Principle:Google deepmind Mujoco Simulation Options Initialization
| Knowledge Sources | Domains | Last Updated |
|---|---|---|
| Google DeepMind MuJoCo | Physics Simulation | 2025-02-15 |
Overview
Description: MuJoCo's initialization system establishes default values for all simulation parameters, model options, and data structures. Proper initialization ensures deterministic and reproducible simulation behavior from the first timestep.
Context: Before a simulation can run, all model parameters (solver settings, integration options, gravity, timestep) and runtime data structures must be initialized to well-defined defaults. This principle ensures that unset parameters have physically meaningful values and that the simulation starts from a consistent state.
Theoretical Basis
Initialization in physics simulation involves:
- Default parameters: Physically meaningful defaults (e.g., Earth gravity, reasonable timestep, standard solver iterations) reduce configuration burden
- Zero initialization: Runtime arrays (forces, accelerations, contacts) are zeroed to prevent undefined behavior
- Option propagation: Global simulation options (integrator type, solver type, collision settings) are propagated to all dependent subsystems during initialization
Deterministic initialization is a prerequisite for reproducibility in scientific simulation and reinforcement learning environments.
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