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A general purpose physics simulator.","homepage":"https://mujoco.org","topics":[],"language":"C++","license":"Apache-2.0","avatar":"https://avatars.githubusercontent.com/u/8596759?v=4","created_at":"2021-08-27T12:25:48Z","pushed_at":"2026-11-10T01:29:18Z","metrics":{"stars":17124,"forks":2041,"watchers":138,"issues":1966,"prs":891,"releases":58,"issues_open":null,"issues_closed":null,"prs_open":null,"prs_closed":null,"prs_merged":null,"discussions":841},"growth":{"day":{"stars":464,"forks":76,"base_day":"2026-11-09"},"week":{"stars":1086,"forks":126,"base_day":"2026-11-03"},"month":{"stars":1653,"forks":239,"base_day":"2026-10-11"}},"history":{"dates":["2026-09-12","2026-09-13","2026-09-14","2026-09-15","2026-09-16","2026-09-17","2026-09-18","2026-09-19","2026-09-20","2026-09-21","2026-09-22","2026-09-23","2026-09-24","2026-09-25","2026-09-26","2026-09-27","2026-09-28","2026-09-29","2026-09-30","2026-10-01","2026-10-02","2026-10-03","2026-10-04","2026-10-05","2026-10-06","2026-10-07","2026-10-08","2026-10-09","2026-10-10","2026-10-11","2026-10-12","2026-10-13","2026-10-14","2026-10-15","2026-10-16","2026-10-17","2026-10-18","2026-10-19","2026-10-20","2026-10-21","2026-10-22","2026-10-23","2026-10-24","2026-10-25","2026-10-26","2026-10-27","2026-10-28","2026-10-29","2026-10-30","2026-10-31","2026-11-01","2026-11-02","2026-11-03","2026-11-04","2026-11-09","2026-11-10"],"stars":[14777,14856,14880,14909,14927,14937,14973,14993,15018,15042,15060,15080,15133,15158,15175,15198,15214,15225,15259,15284,15305,15323,15332,15344,15369,15387,15426,15439,15444,15471,15488,15505,15525,15551,15585,15632,15654,15680,15695,15714,15730,15760,15780,15800,15825,15837,15854,15906,15926,15940,15966,15979,16038,16049,16660,17124],"forks":[1704,1709,1713,1713,1718,1719,1722,1724,1726,1730,1737,1741,1751,1758,1762,1764,1768,1769,1773,1774,1778,1783,1782,1785,1787,1790,1795,1796,1799,1802,1807,1812,1815,1820,1824,1833,1838,1844,1846,1852,1857,1867,1872,1876,1879,1880,1880,1887,1893,1895,1897,1901,1915,1918,1965,2041],"watchers":[130,131,131,131,131,132,134,134,134,134,134,134,134,133,132,132,132,132,132,132,133,133,133,133,133,133,133,133,133,132,132,132,132,133,133,133,133,134,135,135,135,135,136,137,137,137,135,135,135,135,135,135,135,135,138,138],"issues_open":[null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null],"prs_open":[null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null]},"boards":{"daily":79,"weekly":115,"daily_rate":68,"weekly_rate":65,"monthly_rate":149},"same_owner":[{"full_name":"google-deepmind/alphafold","name":"alphafold","boards":{}},{"full_name":"google-deepmind/gemma","name":"gemma","boards":{}},{"full_name":"google-deepmind/open_spiel","name":"open_spiel","boards":{}},{"full_name":"google-deepmind/sonnet","name":"sonnet","boards":{}},{"full_name":"google-deepmind/weathernext","name":"weathernext","boards":{}}],"issues":[{"number":2275,"title":"use the python version of mujoco3.2.6 under win11, an OSError: [WinError 1114] The dynamic link library (DLL) initialization routine failed.","comments":39,"created_at":"2024-12-06T22:23:37Z"},{"number":639,"title":"AMD