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.

mujoco-mjx

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

tianshou

An elegant PyTorch deep reinforcement learning library.

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

mjlab

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

mujoco-usd-converter

A MuJoCo to OpenUSD Data Converter

mjviser

Web-based MuJoCo viewer powered by Viser

obj2mjcf

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

envpool

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

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

MuJoco Simulation on Web Assembly with Neural netwroks

edgevox

Offline voice agent framework for robots.

luckyrobots

Python SDK for LuckyEngine robotics simulation

musclemimic-models

MuscleMimic Models

flygym

Simulating embodied sensorimotor control with NeuroMechFly v2

xuance

XuanCe: A Comprehensive and Unified Deep Reinforcement Learning Library

deltatau-audit

Time Robustness Audit for RL agents — measures timing reliance, deployment robustness, and stress resilience

mushroom-rl

Python library for Reinforcement Learning.