diff --git a/pkgs/applications/science/robotics/mujoco/mujoco-system-deps-dont-fetch.patch b/pkgs/by-name/mu/mujoco/mujoco-system-deps-dont-fetch.patch
similarity index 100%
rename from pkgs/applications/science/robotics/mujoco/mujoco-system-deps-dont-fetch.patch
rename to pkgs/by-name/mu/mujoco/mujoco-system-deps-dont-fetch.patch
diff --git a/pkgs/applications/science/robotics/mujoco/default.nix b/pkgs/by-name/mu/mujoco/package.nix
similarity index 92%
rename from pkgs/applications/science/robotics/mujoco/default.nix
rename to pkgs/by-name/mu/mujoco/package.nix
index f36d316164aa..416de20426cf 100644
--- a/pkgs/applications/science/robotics/mujoco/default.nix
+++ b/pkgs/by-name/mu/mujoco/package.nix
@@ -1,12 +1,13 @@
-{ cereal_1_3_2
-, cmake
-, fetchFromGitHub
-, fetchFromGitLab
-, glfw
-, glm
-, lib
-, spdlog
-, stdenv
+{
+  cereal_1_3_2,
+  cmake,
+  fetchFromGitHub,
+  fetchFromGitLab,
+  glfw,
+  glm,
+  lib,
+  spdlog,
+  stdenv,
 }:
 
 let
@@ -34,8 +35,8 @@ let
     eigen3 = fetchFromGitLab {
       owner = "libeigen";
       repo = "eigen";
-      rev = "33d0937c6bdf5ec999939fb17f2a553183d14a74";
-      hash = "sha256-qmFsmFEQCDH+TRFc8+5BsYAG1ybL08fWhn8NpM6H6xY=";
+      rev = "f33af052e0e60d4aa367328e7d9dffc9dedca6d8";
+      hash = "sha256-93I6MFIZ8tvdwTmiMihOaVVCdkWOTvXWZ5vYXzsMP+Q=";
     };
     googletest = fetchFromGitHub {
       owner = "google";
@@ -127,9 +128,10 @@ let
 
   };
 
-in stdenv.mkDerivation rec {
+in
+stdenv.mkDerivation rec {
   pname = "mujoco";
-  version = "3.2.2";
+  version = "3.2.3";
 
   # Bumping version? Make sure to look though the MuJoCo's commit
   # history for bumped dependency pins!
@@ -137,7 +139,7 @@ in stdenv.mkDerivation rec {
     owner = "google-deepmind";
     repo = "mujoco";
     rev = "refs/tags/${version}";
-    hash = "sha256-UUPB7AY6OYWaK5uBu92kmoIE116AfFa34sYmF943AOU=";
+    hash = "sha256-WMh96sJK9A5QcVmIjy4STN+vMrxLxcDPHMfEnTmSXSU=";
   };
 
   patches = [ ./mujoco-system-deps-dont-fetch.patch ];
@@ -175,7 +177,9 @@ in stdenv.mkDerivation rec {
     ln -s ${pin.marchingcubecpp} build/_deps/marchingcubecpp-src
   '';
 
-  passthru.pin = { inherit (pin) lodepng eigen3 abseil-cpp; };
+  passthru.pin = {
+    inherit (pin) lodepng eigen3 abseil-cpp;
+  };
 
   meta = {
     description = "Multi-Joint dynamics with Contact. A general purpose physics simulator";
diff --git a/pkgs/applications/science/robotics/mujoco/sdflib-system-deps.patch b/pkgs/by-name/mu/mujoco/sdflib-system-deps.patch
similarity index 100%
rename from pkgs/applications/science/robotics/mujoco/sdflib-system-deps.patch
rename to pkgs/by-name/mu/mujoco/sdflib-system-deps.patch
diff --git a/pkgs/development/python-modules/mujoco/default.nix b/pkgs/development/python-modules/mujoco/default.nix
index b104034ea550..6416d75a3848 100644
--- a/pkgs/development/python-modules/mujoco/default.nix
+++ b/pkgs/development/python-modules/mujoco/default.nix
@@ -1,19 +1,28 @@
 {
-  absl-py,
-  buildPythonPackage,
-  cmake,
-  etils,
-  fetchPypi,
-  glfw,
   lib,
-  mujoco,
-  numpy,
-  perl,
-  pybind11,
-  pyopengl,
-  python,
-  setuptools,
   stdenv,
+  buildPythonPackage,
+  fetchPypi,
+
+  # nativeBuildInputs
+  cmake,
+
+  # build-system
+  setuptools,
+
+  # buildInputs
+  mujoco,
+  pybind11,
+
+  # dependencies
+  absl-py,
+  etils,
+  glfw,
+  numpy,
+  pyopengl,
+
+  perl,
+  python,
 }:
 
 buildPythonPackage rec {
@@ -28,19 +37,21 @@ buildPythonPackage rec {
   # in the project's CI.
   src = fetchPypi {
     inherit pname version;
-    hash = "sha256-HDN6KA2JYDZqad/MybsX1oV/VvXPshb0mi0UBZq47Qs=";
+    hash = "sha256-3WF/QMHARPXff7yTM9MJTTyIYp1OPYYiTly0LeQKaos=";
   };
 
-  nativeBuildInputs = [
-    cmake
-    setuptools
-  ];
+  nativeBuildInputs = [ cmake ];
+
   dontUseCmakeConfigure = true;
+
+  build-system = [ setuptools ];
+
   buildInputs = [
     mujoco
     pybind11
   ];
-  propagatedBuildInputs = [
+
+  dependencies = [
     absl-py
     etils
     glfw
diff --git a/pkgs/top-level/all-packages.nix b/pkgs/top-level/all-packages.nix
index 4578b4c46e48..9f5a5ece5be8 100644
--- a/pkgs/top-level/all-packages.nix
+++ b/pkgs/top-level/all-packages.nix
@@ -22433,8 +22433,6 @@ with pkgs;
 
   mueval = callPackage ../development/tools/haskell/mueval { };
 
-  mujoco = callPackage ../applications/science/robotics/mujoco { };
-
   muparserx = callPackage ../development/libraries/muparserx { };
 
   mutest = callPackage ../development/libraries/mutest { };