GPU: GUI is rendered incorrectly all over the window","comments":38,"created_at":"2022-12-09T11:26:43Z"},{"number":1427,"title":"Running mujoco.viewer in a Wayland session results in borderless window","comments":25,"created_at":"2024-02-17T04:26:58Z"},{"number":2934,"title":"Mysterious behavior when grasping while controlling gripper poses using caterisan control","comments":19,"created_at":"2025-11-07T09:04:40Z"},{"number":2259,"title":"[MJX] jax.lax.while_loop in solver.py prevents computation of backward gradients","comments":15,"created_at":"2024-11-29T15:43:33Z"},{"number":2487,"title":"Renderer API","comments":13,"created_at":"2025-03-09T22:02:30Z"},{"number":3013,"title":"Both internal and external plugins do not get loaded when running simulate executable","comments":11,"created_at":"2026-01-09T15:27:36Z"},{"number":3397,"title":"[Performance; Model editing] Batch adding of bodies/geoms/etc.","comments":10,"created_at":"2026-07-12T16:34:25Z"}],"discussions":[{"number":3777,"title":"Discrepancies between MATLAB and MuJoCo for second-order discrete controllers","comments":1,"category":"Asking for Help","created_at":"2026-11-08T11:10:15Z"},{"number":3773,"title":"MuJoCo 4: Studio & Filament, Deformables, Speculative Contacts","comments":4,"category":"Announcements","created_at":"2026-11-07T16:03:05Z"},{"number":3708,"title":"Patch list created","comments":0,"category":"General","created_at":"2026-10-19T02:23:47Z"},{"number":3680,"title":"Black and Grey / incorrectly rendered UI panels on Windows with AMD Radeon PRO Graphics","comments":1,"category":"Asking for Help","created_at":"2026-10-10T11:54:43Z"},{"number":3652,"title":"Reporting motor impulse under implicitfast: am I separating the force samples correctly?","comments":1,"category":"Asking for Help","created_at":"2026-10-04T20:58:43Z"},{"number":3592,"title":"MuJoCo PID plugin","comments":1,"category":"Asking for Help","created_at":"2026-09-15T07:25:43Z"},{"number":3569,"title":"Implement a tire friction model through plugin?","comments":1,"category":"Asking for Help","created_at":"2026-09-11T20:02:14Z"},{"number":3525,"title":"Robot Segmentation Mask for real depth images","comments":0,"category":"Ideas","created_at":"2026-08-27T08:09:08Z"}],"latest_release":{"name":"4.0.0","tag":"4.0.0","published_at":"2026-11-06T15:39:53Z","body":"# Version 4.0.0 (November 6, 2026)\r\n\r\n> [!IMPORTANT]\r\n> **Read the [MuJoCo 4.0 announcement](https://github.com/google-deepmind/mujoco/discussions/3773)** for an overview of everything new since 3.0, the interactive showcase at [mujoco.org](https://mujoco.org), [MuJoCo Live](https://live.mujoco.org) browser demos, visual showcases, and maintainer Q&A.\r\n\r\n\r\n\r\n## Significant new features\r\n\r\n1. [`89daf8d19`](https://github.com/google-deepmind/mujoco/commit/89daf8d19) Added the [speculative](https://mujoco.readthedocs.io/en/stable/XMLreference.html#option-flag-speculative) enable flag for [speculative contacts](https://mujoco.readthedocs.io/en/stable/computation/speculative.html) to prevent fast-moving convex geoms from tunneling through thin obstacles within a single\r\n timestep. On the right, one step of conservative advancement between two rotating boxes. See\r\n [model/speculative/](https://github.com/google-deepmind/mujoco/tree/main/model/speculative/) for examples.\r\n\r\n
