MuJoCo was developed at the University of Washington and released in 2012. Initially created to aid in the study of motor control in humans and robots, it quickly gained popularity for its ability to simulate complex physical interactions with high precision and efficiency. In 2021, DeepMind, a subsidiary of Alphabet Inc., acquired MuJoCo and made it freely available to the public. There is also a community built MuJoCo WASM port that loads and runs MuJoCo 2.3.1 Models using JavaScript and WebAssembly<ref>https://github.com/zalo/mujoco_wasm</ref>.