MuJoCo stands for Multi-Joint dynamics with Contact. It is a general purpose physics engine that aims to facilitate research and development in robotics, biomechanics, graphics and animation, machine learning, and other areas that demand fast and accurate simulation of articulated structures interacting with their environment. Initially developed by Roboti LLC, it was acquired and made freely available by DeepMind in October 2021, and open sourced in May 2022. The MuJoCo codebase is available at the google-deepmind/mujoco repository on GitHub.