\r\n\r\n2. Added elasto-plasticity, with stateful plastic deformation stored in `mjData.plastic` (`mjSTATE_PLASTIC`):\r\n\r\n - [`e140c026f`](https://github.com/google-deepmind/mujoco/commit/e140c026f) Ideal elasto-plasticity for joint ([springyield](https://mujoco.readthedocs.io/en/stable/XMLreference.html#body-joint-springyield)) and tendon\r\n ([spatial](https://mujoco.readthedocs.io/en/stable/XMLreference.html#tendon-spatial-springyield), [fixed](https://mujoco.readthedocs.io/en/stable/XMLreference.html#tendon-fixed-springyield)) springs (left).\r\n\r\n - [`0c0f63b3f`](https://github.com/google-deepmind/mujoco/commit/0c0f63b3f), [`c39fe6f02`](https://github.com/google-deepmind/mujoco/commit/c39fe6f02), [`e3bd72742`](https://github.com/google-deepmind/mujoco/commit/e3bd72742), [`7cb32488b`](https://github.com/google-deepmind/mujoco/commit/7cb32488b) Continuum elasto-plasticity\r\n ([yield](https://mujoco.readthedocs.io/en/stable/XMLreference.html#flex-elasticity-yield)) for 2D and 3D [flexes](https://mujoco.readthedocs.io/en/stable/XMLreference.html#deformable-flex), with separate stretching and\r\n bending yield strains for 2D shells, volumetric-deviatoric (von Mises $J_2$) stretching and 2D shell bending\r\n return mapping (right).\r\n\r\n - See [model/plastic/](https://github.com/google-deepmind/mujoco/tree/main/model/plastic/) for examples.\r\n\r\n\r\n\r\n\r\n\r\n
\r\n\r\n3. [`abaf8d518`](https://github.com/google-deepmind/mujoco/commit/abaf8d518) Split the Python distribution into `mujoco-core` (minimal bindings and C library depending only\r\n on `numpy`), `mujoco-studio` (Studio and Filament renderer bindings), and `mujoco` (default package installing\r\n both). When upgrading from a pre-split `mujoco` installation with `pip`, uninstall first\r\n (`pip uninstall -y mujoco && pip install mujoco`) or run\r\n `pip install --force-reinstall --no-deps mujoco mujoco-core mujoco-studio` after upgrading so `pip` does not\r\n remove files moved to `mujoco-core`. To switch an existing `mu"},"readme":true,"readme_zh":false,"news":[{"title":"MuJoCo – Advanced Physics Simulation","url":"https://github.com/google-deepmind/mujoco","hn":"https://news.ycombinator.com/item?id=47820791","source":"Hacker News","lang":"en","date":"2026-04-19","points":116,"comments":24},{"title":"MuJoCo 4: Studio and Filament, Deformables, Speculative Contacts","url":"https://github.com/google-deepmind/mujoco/discussions/3773","hn":"https://news.ycombinator.com/item?id=50428756","source":"Hacker News","lang":"en","date":"2026-11-09","points":1,"comments":0},{"title":"MuJoCo 3","url":"https://github.com/google-deepmind/mujoco/discussions/1101","hn":"https://news.ycombinator.com/item?id=37928068","source":"Hacker News","lang":"en","date":"2023-10-18","points":1,"comments":0},{"title":"The physics engine 'MuJoCo' can be downloaded for free with the acquisition of DeepMind.","url":"https://gigazine.net/gsc_news/en/20211019-physics-simulator-for-robotics/","source":"GIGAZINE","lang":"en","date":"2021-10-19"},{"title":"KingKong 