MuJoCo   advanced physics simulation

MuJoCo 1.50 was released on April 23, 2017. Student licenses are now free.

MuJoCo Pro
MuJoCo Pro is a dynamic library with C/C++ API. It is intended for researchers and developers with computational background. It includes an XML parser, model compiler, simulator, and interactive OpenGL visualizer.

Commercial license. Compatible with 32-bit and 64-bit Windows, 64-bit Linux and OSX.

MuJoCo Pro requires an activation key which is provided to licensed users. See License page.

Download mjpro150 win32
mjpro150 win64
mjpro150 linux
mjpro150 osx
mjpro140 win32
mjpro140 win64
mjpro140 linux
mjpro140 osx
mjpro131 win32
mjpro131 win64
mjpro131 linux
mjpro131 osx


MuJoCo HAPTIX
MuJoCo HAPTIX is an end-user product with full-featured GUI. It has a socket-based API exposing a subset of the functions and data structures available in the Pro library. MuJoCo HAPTIX can be used as a generic simulator, or as a simulator customized for the needs of the DARPA Hand Proprioception & Touch Interfaces (HAPTIX) program. To achieve the latter goal, it integrates real-time motion capture which is used to move the base of a simulated prosthetic hand as well as track the user's head and implement a stereoscopic virtual environment.

Free license. Compatible with 64-bit Windows only.

Download mjhaptix150
mjhaptix140
mjhaptix131


MuJoCo VR
MuJoCo VR is a standalone simulator allowing the user to interact with MuJoCo models in VR. Only the HTC Vive is currently supported, but support for the Oculus Rift will soon be added. The code used to create this simulator is available as a code sample in MuJoCo Pro, and can be compiled for Windows, Linux and OSX. The precompiled executable available here is Windows only.

Free license. Compatible with 64-bit Windows only.

Download mjvr140 beta1