[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"package:cask:mujoco:ja":3,"releases:stats:cask:mujoco:ja":490},{"accentColor":4,"artifacts":5,"autoUpdates":29,"categories":30,"conflictsWith":36,"dependsOn":39,"deprecated":29,"description":47,"descriptionEn":48,"disabled":29,"displayName":49,"downloadSha256":50,"downloadSize":51,"downloadUrl":52,"editorChoice":29,"formulaeUrl":53,"homepage":54,"iconUrl":55,"installCommand":56,"installs":57,"installs30d":58,"isFont":29,"isLibrary":29,"kegOnly":29,"kind":61,"latestRelease":62,"machineTranslated":29,"name":49,"names":92,"platforms":94,"primaryCategory":466,"rank30d":467,"releaseCount":468,"releaseStats":469,"repoUrl":476,"screenshots":477,"sourceLocale":85,"sourceUrl":478,"summary":479,"summaryTranslation":480,"supports":481,"tags":483,"tap":488,"token":93,"version":91,"versionChangedAt":489},"#122B6C",{"apps":6,"binaries":8,"entries":9,"pkgs":28},[7],"MuJoCo.app",[],[10,17],{"declaration":11,"phase":14,"sources":15,"target":13,"type":16},{"app":12,"target":13},[7],"\u002FApplications\u002FMuJoCo.app","install",[7],"app",{"declaration":18,"phase":25,"sources":26,"type":27},{"zap":19},[20],{"trash":21},[22,23,24],"~\u002FLibrary\u002FCaches\u002Forg.mujoco.mujoco","~\u002FLibrary\u002FPreferences\u002Forg.mujoco.mujoco.plist","~\u002FLibrary\u002FSaved Application State\u002Forg.mujoco.mujoco.savedState","cleanup",[],"zap",[],false,[31],{"icon":32,"machineTranslated":29,"name":33,"slug":34,"sourceLocale":35},"lucide:boxes","エンジニアリングとCAD","engineering-cad","zh-CN",{"casks":37,"formulae":38},[],[],{"arch":40,"casks":43,"formulae":44,"requirements":45},[41,42],"arm64","x86_64",[],[],{"macos":46},{},"MuJoCo は、ロボティクス、生体力学、グラフィックス、アニメーションなど、高速で正確なシミュレーションを必要とする分野の研究・開発向け物理エンジンです。接触を伴う複雑な力学系の最適化を含む、モデルベース最適化に対応します。\n\n主な特性：\n- 一般化座標でシミュレーションを行い、接触があるシステムの逆動力学を扱います。\n- ソフトコンタクト、制限、乾性摩擦、等式制約、粒子、布、ロープ、柔軟物体をモデル化できます。\n- MJCF と呼ばれる XML モデル形式と、組み込みのモデルコンパイラーを備えています。\n- インタラクティブな 3D 可視化を備えた GUI を提供し、ソルバー、摩擦円錐モデル、数値積分器を選択できます。\n\nmacOS アプリを Homebrew でインストールするには、`brew install --cask mujoco` を実行します。cask は `MuJoCo.app` を `\u002FApplications` にインストールします。ここで扱うのはアプリ版で、Homebrew cask では macOS が依存条件として指定されています。\n\n出典：[MuJoCo](https:\u002F\u002Fmujoco.org\u002F) · [Homebrew cask](https:\u002F\u002Fraw.githubusercontent.com\u002FHomebrew\u002Fhomebrew-cask\u002FHEAD\u002FCasks\u002Fm\u002Fmujoco.rb)","General purpose physics engine","MuJoCo","40bacaafeb335dae384ab1fddbac7d75b4f47162fca4639014e92c6c52ba7deb",52707104,"https:\u002F\u002Fgithub.com\u002Fgoogle-deepmind\u002Fmujoco\u002Freleases\u002Fdownload\u002F3.15.0\u002Fmujoco-3.15.0-macos-universal2.dmg","https:\u002F\u002Fformulae.brew.sh\u002Fcask\u002Fmujoco","https:\u002F\u002Fmujoco.org\u002F","https:\u002F\u002Fcdn.opennavo.com\u002Ficons\u002Fuploads\u002F7d21bd0f2b35\u002Fb281c38241a1-256.png","brew install --cask mujoco",{"d30":58,"d365":59,"d90":60},25,261,106,"cask",{"bodyMarkdown":63,"brewCommittedAt":64,"hasNotes":65,"id":66,"isLatest":65,"isPrerelease":29,"machineTranslated":29,"publishedAt":67,"sections":68,"source":84,"sourceLocale":85,"summary":86,"title":87,"translation":88,"version":91},"MuJoCo 3.15.0 では、`dampratio` が `mjModel.qpos0` で反射慣性を計算する方法を変更しました。現在は操作空間慣性を使用し、複数出力アクチュエータでは力出力間で平均します。複数リンクの運動連鎖を駆動するアクチュエータでは減衰が小さくなる場合があります。一方、複数の関節にまたがる腱やサイトを駆動するアクチュエータでは、より正確に減衰が計算されます。これは破壊的な API 変更です。