mujoco-py 1.50.1.0 is a full rewrite from earlier versions. See the accompanying blog post for more information. Headline features include:

• Efficient handling of parallel simulations
• GPU-accelerated headless 3D rendering
• Direct access to MuJoCo functions and data structures
• Upgrade to MuJoCo 1.50, bringing features like its improved contact solver

1.50.1.0 is compatible with Python 3 only.