GitHub - google-deepmind/mujoco: Multi-Joint dynamics with Contact. A general purpose physics simulator.

MuJoCo (Multi-Joint dynamics with Contact) is a general-purpose physics engine maintained by Google DeepMind, designed for robotics, biomechanics, graphics, animation, and machine learning research. It features a C API with Python bindings, interactive OpenGL visualization, and a Unity plugin. Installation is available via pip or prebuilt binaries for Linux, Windows, and macOS. The repository includes multiple tutorial notebooks covering basics, model editing, multithreaded rollouts, LQR control, and differentiable physics via MuJoCo XLA (JAX). Third-party bindings exist for Java, Julia, Swift, and more.