MuJoCo Complete Guide 2026 — MJCF, Gymnasium RL, Menagerie & Isaac Lab
The definitive MuJoCo 3.x reference guide: installation, MJCF format, contact physics, actuators, Python API, Gymnasium RL, and the Menagerie robot library. 11 sections.
- Section 1: pip install mujoco (not mujoco-py)
- Section 2: MJCF format — world, body, joint, actuator
- Section 3: Soft contact model and friction
- Section 4: Actuators, tendons, and cables
- Section 5: Python API — mj_step, mj_data, mj_model
- Section 6: Gymnasium RL environments
- Section 7: EGL headless rendering
- Section 8: MuJoCo Menagerie robot library
- Section 9: MJX — GPU-accelerated MuJoCo on JAX
- Section 10: Isaac Lab and MuJoCo integration
- Section 11: 9 common errors and fixes
Read the complete MuJoCo guide
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