diff --git a/packages/m/mujoco/xmake.lua b/packages/m/mujoco/xmake.lua
new file mode 100644
index 00000000000..3fe8b6c1c5c
--- /dev/null
+++ b/packages/m/mujoco/xmake.lua
@@ -0,0 +1,161 @@
+package("mujoco")
+    set_homepage("https://mujoco.org/")
+    set_description("Multi-Joint dynamics with Contact. A general purpose physics simulator.")
+    set_license("Apache-2.0")
+
+    set_urls("https://github.com/google-deepmind/mujoco/archive/refs/tags/$(version).tar.gz",
+             "https://github.com/google-deepmind/mujoco.git")
+
+    add_versions("3.4.0", "adff5e9397aac20189ee1525aabf1fbecc63c43697e8ad66a61220222983810f")
+
+    add_configs("simulate", {description = "Build simulate library for MuJoCo", default = false, type = "boolean"})
+    add_configs("usd", {description = "Build with OpenUSD", default = false, type = "boolean"})
+
+    add_links("simulate", "mujoco")
+
+    add_deps("cmake")
+    if is_subhost("windows") then
+        add_deps("pkgconf")
+    else
+        add_deps("pkg-config")
+    end
+    add_deps("libccd", "lodepng", "qhull", "tinyobjloader", "tinyxml2", "trianglemeshdistance", "marchingcubecpp")
+
+    if on_check then
+        on_check("android", function (package)
+            local ndk = package:toolchain("ndk")
+            local ndk_sdkver = ndk:config("ndk_sdkver")
+            assert(ndk_sdkver and tonumber(ndk_sdkver) > 21, "package(mujoco) require ndk api level > 21")
+        end)
+    end
+
+    on_load(function (package)
+        if package:config("usd") then
+            package:add("deps", "usd")
+            package:add("defines", "mjUSEUSD")
+        end
+        if package:config("simulate") then
+            package:add("deps", "glfw")
+        end
+
+        if not package:config("shared") then
+            package:add("defines", "MJ_STATIC")
+        end
+    end)
+
+    on_install("!wasm and !bsd", function (package)
+        if package:dep("qhull"):config("shared") then
+            -- TODO: patch cmake target_link_libraries
+            raise("package(mujoco) unsupported shared qhull library")
+        end
+
+        -- support static build
+        io.replace("CMakeLists.txt", "add_library(mujoco SHARED", "add_library(mujoco ", {plain = true})
+        -- remove fetch content
+        io.replace("CMakeLists.txt", "include(MujocoDependencies)", "", {plain = true})
+        -- remove hardcode ccd and dynamic library export macro
+        io.replace("CMakeLists.txt", "CCD_STATIC_DEFINE MUJOCO_DLL_EXPORTS", "", {plain = true})
+        -- remove unused install target
+        io.replace("CMakeLists.txt", "list(APPEND MUJOCO_TARGETS lodepng)", "", {plain = true})
+        if package:is_plat("mingw") then
+            -- mujoco.rc:23: syntax error
+            io.replace("CMakeLists.txt", "set(MUJOCO_RESOURCE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/dist/mujoco.rc)", "", {plain = true})
+            -- remove /STACK:16777216
+            io.replace("cmake/MujocoLinkOptions.cmake", "if(WIN32)", "if(0)", {plain = true})
+            io.replace("simulate/cmake/MujocoLinkOptions.cmake", "if(WIN32)", "if(0)", {plain = true})
+        end
+
+        io.replace("cmake/MujocoOptions.cmake", "set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)", "", {plain = true})
+        io.replace("simulate/cmake/SimulateOptions.cmake", "set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)", "", {plain = true})
+
+        io.replace("cmake/MujocoOptions.cmake", "-Werror", "", {plain = true})
+        io.replace("simulate/cmake/SimulateOptions.cmake", "-Werror", "", {plain = true})
+
+        io.replace("src/user/user_mesh.cc", [[#include "qhull_ra.h"]], "#include <libqhull_r/qhull_ra.h>", {plain = true})
+        io.replace("src/user/user_mesh.cc",
+            "#include <TriangleMeshDistance/include/tmd/TriangleMeshDistance.h>",
+            "#include <tmd/TriangleMeshDistance.h>", {plain = true})
+
+        io.replace("CMakeLists.txt", [[target_link_libraries(
