MuJoCo – Advanced Physics Simulation

MuJoCo stands for Multi-Joint dynamics with Contact. It is a general purpose physics engine that aims to facilitate research and development in robotics, biomechanics, graphics and animation, machine learning, and other areas which demand fast and accurate simulation of articulated structures interacting with their environment.

This repository is maintained by Google DeepMind.

MuJoCo has a C API and is intended for researchers and developers. The runtime simulation module is tuned to maximize performance and operates on low-level data structures that are preallocated by the built-in XML compiler. The library includes interactive visualization with a native GUI, rendered in OpenGL. MuJoCo further exposes a large number of utility functions for computing physics-related quantities.

We also provide Python bindings and a plug-in for the Unity game engine.

MuJoCo's documentation can be found at mujoco.readthedocs.io. Upcoming features due for the next release can be found in the changelog in the "latest" branch.

There are two easy ways to get started with MuJoCo:

• Run simulate on your machine. This is MuJoCo's native interactive viewer. Follow the steps described in the Getting Started section of the documentation to get it running.
• Explore our online IPython notebooks. If you are a Python user, you might want to start with our tutorial notebooks running on Google Colab, covering basics, model editing, multithreaded rollouts, LQR controllers, MJX (JAX-based MuJoCo), and differentiable physics.

Versioned releases are available as precompiled binaries for Linux, Windows, and macOS. The native Python bindings can be installed from PyPI via:

pip install mujoco

MuJoCo is the backbone for numerous environment packages and supports various bindings (JavaScript, C#, MATLAB, Swift, Java, Julia, Rust) and converters (OpenSim, SDFormat, OBJ, Onshape).

Source code is licensed under the Apache License, Version 2.0. This is not an officially supported Google product.