License types: Trial Personal Institutional

MuJoCo Trial License: 30 days

We invite you to register for a free trial of MuJoCo. Trials are limited to one per user per year. After registration you will receive an email with your activation key and license text. The activation key will be locked to your Computer id. Download the 'getid' executable corresponding to your platform (using the links below) and run it to obtain your Computer id.

Full name Email address Computer id Win32 Win64 Linux OSX Acceptance I agree to the terms and conditions of the Trial License.



Within the 30-day trial period you may request up to 3 activation keys for different computers or operating systems. All keys will expire on the same date. If you accidentally submit the same Computer id again, we will re-send the activation key without counting it towards the limit.

MuJoCo Personal License: 1 year

There are three types of personal license: Student, Non-commercial and Commercial. Compared to institutional licenses, the personal license agreements are simpler (see links below) and do not require signature from an authorized representative, however the activation keys are hardware-locked. The licensed user may use the software on up to 3 computers for Non-commercial and Commercial licenses, and one computer for Student licenses.



The annual license fees and use restrictions are summarized below. For customers in countries whose GDP(PPP)-per-capita is less than 50% of the USA, we offer a 50% discount.





Personal Student Free Available to full-time students for use in personal projects only. The software may not be used as part of employment, in projects receiving financial support, or in class projects where more than half of the class is using MuJoCo. Requires school email address. Personal Non-commercial $500 Available to anyone for use in personal projects. Also available to students, faculty and staff at academic institutions for use in research and education. Personal Commercial $2,000 Available to anyone for use in any project.

To request a personal license, follow these steps:



Step 1: Fill out and submit the form below.

Full name Email address City and State Country Organization Student I agree to all the terms of the Personal Student Software License Agreement. I understand that class projects and home works assigned by an instructor are not considered personal projects, and require a paid license (usually provided by the school). Non-commercial I agree to all the terms of the Personal Non-commercial Software License Agreement. Commercial I agree to all the terms of the Personal Commercial Software License Agreement.



Step 2: For paid licenses, you will receive an electronic invoice payable with credit card or PayPal account. It will reflect the 50% discount if your country is eligible, based on the information you provided and the geolocation of your IP address. After you pay the invoice, we will send you an email with your account number. Payment is final and cannot be refunded, so please try the software before purchasing. Note that generating invoices and creating accounts is done manually and may take a couple of days. For student licenses, you will receive an email with your account number without an invoice, however your email address must belong to an educational domain.



Step 3: Once you have an account number, you can register your Computer id. This id obtained by downloading and running the 'getid' executable corresponding to your platform from the links below. After successful registration, an activation key locked to your Computer id will be emailed to you automatically.



NOTE: Activation is local and the software does not contact our server. Therefore activation keys cannot be deactivated. Please use the 30-day trial to test the software on the computer you intend to use long-term, before registering it here. This is particularly important for students because they can only register one computer.

Account number Computer id Win32 Win64 Linux OSX



Within the 1-year license period you may request up to 3 activation keys for different computers or operating systems (one key for Student licenses). All keys will expire on the same date. If you accidentally submit the same Computer id again, we will re-send the activation key without counting it towards the limit. If you are no longer able to use one of the registered computers, you may send email to explaining the circumstances and requesting an additional registration. Note however that granting such requests is at our sole discretion.

MuJoCo Institutional License: 1 year

There are two types of institutional license: Academic and Commercial. Each has multiple subtypes shown below. Academic licenses are limited to academic institutions. All other organizations (including non-profits, governments, research institutes) need a commercial license.



For Academic Lab licenses we have streamlined the process as follows: the Software License Agreement AcademicLabSLA.pdf is accepted automatically by paying the license fee; purchase orders are not accepted; payment is made via PayPal invoice and must be received upfront; we offer an annual license for $3000 as well as a six-month license for $1500 (for customers with card spending limits). To purchase an Academic Lab license, please send email to with the name of the university and the PI, and we will send you the PayPal invoice and customized SLA. Once we receive the payment, we will email you the activation key and you can start using the software.



For all other Institutional licenses, the Software License Agreement must be signed by an authorized representative of the organization. The template agreements are AcademicSLA.pdf and CommercialSLA.pdf. The first page of each template specifies the information needed to customize it. Please send this information to and we will generate a customized agreement for your review. Once the agreement is executed, you can place a purchase order.



