User:PhizzyWhizzy/sandbox

MuJoCo (Multi-Joint dynamics with Contact) is a physics engine designed to facilitate robot simulation and model-based optimisation. It was authored by Emanuel Todorov.

Features
According to the official website, MuJoCo's main features are:
 * Simulation in generalized coordinates, avoiding joint violations.
 * 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.
 * Actuators including motors, cylinders, muscles, tendons, slider-cranks.
 * Choice of Newton, conjugate gradient, or Projected Gauss-Seidel solvers.
 * Choice of pyramidal or elliptic friction cones, dense or sparse matrices.
 * Choice of Euler or Runge-Kutta numerical integrators.
 * 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.

Projects using the engine
MuJoCo has been used by researchers in UC Berkley, Google DeepMind, and openAI