MuJoCo

Software
Simulators
Simulator

MuJoCo is a general-purpose physics engine for simulating articulated bodies in contact, used in robotics, biomechanics, graphics, and machine learning research.

Source on GitHub: github.com/google-deepmind/mujoco (opens in a new tab). Facts read at commit c39fe6f (opens in a new tab).

Licenses

Code: Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit c39fe6f (opens in a new tab), on 30 Oct 2026.
Commercial use: Yes

What it does: Robotheca's summary

Provides a C API tuned for fast simulation, with models compiled from XML into preallocated data structures.
Includes interactive visualization through a native OpenGL GUI, including the simulate viewer.
Offers Python bindings installable from PyPI, plus a Unity plug-in and C# bindings.
Includes tutorial notebooks covering model editing, multithreaded rollouts, LQR control, and least-squares solving.
Has MJX, a JAX-based branch for accelerated and differentiable physics simulation.
Exposes many utility functions for computing physics-related quantities.

Written by Robotheca from the project's README (opens in a new tab) at commit f627a81.

Getting started

Difficulty: Intermediate
Hardware it needs, as the project states it: Prebuilt binaries are built for Linux (x86-64 and AArch64), Windows (x86-64 only), and macOS (universal); Python bindings need Python 3.10 or newer.
How to start: The project's website (opens in a new tab)

Maintenance

Status: Active: a commit in the last 90 days
Newest commit: 30 Oct 2026 on main
Latest release: 3.17.0 (22 Oct 2026)

Checked on GitHub on 30 Oct 2026.

Robots that can run it

No photo yet
Open source · free files
AlohaScorpion
Home · Advanced
Score
Buildability 88 out of 100
Cost
Not stated
Found by Robotheca in requirements-macos.txt (opens in a new tab)
No photo yet
Open source · free files
Dual Scorpion
Robot arm · Advanced
Score
Buildability 81 out of 100
Cost
$486.88≈ €434
Found by Robotheca in requirements-macos.txt (opens in a new tab)
No photo yet
Open source · free files
Kayra
Humanoid · Intermediate
Score
Buildability 65 out of 100
Cost
Not stated
Found by Robotheca in mujoco/requirements.txt (opens in a new tab)
Open source · free files
Open-Yta Hand
Other · Advanced
Score
Buildability 76 out of 100
Cost
Not stated
Found by Robotheca in requirements.txt (opens in a new tab)
Ready to build
Open source · free files
Physical Ant
Quadruped · Intermediate
Score
Buildability 94 out of 100
Cost
$2,230.61≈ €1,987
Found by Robotheca in requirements.txt (opens in a new tab)
Open source · free files
RC WheelLeg
Wheeled · Advanced
Score
Buildability 88 out of 100
Cost
Not stated
Found by Robotheca in 05_software/train/rc_mjlab/pyproject.toml (opens in a new tab)
Ready to build
Open source · free files
Roboto Origin
Humanoid · Advanced
Score
Buildability 87 out of 100
Cost
¥49,713≈ €6,642
Found by Robotheca in modules/roboparty_train/robolab/setup.py (opens in a new tab)
No photo yet
Open source · free files
Roomi
Home · Intermediate
Score
Buildability 69 out of 100
Cost
$700≈ €624
Found by Robotheca in requirements.txt (opens in a new tab)
Open source · free files
Spot Micro - Leika
Quadruped · Advanced
Score
Buildability 75 out of 100
Cost
Not stated
Found by Robotheca in simulation/pyproject.toml (opens in a new tab)
Open source · free files
U-Arm
Robot arm · Intermediate
Score
Buildability 75 out of 100
Cost
$60≈ €53
Found by Robotheca in src/simulation/mani_skill/examples/bimanual.openarm/openarm_mujoco/pyproject.toml (opens in a new tab)
Open source · free files
TRLC-DK1
Robot arm · Intermediate
Score
Buildability 69 out of 100
Cost
Not stated
Found by Robotheca in pyproject.toml (opens in a new tab)