diff --git a/requirements.txt b/requirements.txt
index b1f1036..61be206 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -4,5 +4,5 @@ pybullet>=3.2.5
 pytransform3d>=2.0.0
 scipy>=1.10.0
 setuptools>=65.5.1
-mujoco >= 3.2.0
+mujoco == 3.2.3
 imageio >= 2.34.1
diff --git a/setup.py b/setup.py
index 0fb14ba..651e886 100644
--- a/setup.py
+++ b/setup.py
@@ -21,7 +21,7 @@
             "pytransform3d",
         ],
         extras_require={
-            "mujoco": ["mujoco>= 3.2.0", "imageio >=2.34.1"],
+            "mujoco": ["mujoco== 3.2.3", "imageio >=2.34.1"],
             "dev": ["pytest", "pre-commit", "flake8"],
         },
     )