MuJoCo, short for Multi-Joint dynamics with Contact, is a general purpose physics engine that is tailored to scientific use cases such as robotics, biomechanics and machine learning.
It was first described in 2012 in a paper by Emanuel Todorov, Tom Erez, and Yuval Tassa, and later commercialized under Roboti LLC.
[3] It was described by Zhao and Queralta in their review as one of "the most widely used simulators in the literature".
[4] MuJoCo was acquired by Google DeepMind in October 2021 and open-sourced under the Apache 2.0 license in May 2022.
[5] Parts of the Deepmind control suite are powered by the MuJoCo engine.