MuJoCo

Physics engine for robotics. Fast, accurate. Free, open source.

Overview

MuJoCo (Multi-Joint dynamics with Contact) is a physics engine for rigid-body simulation. Acquired by DeepMind, now free and open source. Used by RoboSuite, Gymnasium, and many manipulation benchmarks.

Official Links

mujoco.readthedocs.io — Docs
github.com/google-deepmind/mujoco — Code