MuJoCo Physics Simulator

Define physics scenarios with high-level primitives (ball, surface, ramp…), run in MuJoCo, and graph results in Jupyter. Use MCP tools or notebooks in your repo.

Run in GitHub Codespaces

Bypass the create screen: from a clone of this repo, run ./scripts/open-codespace.sh. That creates a codespace with gh and opens it in VS Code—no web form.

Requires GitHub CLI and gh auth login.

Or use the web link (resume existing or create new):

Open in GitHub Codespaces

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Jupyter in your browser

Try Jupyter below (powered by JupyterLite). For full MuJoCo simulation and experiment notebooks, use Codespaces above.

This is a Python REPL in the browser. MuJoCo and mujoco-mcp run only in Codespaces or a local install.

In this repository

After opening in Codespaces, you’ll have this repo. Run the web simulator, or open notebooks and scripts from the repo.

View repo