Skip to main content

MuJoCo

The MuJoCo plugin implements the ScenePhysics interface to provide 3D physics simulation using the MuJoCo physics engine. It enables physics-based behavior for scene objects, handling bodies, joints, collisions, and forces within a dedicated MuJoCo world context.

info

The plugins/physics/mujoco/extern/lib directory contains prebuilt MuJoCo libraries.

info

This plugin is integrated into Tellusim Explorer.

#include <physics/mujoco/include/TellusimMuJoCo.h>

Example​

MuJoCo physics;

// Create MuJoCo physics
if(!physics.create(scene)) return false;

// Perform a single-step simulation update
if(!physics.update()) return false;

// Synchronize MuJoCo physics with the scene
if(!physics.update(scene)) return false;