非推奨の内部フレックス衝突オプションと関連する `evpair` 構造体は削除されました。\n\n非補間3Dフレックスでは、`mjsFlex.elastic3d = 1` により実験的な簡易 Stable Neo-Hookean 弾性を利用できます。この機能には離散積分器が必要で、`MJCF` では使用できません。既定値は `StVK` のままです。フレックスの曲げと伸縮は関節付き頂点アタッチメントを考慮するようになりました。離散積分器では `CG` ソルバーを使ってこれらを処理できます。mocap ボディに取り付けられた弾性フレックスはコンパイラーエラーになります。ほかに、カプセルのマルチコンタクトと、符号付きクリアランスまたは突出量を報告する `insidesite` センサーの `enclosed` 属性を追加しました。フレックス曲げ係数は座標間の結合も保持します。\n\nWindowsで書き込む `.mjz` アーカイブでは、区切り文字にスラッシュを使用します。書き換え後のアーカイブや、絶対パス、`..`、`URI` スキームを使うディレクトリパスでもアセットが正しく解決されます。`mj_saveModel` と `mj_loadModelBuffer` は `buffer_sz` に `mjtSize` を受け付け、2 GiBを超えるモデルを扱えます。\n\n出典：https:\u002F\u002Fgithub.com\u002Fgoogle-deepmind\u002Fmujoco\u002Freleases\u002Ftag\u002F3.15.0","2026-10-05T16:16:58Z",true,7483,"2026-10-05T14:58:18Z",[69,78],{"area":70,"items":71},"エンジン",[72,73,74,75,76,77],"破壊的変更：`dampratio` の反射慣性計算を改訂","非補間3Dフレックスに実験的な弾性機能を追加","フレックスの力が関節付き頂点アタッチメントを考慮","カプセルのマルチコンタクトと `insidesite` 属性を追加","非推奨のフレックス衝突オプションと関連構造を削除","フレックス曲げ係数が座標間の結合を保持",{"area":79,"items":80},"全般",[81,82,83],"Windowsで書き込む `.mjz` はスラッシュ区切りを使用","再書き込み後や絶対、`..`、`URI` パスでアセットを正しく解決","モデルのシリアライズが2 GiB超のバッファーに対応","editorial","en-US","アクチュエータの減衰計算を改訂し、エンジン機能を追加するとともに、`.mjz` アーカイブとモデルのシリアライズを更新しました。破壊的な API 変更と、実験的な弾性機能の制約があります。","MuJoCo 3.15.0",{"locale":89,"machineTranslated":29,"sourceLocale":85,"status":90},"ja-JP","manual","3.15.0",[49,93],"mujoco",[95,122,148,175,201,228,254,281,307,334,360,387,413,440],{"arch":42,"artifacts":96,"conflictsWith":111,"dependsOn":114,"downloadSha256":50,"downloadUrl":52,"macos":120,"requiresRosetta":29,"tag":121,"version":91},{"apps":97,"binaries":98,"entries":99,"pkgs":110},[7],[],[100,104],{"declaration":101,"phase":14,"sources":103,"target":13,"type":16},{"app":102,"target":13},[7],[7],{"declaration":105,"phase":25,"sources":109,"type":27},{"zap":106},[107],{"trash":108},[22,23,24],[],[],{"casks":112,"formulae":113},[],[],{"arch":115,"casks":116,"formulae":117,"requirements":118},[42],[],[],{"macos":119},{},"27","golden_gate",{"arch":41,"artifacts":123,"conflictsWith":138,"dependsOn":141,"downloadSha256":50,"downloadUrl":52,"macos":120,"requiresRosetta":29,"tag":147,"version":91},{"apps":124,"binaries":125,"entries":126,"pkgs":137},[7],[],[127,131],{"declaration":128,"phase":14,"sources":130,"target":13,"type":16},{"app":129,"target":13},[7],[7],{"declaration":132,"phase":25,"sources":136,"type":27},{"zap":133},[134],{"trash":135},[22,23,24],[],[],{"casks":139,"formulae":140},[],[],{"arch":142,"casks":143,"formulae":144,"requirements":145},[41],[],[],{"macos":146},{},"arm64_golden_gate",{"arch":42,"artifacts":149,"conflictsWith":164,"dependsOn":167,"downloadSha256":50,"downloadUrl":52,"macos":173,"requiresRosetta":29,"tag":174,"version":91},{"apps":150,"binaries":151,"entries":152,"pkgs":163},[7],[],[153,157],{"declaration":154,"phase":14,"sources":156,"target":13,"type":16},{"app":155,"target":13},[7],[7],{"declaration":158,"phase":25,"sources":162,"type":27},{"zap":159},[160],{"trash":161},[22,23,24],[],[],{"casks":165,"formulae":166},[],[],{"arch":168,"casks":169,"formulae":170,"requirements":171},[42],[],[],{"macos":172},{},"26","tahoe",{"arch":41,"artifacts":176,"conflictsWith":191,"dependsOn":194,"downloadSha256":50,"downloadUrl":52,"macos":173,"requiresRosetta":29,"tag":200,"version":91},{"apps":177,"binaries":178,"entries":179,"pkgs":190},[7],[],[180,184],{"declaration":