MuJoCo Concepts
Concepts
Section titled “Concepts”Conceptual overviews provide relatively high-level, general background information about key aspects of MuJoCo.
Modeling
Section titled “Modeling”MuJoCo models are authored in MJCF, an XML format designed around a kinematic tree of bodies, with joints, geoms, actuators, and sensors attached to them. MJCF also supports a CSS-like default-settings mechanism, so large models stay compact. URDF and OpenUSD files can be loaded as well, and are converted into the same internal representation.
A body composed of overlapping geoms (capsule, box, sphere) — from the official Overview page.
Computation
Section titled “Computation”Every simulation step separates a model (mjModel) — the static, loaded description — from data (mjData) — the mutable workspace holding the current state and every intermediate quantity computed along the way. Understanding this split, and the pipeline that fills mjData each step, is central to working with MuJoCo at any level below the Python bindings.
Programming
Section titled “Programming”These are the concepts that further your understanding of how a MuJoCo simulation is driven from code — stepping physics, rendering it, and reacting to user input.