This package contains the core Python bindings (mujoco-core) for the MuJoCo physics engine (GitHub). These bindings are developed and maintained by Google DeepMind, and are kept up-to-date with the latest developments in MuJoCo itself.

The mujoco-core package provides direct access to raw MuJoCo C API functions, structs, constants, and enumerations, with only numpy as a required runtime dependency. It is automatically installed when you install the full mujoco package (pip install mujoco), or can be installed standalone in minimal headless simulation environments (pip install mujoco-core). To switch an existing mujoco installation to mujoco-core only, run:

pip uninstall -y mujoco mujoco-studio mujoco-studio-wasm && pip install --force-reinstall --no-deps mujoco-core

It is not the aim of this package to provide fully fledged scene/environment/game authoring API, as there are already a number of existing packages that do this well. However, this package does provide a number of lower-level components outside of MuJoCo itself that are likely to be useful to most users who access MuJoCo through Python. For example, the egl, glfw, and osmesa subpackages contain utilities for setting up OpenGL rendering contexts.

The recommended way to install this package is via PyPI:

pip install mujoco

A copy of the MuJoCo library is provided as part of the package and does not need to be downloaded or installed separately.

IMPORTANT: Building from source is only necessary if you are modifying the Python bindings (or are trying to run on exceptionally old Linux systems). If that's not the case, then we recommend installing the prebuilt binaries from PyPI.

If you need to build the Python bindings from source, please consult the documentation.

Once installed, the package can be imported via import mujoco. Please consult our documentation for further detail on the package's API.

We recommend going through the tutorial notebook which covers the basics of MuJoCo using Python:

The major.minor.micro portion of the version number matches the version of MuJoCo that the bindings provide. Optionally, if we release updates to the Python bindings themselves that target the same version of MuJoCo, a .postN suffix is added, for example 2.1.2.post2 represents the second update to the bindings for MuJoCo 2.1.2.

Copyright 2022 DeepMind Technologies Limited

MuJoCo and its Python bindings are licensed under the Apache License, Version 2.0. You may obtain a copy of the License at https://www.apache.org/licenses/LICENSE-2.0.

This is not an officially supported Google product.