[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"package:cask:mujoco:ru":3,"releases:stats:cask:mujoco:ru":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","Инженерия и 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 — физический движок для исследований и разработок в робототехнике, биомеханике, графике, анимации и других областях, где нужна быстрая и точная симуляция. Он поддерживает оптимизацию на основе моделей, в том числе оптимизацию систем со сложной контактной динамикой.\n\nОсновные возможности:\n- Симуляция в обобщённых координатах и обратная динамика для систем с контактами.\n- Моделирование мягких контактов, ограничений, сухого трения, равенств, частиц, ткани, верёвок и мягких объектов.\n- Формат XML-моделей MJCF и встроенный компилятор моделей.\n- Графический интерфейс с интерактивной 3D-визуализацией, а также выбор решателей, моделей конусов трения и численных интеграторов.\n\nЧтобы установить приложение для macOS через Homebrew, выполните `brew install --cask mujoco`. Cask устанавливает `MuJoCo.app` в `\u002FApplications`. В данном пакете представлена версия приложения; cask Homebrew указывает macOS как зависимость.\n\nИсточники: [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},"В MuJoCo 3.15.0 изменён способ расчёта отражённой инерции `dampratio` в `mjModel.qpos0`: теперь используется инерция операционного пространства, усреднённая по выходам силы для приводов с несколькими выходами. У приводов многозвенных кинематических цепей демпфирование может стать ниже; для приводов тросов или сайтов, охватывающих несколько суставов, расчёт демпфирования становится точнее. Это несовместимое изменение API. Удалены устаревший внутренний параметр столкновений гибких тел и связанные структуры `evpair`.\n\nЭкспериментальная упрощённая упругость Stable Neo-Hookean доступна для неинтерполированных 3D-гибких тел через `mjsFlex.elastic3d = 1`. Для неё требуется дискретный интегратор, и она недоступна в `MJCF`; значение по умолчанию остаётся `StVK`. Изгиб и растяжение гибких тел теперь учитывают сочленённые крепления вершин. Дискретный интегратор поддерживает их с решателем `CG`; эластичные гибкие тела, прикреплённые к mocap-телам, вызывают ошибку компилятора. Также добавлены мультиконтакт капсул и атрибут `enclosed` датчика `insidesite`, сообщающий знаковый зазор или выступание. Факторы изгиба сохраняют межкоординатные связи.\n\nВ архивах `.mjz`, записанных в Windows, теперь используются прямые слеши. Ресурсы корректно разрешаются в переписанных архивах, а также при абсолютных путях, путях с `..` и путях со схемой `URI`. `mj_saveModel` и `mj_loadModelBuffer` теперь принимают `mjtSize` для `buffer_sz`, поддерживая модели размером более 2 GiB.\n\nИсточник: 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},"Движок",[72,73,74,75,76,77],"Несовместимое изменение: пересчитана инерция для `dampratio`","Экспериментальная упругость для неинтерполированных 3D-тел","Силы гибких тел учитывают сочленённые крепления вершин","Мультиконтакт капсул и атрибут датчика `insidesite`","Удалены устаревший параметр столкновений и связанные структуры","Факторы изгиба сохраняют межкоординатные связи",{"area":79,"items":80},"Общее",[81,82,83],"В `.mjz`, записанных в Windows, используются прямые слеши","Ресурсы разрешаются в переписанных и абсолютных путях, с `..` или `URI`","Сериализация поддерживает буферы моделей больше 2 GiB","editorial","en-US","Изменены расчёты демпфирования приводов, добавлены возможности движка, обновлены архивы `.mjz` и сериализация моделей. Выпуск содержит несовместимое изменение API и ограничения экспериментальной упругости.","MuJoCo 3.15.0",{"locale":89,"machineTranslated":29,"sourceLocale":85,"status":90},"ru-RU","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","Физический движок для быстрой и точной симуляции систем с многочисленными контактами и оптимизации на основе моделей.",{"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]