+  mujoco
+  PRIVATE ccd
+          lodepng
+          qhullstatic_r
+          tinyobjloader
+          tinyxml2
+)]], "", {plain = true})
+
+        local file = io.open("CMakeLists.txt", "a")
+        if file then
+            file:print([[
+                if (BUILD_SHARED_LIBS)
+                    target_compile_definitions(mujoco PRIVATE MUJOCO_DLL_EXPORTS)
+                else()
+                    target_compile_definitions(mujoco PUBLIC MJ_STATIC)
+                endif()
+                
+                find_package(ccd CONFIG REQUIRED)
+                include(FindPkgConfig)
+                pkg_search_module("lodepng" REQUIRED IMPORTED_TARGET "lodepng")
+                find_package(Qhull CONFIG REQUIRED)
+                find_package(tinyobjloader CONFIG REQUIRED)
+                find_package(tinyxml2 CONFIG REQUIRED)
+                pkg_search_module("trianglemeshdistance" REQUIRED IMPORTED_TARGET "trianglemeshdistance")
+                pkg_search_module("marchingcubecpp" REQUIRED IMPORTED_TARGET "marchingcubecpp")
+                target_link_libraries(mujoco PRIVATE
+                    ccd
+                    PkgConfig::lodepng
+                    Qhull::qhullstatic_r
+                    tinyobjloader::tinyobjloader
+                    tinyxml2::tinyxml2
+                    PkgConfig::trianglemeshdistance
+                    PkgConfig::marchingcubecpp
+                )
+            ]])
+            file:close()
+        end
+
+        if package:config("simulate") then
+        -- remove fetch content
+            io.replace("simulate/CMakeLists.txt", "include(SimulateDependencies)", "", {plain = true})
+            io.replace("simulate/CMakeLists.txt", "if(NOT TARGET lodepng)", "if(0)", {plain = true})
+            io.replace("simulate/CMakeLists.txt",
+                "add_library(libmujoco_simulate STATIC $<TARGET_OBJECTS:platform_ui_adapter> $<TARGET_OBJECTS:lodepng>)",
+                [[
+                    add_library(libmujoco_simulate STATIC $<TARGET_OBJECTS:platform_ui_adapter>)
+                    include(FindPkgConfig)
+                    pkg_search_module("lodepng" REQUIRED IMPORTED_TARGET "lodepng")
+                    find_package(Qhull CONFIG REQUIRED)
+                    find_package(glfw3 REQUIRED CONFIG)
+                    target_link_libraries(libmujoco_simulate PRIVATE PkgConfig::lodepng Qhull::qhullstatic_r)
+                ]], {plain = true})
+        end
+
+        local configs = {
+            "-DMUJOCO_BUILD_EXAMPLES=OFF",
+            "-DMUJOCO_BUILD_TESTS=OFF",
+            "-DMUJOCO_BUILD_TESTS_WASM=OFF",
+            "-DMUJOCO_SIMULATE_USE_SYSTEM_GLFW=ON",
+        }
+        table.insert(configs, "-DCMAKE_BUILD_TYPE=" .. (package:is_debug() and "Debug" or "Release"))
+        table.insert(configs, "-DBUILD_SHARED_LIBS=" .. (package:config("shared") and "ON" or "OFF"))
+        table.insert(configs, "-DCMAKE_INTERPROCEDURAL_OPTIMIZATION=" .. (package:config("lto") and "ON" or "OFF"))
+
+        table.insert(configs, "-DMUJOCO_BUILD_SIMULATE=" .. (package:config("simulate") and "ON" or "OFF"))
+        table.insert(configs, "-DMUJOCO_WITH_USD=" .. (package:config("usd") and "ON" or "OFF"))
+
+        local opt = {}
+        opt.cxflags = {}
+        if package:has_tool("cc", "gcc") or package:is_plat("wasm") then
+            table.insert(opt.cxflags, "-Wno-error=incompatible-pointer-types")
+        end
+        if package:is_plat("android", "bsd", "mingw") then
+            -- src/engine/engine_util_errmem.c:107:6: error: #error "Thread-safe version of `localtime` is not present in the standard C library"
+            table.insert(opt.cxflags, "-D_POSIX_C_SOURCE=200112L")
+        end
+        import("package.tools.cmake").install(package, configs, opt)
+    end)
+
+    on_test(function (package)
+        assert(package:has_cfuncs("mjv_defaultCamera", {includes = "mujoco/mujoco.h"}))
+    end)