The annual license fees are shown below. For customers in countries whose GDP(PPP)-per-capita is less than 50% of the USA, we offer a 50% discount. Click on each link to see a brief description of the corresponding license type.





Academic Lab License

For the Commercial Site license, the per-user price shown on each line is for the corresponding range of users, and not for the entire license. So for example a site license with 12 users would cost 5*1900 + 5*1750 + 2*1600 = $21,450.

This license is designed for the research group of one Principal Investigator (PI) at an academic institution. It covers all personnel working under the direct supervision of the PI. It also covers all students enrolled in a PhD-level class taught by the PI. The software can be run on unlimited number of computers by the licensed users.

Academic Class License

This license is designed for instructional use. It covers all students and instructors in a specified class. Note that for PhD-level classes the Lab License is more advantageous. The Class License is suitable for undergraduate and masters-level classes. The software can be run on unlimited number of computers by the licensed users. Enrolled students may use the software after the class, for the remainder of the six-month license term. However a single Class License cannot be used for multiple classes or multiple offerings of the same class in different semesters.

Academic Area License

This license is designed for the research groups of several Principal Investigators (PIs) at an academic institution. All PIs must have their primary appointment in the same department, and must work in the same research area. The license covers all personnel working under the direct supervision of one of the PIs. It also covers all students enrolled in a PhD-level class taught by one of the PIs. The software can be run on unlimited number of computers by the licensed users.

Academic Department License

This license is designed for academic departments where multiple research groups are using the software, and/or the software is used in multiple undergraduate or masters-level classes. It covers all students and employees of the department. Students from other departments who are enrolled in a class that is offered by the licensed department and uses the software are also covered. The software can be run on unlimited number of computers by the licensed users.

Commercial Team License

This license is designed for small organizations or focused teams within large organizations, possibly with some collaborators outside the team. It consists of a base license and optional extension licenses. The base license allows up to 10 users to run the software on unlimited number of computers, provided that they are part of the same "team" which is defined as follows:



- for organizations with 30 or more employees, all 10 users must have the same immediate technical manager or lead;

- for organizations with less than 30 employees, any 10 employees may use the software as base users.



Extension licenses are available for users who are not part of the team as defined above, or if the number of users in the team has already reached 10. Each extension license allows one user to run the software on unlimited number of computers. There is no requirement for that user to be part of the team to which the base license is assigned.

Commercial Site License

This license is designed for maximum flexibility. It covers a number of users chosen by the organization, with a minimum of 3 users. Each user can run the software on unlimited number of computers.



The pricing of Team vs. Site licenses is somewhat unusual: team licenses start with lower per-user price which increases when extension users are added, while site licenses are the opposite. This is meant as a discount for small organizations who have the potential to grow, or focused teams in large organizations who have the potential to recruit other users within the organization. We have designed the pricing scheme so that once such growth takes place, the discount is over and the site license becomes more cost-effective.

Commercial SDK License

This license is intended for developers who wish to incorporate MuJoCo in their software or hardware products and then distribute it with those products, or use it to create online services. The Commercial SDK License includes a MuJoCo static library that can be linked to and distributed with the customer's software. Such software must add significant functionality, and can only expose MuJoCo functionality that has been negotiated in advance and is specified in the license agreement. The license agreement here is custom, and will be designed according to each customer's needs.



Instead of the Commercial SDK License, developers can purchase a regular license (which is limited to in-house use), use it for development and testing, and distribute their product without MuJoCo. The header files and code samples are open-sourced so as to facilitate this default model. End-users will then have to purchase a regular MuJoCo license in order to use the product. If the product is open-source software which unavoidably exposes the full functionality of MuJoCo, this default model is the only viable option and the Commercial SDK License cannot be used.



The Commercial SDK License is intended for situations where the default model cannot be applied. Examples include computer games which cost much less than a regular MuJoCo license; specialized software where end-users expect a complete solution that does not require them to install separate libraries; real-time control software that needs to be tightly integrated and run on an embedded computer; online services running in the cloud.



If you are interested in arranging a Commercial SDK License, please send email to .