MuJoCo Physics Engine¶
Overview¶
MuJoCo provides accurate physics simulation for locomotion and contact tasks.
Installation¶
Basic Usage¶
import mujoco
model = mujoco.load(model_path)
data = mujoco.Data(model)
# Step simulation
for _ in range(1000):
mujoco.mj_step(model, data)
XML Model¶
<mujoco model="robot">
<worldbody>
<body name="torso">
<freejoint/>
<geom type="sphere" size=".1"/>
</body>
</worldbody>
</mujoco>
Use Cases¶
- Humanoid locomotion
- Robotic locomotion
- Contact dynamics
