Mujoco Python Packages

mujoco

Multi-Joint dynamics with Contact. A general purpose physics simulator.

dm-control

Google DeepMind's software stack for physics-based simulation and Reinforcement Learning environments, using MuJoCo.

mink

Python inverse kinematics based on MuJoCo.

tianshou

An elegant PyTorch deep reinforcement learning library.

mujoco-mjx

Multi-Joint dynamics with Contact. A general purpose physics simulator.

gymnasium-robotics

A collection of robotics simulation environments for reinforcement learning

metaworld

Collections of robotics environments geared towards benchmarking multi-task and meta reinforcement learning

envpool

C++-based high-performance parallel environment execution engine (vectorized env) for general RL environments.

mjviser

Web-based MuJoCo viewer powered by Viser

mujoco-usd-converter

A MuJoCo to OpenUSD Data Converter

mjlab

Isaac Lab API, powered by MuJoCo-Warp, for RL and robotics research

obj2mjcf

A CLI for processing composite Wavefront OBJ files for use in MuJoCo.

onshape-to-robot

Converting Onshape assembly to robot definition (URDF, SDF, MuJoCo) through Onshape API

mujoco-python-viewer

Simple renderer for use with MuJoCo (>=2.1.2) Python Bindings.

mujoco-mojo

A complete MJCF lifecycle and trial orchestration suite for MuJoCo, powered by Pydantic v2.

di-engine

OpenDILab Decision AI Engine. The Most Comprehensive Reinforcement Learning Framework B.P.

mjswan

Browser-based MuJoCo simulation with real-time policy control

mujorax

A JAX-native MuJoCo environment suite for Envrax

musclemimic-models

Musculoskeletal models released from musclemimic research: fullbody musculoskeletal model

luckyrobots

Python SDK for LuckyEngine robotics simulation

flygym

Simulating embodied sensorimotor control with NeuroMechFly v2

edgevox

Offline voice agent framework for robots.

ghostloop

The agent loop, embodied. Tool-using runtime + fail-closed safety pipeline + sim-first execution + statistically-rigorous bench harness + post-hoc analysis (counterfactual replay, causal attribution, LLM judge, property mining) for embodied AI. Sister project to GhostLM.

mushroom-rl

A Python library for Reinforcement Learning experiments.