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 has made it freely available as an open source project under the Apache 2.0 license. The updated homepage is mujoco.org. The software distribution is available at github.com/deepmind/mujoco.