MuJoCo Tutorials
Tutorials
Section titled “Tutorials”The tutorials below are a collection of step-by-step, hands-on resources meant to steadily build skills in MuJoCo. Work through the getting-started material first — the Python and advanced tutorials build on it.
Getting Started
Section titled “Getting Started”- Overview — what MuJoCo is, and a minimal “hello world” model
- Installing the Python bindings (
pip install mujoco) - Code samples (C API)
- Releases — precompiled binaries and the standalone
simulateviewer
The "hello world" scene from the official Overview page — a box falling under gravity.
Python Bindings
Section titled “Python Bindings”The native Python bindings mirror the C API while adding Pythonic conveniences — an interactive viewer, named access to model elements, and NumPy-backed arrays for every struct.
- Python bindings reference
- Introductory tutorial (Colab)
- Model editing with
mjSpec(Colab) - Parallel rollouts with
mujoco.rollout(Colab) - LQR control (Colab)
- Least-squares solver with
mujoco.minimize(Colab)
Advanced
Section titled “Advanced”- MuJoCo XLA (MJX) — GPU/TPU-accelerated MuJoCo in JAX (Colab)
- Differentiable physics with MJX (Colab)
- Unity plug-in
Models
Section titled “Models”