[plafl]

I'm not thinking just about AD. I would love lots and lots of little simulation modules instead of monolithic solutions.

Now some uninteresting story: the reason to have a look at MuJoCo is personal: I studied Mechanics I, II and Analytical Mechanics at college and thought non-continuos mechanics a solved problem. When doing my masters thesis about helicopter simulation I needed at some point to model ground contact and I thought "easy, just add a damped spring". I feel that thesis was nice for an undergrad overall but that part as you can imagine was a complete and utter piece of crap. And now at my forties I want to have vengeance.