181,"phase":14,"sources":183,"target":13,"type":16},{"app":182,"target":13},[7],[7],{"declaration":185,"phase":25,"sources":189,"type":27},{"zap":186},[187],{"trash":188},[22,23,24],[],[],{"casks":192,"formulae":193},[],[],{"arch":195,"casks":196,"formulae":197,"requirements":198},[41],[],[],{"macos":199},{},"arm64_tahoe",{"arch":42,"artifacts":202,"conflictsWith":217,"dependsOn":220,"downloadSha256":50,"downloadUrl":52,"macos":226,"requiresRosetta":29,"tag":227,"version":91},{"apps":203,"binaries":204,"entries":205,"pkgs":216},[7],[],[206,210],{"declaration":207,"phase":14,"sources":209,"target":13,"type":16},{"app":208,"target":13},[7],[7],{"declaration":211,"phase":25,"sources":215,"type":27},{"zap":212},[213],{"trash":214},[22,23,24],[],[],{"casks":218,"formulae":219},[],[],{"arch":221,"casks":222,"formulae":223,"requirements":224},[42],[],[],{"macos":225},{},"15","sequoia",{"arch":41,"artifacts":229,"conflictsWith":244,"dependsOn":247,"downloadSha256":50,"downloadUrl":52,"macos":226,"requiresRosetta":29,"tag":253,"version":91},{"apps":230,"binaries":231,"entries":232,"pkgs":243},[7],[],[233,237],{"declaration":234,"phase":14,"sources":236,"target":13,"type":16},{"app":235,"target":13},[7],[7],{"declaration":238,"phase":25,"sources":242,"type":27},{"zap":239},[240],{"trash":241},[22,23,24],[],[],{"casks":245,"formulae":246},[],[],{"arch":248,"casks":249,"formulae":250,"requirements":251},[41],[],[],{"macos":252},{},"arm64_sequoia",{"arch":42,"artifacts":255,"conflictsWith":270,"dependsOn":273,"downloadSha256":50,"downloadUrl":52,"macos":279,"requiresRosetta":29,"tag":280,"version":91},{"apps":256,"binaries":257,"entries":258,"pkgs":269},[7],[],[259,263],{"declaration":260,"phase":14,"sources":262,"target":13,"type":16},{"app":261,"target":13},[7],[7],{"declaration":264,"phase":25,"sources":268,"type":27},{"zap":265},[266],{"trash":267},[22,23,24],[],[],{"casks":271,"formulae":272},[],[],{"arch":274,"casks":275,"formulae":276,"requirements":277},[42],[],[],{"macos":278},{},"14","sonoma",{"arch":41,"artifacts":282,"conflictsWith":297,"dependsOn":300,"downloadSha256":50,"downloadUrl":52,"macos":279,"requiresRosetta":29,"tag":306,"version":91},{"apps":283,"binaries":284,"entries":285,"pkgs":296},[7],[],[286,290],{"declaration":287,"phase":14,"sources":289,"target":13,"type":16},{"app":288,"target":13},[7],[7],{"declaration":291,"phase":25,"sources":295,"type":27},{"zap":292},[293],{"trash":294},[22,23,24],[],[],{"casks":298,"formulae":299},[],[],{"arch":301,"casks":302,"formulae":303,"requirements":304},[41],[],[],{"macos":305},{},"arm64_sonoma",{"arch":42,"artifacts":308,"conflictsWith":323,"dependsOn":326,"downloadSha256":50,"downloadUrl":52,"macos":332,"requiresRosetta":29,"tag":333,"version":91},{"apps":309,"binaries":310,"entries":311,"pkgs":322},[7],[],[312,316],{"declaration":313,"phase":14,"sources":315,"target":13,"type":16},{"app":314,"target":13},[7],[7],{"declaration":317,"phase":25,"sources":321,"type":27},{"zap":318},[319],{"trash":320},[22,23,24],[],[],{"casks":324,"formulae":325},[],[],{"arch":327,"casks":328,"formulae":329,"requirements":330},[42],[],[],{"macos":331},{},"13","ventura",{"arch":41,"artifacts":335,"conflictsWith":350,"dependsOn":353,"downloadSha256":50,"downloadUrl":52,"macos":332,"requiresRosetta":29,"tag":359,"version":91},{"apps":336,"binaries":337,"entries":338