechanisms. Code published under the license Apache 2.0. Linux, Windows and MacOS platforms are supported.
Mujoco is a library with the implementation of the simulation engine of physical processes and modeling the articulated structures interacting with the environment, which can be used in the process of developing robots, biomechanical devices and artificial intelligence systems, as well as in the creation of graphics, animation and computer games. The engine is written on SI, does not use dynamic memory allocation and is optimized to achieve maximum performance.
mujoco allows you to manipulate objects at a low level, while providing high accuracy and wide modeling opportunities. Models are determined using the language description language MJCF, based on XML and compiled using a special optimizing compiler. In addition to MJCF, the engine supports file downloading in the universal URDF format (Unified Robot Description Format). Mujoco also provides a graphic interface for an interactive 3D visualization of the simulation and rendering process using Opengl.
The main features:
- Simulation in generalized coordinates , excluding a violation of joints.
- reverse dynamics , determined even in the presence of contact.
- Use convex programming for unified formulation of continuous restrictions.
- The ability to set various restrictions, including soft touches and dry friction.
- Simulation of particles, fabrics, ropes and soft objects.
- Executive elements (actuators), including motors, cylinders, muscles, tendons and crooked-shaped mechanisms.
- decisive programs based on the methods Newton