MuJoCo is a C-based physics simulator for articulated structures now maintained by Google DeepMind. It provides precompiled binaries for Linux, Windows, and macOS, alongside official Python bindings and a JAX-accelerated implementation called MJX. The engine is designed for high-performance simulation of contact dynamics in robotics and biomechanics research.
If you are working on differentiable physics or reinforcement learning, this is currently the industry standard. However, the XML-based model definition format has a steep learning curve and feels archaic compared to modern game engines. It is a powerful tool for research, but overkill if you just need basic rigid-body physics for a general application.
more: https://github.com/google-deepmind/mujoco
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