DC Engineer · MuJoCo Physics
Open-source Python simulations of the MuJoCo physics engine — rigid-body dynamics, contacts, and constrained motion, with rendered video and state plots for each demo.
Simulations
Each demo includes an MJCF model, Python simulation script, rendered video, and state-variable plots. Source code on GitHub · watch all on the YouTube playlist ↗.
Two rigid plexiglass links joined by cylindrical hinges, swinging in a vertical plane on the Moon. Starting near the inverted position, the motion becomes chaotic within seconds — a classic demonstration of sensitive dependence on initial conditions.
An ellipsoidal stone whose inertia principal axes are tilted 20° relative to its geometric axes — spontaneous spin reversal through gyroscopic coupling.
A free-floating T-shaped body in zero gravity demonstrating the intermediate axis theorem — periodic 180° flipping while angular momentum and kinetic energy remain exactly conserved.
