MuJoCo   advanced physics simulation

MuJoCo Plugin and Unity Integration was released on January 8, 2018. See new documentation chapter for details.

MuJoCo Pro
MuJoCo Pro is a dynamic library with C/C++ API. It is intended for researchers and developers with computational background. It includes an XML parser, model compiler, simulator, and interactive OpenGL visualizer.

Commercial license. Compatible with 32-bit and 64-bit Windows, 64-bit Linux and OSX.

MuJoCo Pro requires an activation key which is provided to licensed users. See License page.

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MuJoCo HAPTIX is an end-user product with full-featured GUI. It has a socket-based API exposing a subset of the functions and data structures available in the Pro library. MuJoCo HAPTIX can be used as a generic simulator, or as a simulator customized for the needs of the DARPA Hand Proprioception & Touch Interfaces (HAPTIX) program. To achieve the latter goal, it integrates real-time motion capture which is used to move the base of a simulated prosthetic hand as well as track the user's head and implement a stereoscopic virtual environment.

Free license. Compatible with 64-bit Windows only.

Download mjhaptix150

MuJoCo Plugin and Unity Integration
MuJoCo Plugin and Unity Integration is a new product, allowing MuJoCo physics to be combined with Unity rendering. Users can import MuJoCo models in the Unity Editor, adjust their visual properties, and render them under the control of a MuJoCo Pro simulation providing model poses over a socket. The package includes developer tools as well as a Unity demo with multiple MuJoCo simulations.

Free license. Compatible with 64-bit Windows, Linux and MacOS. A separate MuJoCo Pro license is needed to take full advantage of this product.

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MuJoCo VR is a standalone simulator allowing the user to interact with MuJoCo models in VR. Only the HTC Vive is currently supported, but support for the Oculus Rift will soon be added. The code used to create this simulator is available as a code sample in MuJoCo Pro, and can be compiled for Windows, Linux and OSX. The precompiled executable available here is Windows only.

Free license. Compatible with 64-bit Windows only.

Download mjvr140 beta1