发布开源螃蟹机器人 Jumper, 40 厘米 1.8 公斤","url":"https://news.google.com/rss/articles/CBMikgFBVV95cUxNTzNDWG95X1dnVmxVM1ZPM1lYcE5mR293Ymt6Y1NOZllpRDBXZFpNS19ib29Cek43MzFJX1MtYV8yNFlxQTJFMDJjdHI4VUZIWG4zVDVjQnBIUXFLdkxRZVMwU3BreWpMTEFzQlg3alhqR0VlLU5aMjNBbkRVWHdWOTJqWGtxaTVFVjl5Z1lYVVFoQQ?oc=5","source":"Pasquale Pillitteri","lang":"zh","date":"2026-10-12"},{"title":"Open-Source Crab Robot, KingKong Releases Jumper at 40 cm and 1.8 kg","url":"https://news.google.com/rss/articles/CBMiigFBVV95cUxNcTlBU084cXpKVko5a05vRzhRLU9vZi1OSE1mc2pSTk1LdlFiRU1OeGhrYzBzZndIN3A3QlZNQWdIeVNWeWVfbGRuVnBCV3lyajJ4ZnFEcDBsbkVUUlNfV0RZaE4xcFVyVlpTV3VLZnJTMHducmZxeEtzQzJ0d1ZqSXFDRXZkcjBfTnc?oc=5","source":"Pasquale Pillitteri","lang":"en","date":"2026-10-11"},{"title":"RL training environments for Microduck","url":"https://news.google.com/rss/articles/CBMiggFBVV95cUxNT0hkejhOVHhEZ2tBSG11Yi1tX3g2aVFjcWw1WnBqdXBBbGlPeFJ5M1BXUFlqQUdVbGVyMzRjZTUycHZWWFo4T1d4V1pyeTBxZmFEWmVQX0lVTUE2TEh1WDZ1REhjQkk0aXY2SFVFOGg2N0dvc1I2SmtZSWktMDBvR1VB?oc=5","source":"Adafruit","lang":"en","date":"2026-09-01"},{"title":"Microduck 刚开源，就有人把它从MJCF 跑到了CAD 装配图","url":"https://news.google.com/rss/articles/CBMiS0FVX3lxTE82QU9oZF85cGk0TmE4LWVtQUJjWUNvdVhsUEhSZFdjQTA0TGVkN3RoZFBMQUtZaGZXN1QyZ1NOZW1ja3B0ZzF3bEhFOA?oc=5","source":"OSCHINA","lang":"zh","date":"2026-09-01"},{"title":"RSS’26最新！大幅领先Isaac Sim与MuJoCo，单卡万帧+零微调！视觉仿真器GSP来啦～","url":"https://news.google.com/rss/articles/CBMibkFVX3lxTE5GaDJRM1RscldmdkJMQ0dhT0lFcDZoR0pyZlUwd3lXMElVenFRdjItXzJndEpuVzVhakM0clowQjRQWEdKVFpCR3hQTFFmV0hoOXR2aTZHNTlXcnByV0wxNm9rS0ltSll4SUM0cDF3?oc=5","source":"雷峰网","lang":"zh","date":"2026-07-20"},{"title":"宇树机器人强化学习代码全面开源，还有训练到仿真和实操手把手教学","url":"https://news.google.com/rss/articles/CBMiSEFVX3lxTE8zUF82U3hCcWF1Ti1TaU1ZbGxlNTQ2TnNfa2stM05pSXFyOGZkNWQzYjM2QWhfOHYzcThyQVVTMzZaQlZITEx1Yw?oc=5","source":"智源社区","lang":"zh","date":"2024-12-18"},{"title":"Simulate Mobile Aloha in Mujoco","url":"https://news.google.com/rss/articles/CBMigwFBVV95cUxQMDI1Y2lxSkFuZHkwdnludG5XcUo4ZG1OVHRJaURqQXlpVExhTk5ldmxzbDVod2ZOVnhCc2RTaHVoQzVVcWhJWHR3S05HRFlDSUFCY3JpUC0xQU56QlVrTTRteGZMMTFSOU9TdTUxdmxrNXFtYW5lZVdsaWFjV09ZT3R5MA?oc=5","source":"Hackster.io","lang":"en","date":"2024-03-30"},{"title":"Mujoco3开源：物理仿真器速度更快 稳定性大大提高","url":"https://news.google.com/rss/articles/CBMiSEFVX3lxTFB6b0loU0hSaHduY0U1dHNNUXNoRFBHakRGdmh2X0gtanVRRWkxQTJ2Y3dJYm1JN29wcDAydTgwV0thREdmemgwRQ?oc=5","source":"凤凰网","lang":"zh","date":"2023-10-20"},{"title":"DeepMind’s open-source version of MuJoCo available on GitHub","url":"https://news.google.com/rss/articles/CBMieEFVX3lxTE9xRW9VNHU3dUQxOEpJYWVsdTVVczNSTi1aV0NGQlRmOUJIdU9PblB6Yk14eW5OeXZ6OTJFWGxKSlJkR3o5TGpiTlg3eTlmaGFGbEIySGROeXpwR2N4cG8yUE9MZDVXSWE3SElzbVFnQUFpQnR4ZHBNbg?oc=5","source":"The Robot Report","lang":"en","date":"2022-05-25"},{"title":"Open-sourcing MuJoCo","url":"https://news.google.com/rss/articles/CBMiX0FVX3lxTE54bVJtOHAwdmd4ZHZaWVNaaGpfX0tzdWFnTjNxYmliMGhubVViSHo2aG5EYlB3SE9ZOTlrSTBJWnIzQnRKY0dZOElTWWN2Q2RSWFBiSmZoMnZsMkZQNHhr?oc=5","source":"Google DeepMind","lang":"en","date":"2022-05-23"}],"stale":false,"snapshot_at":"2026-11-10T09:35:25Z","history_start":"2026-09-06"}