MuJoCo vs 
Gazebo
MuJoCo vs Gazebo compared for 2026 — features, license, ease of use, performance and which one to choose. The physics engine most robotics research runs on vs Simulate a whole robot, sensors included.
Updated regularly · curated by OpenSourceAI.tech
MuJoCo vs Gazebo at a glance
| Spec | MuJoCo | Gazebo |
|---|---|---|
| Category | Robotics & embodied AI | Robotics & embodied AI |
| Type | Physics simulator | Robot simulator |
| License | Apache-2.0 | Apache-2.0 |
| Runs locally | Yes | Yes |
| Primary language | C++ | C++ |
| Ease of use | Intermediate | Intermediate |
| Best for | training control policies before touching real hardware | testing a full robot stack, including cameras and lidar |
| GitHub stars | 14.2k | 1.4k |
How MuJoCo and Gazebo score
| Criterion | MuJoCo | Gazebo |
|---|---|---|
| Popularity | 3.0 | 2.0 |
| Maintenance | 5.0 | 5.0 |
| Ease of use | 3.5 | 3.5 |
| Privacy | 5.0 | 5.0 |
| License freedom | 5.0 | 5.0 |
Scores are computed automatically from public signals — GitHub stars (popularity), recent commit activity (maintenance), license type (freedom), local-first design (privacy) and onboarding complexity (ease of use). Indicative, not a verdict.
What each one is
MuJoCo
MuJoCo simulates contact-rich dynamics fast and accurately. DeepMind open-sourced it, and it is now the default for reinforcement learning on robots.
- Accurate contact dynamics at very high speed
- Free since DeepMind released it
- The de-facto standard in RL papers
Gazebo
Gazebo simulates robots with their sensors and environment — the classic testing ground before deploying to real hardware.
- Realistic sensor simulation
- Tight ROS integration
- Decades of robotics use behind it
Key differences
MuJoCo is physics simulator, while Gazebo is robot simulator. In short, MuJoCo fits training control policies before touching real hardware, and Gazebo fits testing a full robot stack, including cameras and lidar.
Which should you choose?
Choose MuJoCo for training control policies before touching real hardware. Choose Gazebo for testing a full robot stack, including cameras and lidar.
There is rarely one winner — many setups use both. The right pick depends on your hardware, your team's skills, and whether you value simplicity or control.
Frequently asked questions
Is MuJoCo or Gazebo easier to use?
Both sit at a similar level (Intermediate). Your choice should come down to fit rather than difficulty.
Are MuJoCo and Gazebo free?
MuJoCo is free and open source (Apache-2.0), and Gazebo is free and open source (Apache-2.0). Neither charges for the core software.
Can I run MuJoCo and Gazebo locally?
MuJoCo: yes · Gazebo: yes. Both can be used without sending your data to a third-party cloud where their setup allows.
MuJoCo vs Gazebo — which should I pick in 2026?
Choose MuJoCo for training control policies before touching real hardware. Choose Gazebo for testing a full robot stack, including cameras and lidar.
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