MuJoCo is an advanced simulator for multi-body dynamics with contact. It was developed by Roboti LLC and was available as a commercial product from 2015 to 2021.

We are excited to announce that as of October 2021, DeepMind has acquired MuJoCo and is making it freely available to everyone under the Apache 2.0 license. MuJoCo 2.1 has been released as unlocked binaries, available at mujoco.org along with updated documentation. MuJoCo will be open-sourced in the coming months and its future home will be github.com/deepmind/mujoco. We encourage all users to follow the project there. In the meantime, mujoco.org will remain the project's home page.

Roboti LLC will continue to support existing paid licenses until they expire. Legacy MuJoCo releases (versions 2.0 and earlier) will remain available for download, with a free activation key file that is valid until October 2031.