MuJoCo

license

Apache-2.0(core, MJX and MuJoCo Warp)

source

public

core features withheld

no — no paid edition

The engine and both accelerator backends are Apache-2.0 in their own repositories, and nothing is held back for a paid edition.

• https://raw.githubusercontent.com/google-deepmind/mujoco_warp/main/LICENSE recorded 2026-09-26

  mujoco_warp LICENSE: the same Apache License, Version 2.0 text.

• https://raw.githubusercontent.com/google-deepmind/mujoco/main/LICENSE recorded 2026-09-26

  LICENSE: the Apache License, Version 2.0 text, with no exception clause.

• https://raw.githubusercontent.com/google-deepmind/mujoco/main/README.md recorded 2026-09-26

  README: an engine, a GUI viewer, Python bindings and a Unity plug-in; no hosted or paid edition mentioned.

• https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/google-deepmind%2Fmujoco recorded 2026-09-26

  Repository record for google-deepmind/mujoco: license apache-2.0, archived false, fork false.

• https://ungh.cc/repos/google-deepmind/mujoco/files/main recorded 2026-09-26

  Full listing of the main branch, 2,206 paths including the mjx/ directory; no enterprise, ee or commercial path.

PyPI installs of the mujoco package plus the separately published MuJoCo Warp package. A share of the core figure is pulled in as a dependency by other simulators and reinforcement-learning libraries rather than chosen directly.

• https://pypi.org/pypi/mujoco/json recorded 2026-09-26

  PyPI metadata for mujoco: Homepage and Repository both https://github.com/google-deepmind/mujoco.

• https://pypistats.org/api/packages/mujoco-warp/recent recorded 2026-09-26

  pypistats: last_month 363,577 downloads for mujoco-warp.

• https://pypistats.org/api/packages/mujoco/recent recorded 2026-09-26

  pypistats: last_month 3,877,990 downloads for mujoco.

MuJoCo is the reference contact physics engine, and its GPU build runs many worlds in parallel and renders their cameras in the same batch by ray tracing. What it does not carry is a second physics engine or a library of ready-to-train tasks for common robots; those come from projects built on it.

• https://raw.githubusercontent.com/google-deepmind/mujoco_warp/main/README.md recorded 2026-09-26

  mujoco_warp README: "a GPU-accelerated version of the MuJoCo physics simulator, designed for NVIDIA hardware"; "MJWarp includes a high-throughput GPU batch renderer designed for simultaneous rendering of cameras across many parallel simulation worlds. The renderer uses ray-tracing"; maintained "by Google DeepMind and NVIDIA as part of the Newton project".

• https://raw.githubusercontent.com/google-deepmind/mujoco/main/mjx/README.md recorded 2026-09-26

  mjx/README.md: "a re-implementation of the MuJoCo physics engine in JAX" that is "API-compatible with MuJoCo, but is missing some features".

• https://raw.githubusercontent.com/google-deepmind/mujoco/main/README.md recorded 2026-09-26

  README: "a general purpose physics engine ... fast and accurate simulation of articulated structures interacting with their environment"; the core's own viewer is "rendered in OpenGL".