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.

mjviser

Web-based MuJoCo viewer powered by Viser

mjlab

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

tianshou

An elegant PyTorch deep reinforcement learning library.

mujoco-mjx

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

mujoco-usd-converter

A MuJoCo to OpenUSD Data Converter

gymnasium-robotics

A collection of robotics simulation environments for reinforcement learning

envpool

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

metaworld

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

obj2mjcf

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

mujoco-python-viewer

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

onshape-to-robot

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

mujoco-mojo

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

causal-gpt-rl

Inference runtime for Causal GPT-RL policy bundles: decoder-only autoregressive transformers as RL agents.

mjpl

MuJoCo motion planning library.

di-engine

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

luckyrobots

Python SDK for LuckyEngine robotics simulation

flexiv-control

Unified real-time control and safety layer for the Flexiv Rizon — teleop, MPC, RL, sim2real, with a MuJoCo sim.

mjswan

MuJoco Simulation on Web Assembly with Neural netwroks

musclemimic-models

Musculoskeletal models released from musclemimic research: fullbody musculoskeletal model

linkforge-core

The LLVM for Robot Descriptions. A programmable IR engine to compose, validate, and compile URDF/XACRO/SRDF models from Python or Blender.

flygym

Simulating embodied sensorimotor control with NeuroMechFly v2