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mjorbit: A Simulation Framework for Space Robotics
This paper presents a general framework for simulating multi-body space robots with contact. We bring efficient, large-scale robot simulation to in-space servicing, assembly, and manufacturing applications. First, we perform an empirical trade study of methods for coupling orbit propagation with existing robotics simulation frameworks. Next, we present mjorbit, a general, flexible, and performant framework built on the MuJoCo engine widely used in robotics, to which we add key spacecraft dynamics, actuators, and sensors. We provide a low-latency C++ CPU backend and a high-throughput GPU backen
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-07T21:45:19.000Z
First collected: 2026-09-20T20:22:01.598Z. This is not the publication date.