,"pkgs":349},[7],[],[339,343],{"declaration":340,"phase":14,"sources":342,"target":13,"type":16},{"app":341,"target":13},[7],[7],{"declaration":344,"phase":25,"sources":348,"type":27},{"zap":345},[346],{"trash":347},[22,23,24],[],[],{"casks":351,"formulae":352},[],[],{"arch":354,"casks":355,"formulae":356,"requirements":357},[41],[],[],{"macos":358},{},"arm64_ventura",{"arch":42,"artifacts":361,"conflictsWith":376,"dependsOn":379,"downloadSha256":50,"downloadUrl":52,"macos":385,"requiresRosetta":29,"tag":386,"version":91},{"apps":362,"binaries":363,"entries":364,"pkgs":375},[7],[],[365,369],{"declaration":366,"phase":14,"sources":368,"target":13,"type":16},{"app":367,"target":13},[7],[7],{"declaration":370,"phase":25,"sources":374,"type":27},{"zap":371},[372],{"trash":373},[22,23,24],[],[],{"casks":377,"formulae":378},[],[],{"arch":380,"casks":381,"formulae":382,"requirements":383},[42],[],[],{"macos":384},{},"12","monterey",{"arch":41,"artifacts":388,"conflictsWith":403,"dependsOn":406,"downloadSha256":50,"downloadUrl":52,"macos":385,"requiresRosetta":29,"tag":412,"version":91},{"apps":389,"binaries":390,"entries":391,"pkgs":402},[7],[],[392,396],{"declaration":393,"phase":14,"sources":395,"target":13,"type":16},{"app":394,"target":13},[7],[7],{"declaration":397,"phase":25,"sources":401,"type":27},{"zap":398},[399],{"trash":400},[22,23,24],[],[],{"casks":404,"formulae":405},[],[],{"arch":407,"casks":408,"formulae":409,"requirements":410},[41],[],[],{"macos":411},{},"arm64_monterey",{"arch":42,"artifacts":414,"conflictsWith":429,"dependsOn":432,"downloadSha256":50,"downloadUrl":52,"macos":438,"requiresRosetta":29,"tag":439,"version":91},{"apps":415,"binaries":416,"entries":417,"pkgs":428},[7],[],[418,422],{"declaration":419,"phase":14,"sources":421,"target":13,"type":16},{"app":420,"target":13},[7],[7],{"declaration":423,"phase":25,"sources":427,"type":27},{"zap":424},[425],{"trash":426},[22,23,24],[],[],{"casks":430,"formulae":431},[],[],{"arch":433,"casks":434,"formulae":435,"requirements":436},[42],[],[],{"macos":437},{},"11","big_sur",{"arch":41,"artifacts":441,"conflictsWith":456,"dependsOn":459,"downloadSha256":50,"downloadUrl":52,"macos":438,"requiresRosetta":29,"tag":465,"version":91},{"apps":442,"binaries":443,"entries":444,"pkgs":455},[7],[],[445,449],{"declaration":446,"phase":14,"sources":448,"target":13,"type":16},{"app":447,"target":13},[7],[7],{"declaration":450,"phase":25,"sources":454,"type":27},{"zap":451},[452],{"trash":453},[22,23,24],[],[],{"casks":457,"formulae":458},[],[],{"arch":460,"casks":461,"formulae":462,"requirements":463},[41],[],[],{"macos":464},{},"arm64_big_sur",{"icon":32,"machineTranslated":29,"name":33,"slug":34,"sourceLocale":35},1576,9,{"brewLag":470,"cadence":474,"count30d":475},{"compared":471,"earlierCount":472,"medianMinutes":473},3,0,103,"biweekly",2,"https:\u002F\u002Fgithub.com\u002Fgoogle-deepmind\u002Fmujoco",[],"https:\u002F\u002Fgithub.com\u002Fhomebrew\u002Fhomebrew-cask\u002Fblob\u002FHEAD\u002FCasks\u002Fm\u002Fmujoco.rb","接触を伴う複雑なシステムの高速・高精度なシミュレーションとモデルベース最適化に対応する物理エンジンです。",{"locale":89,"machineTranslated":29,"sourceLocale":85,"status":90},{"arm64":65,"requiresRosetta":29,"status":482,"x86_64":65},"known",[484,485,486,487],"physics simulation","robotics","3D visualization","biomechanics","homebrew\u002Fcask","2026-10-07T09:38:38.931734Z",null]