diff --git a/setup.py b/setup.py
index 68a4e1d00b..06db48f154 100644
--- a/setup.py
+++ b/setup.py
@@ -18,7 +18,7 @@
         "numpy>=1.13.3",
         "numba>=0.49.1",
         "scipy>=1.2.3",
-        "mujoco>=3.3.0",
+        "mujoco>=3.3.0,<3.10",  # 3.10 changed mj_fullM signature; breaks controllers/parts/controller.py
         "qpsolvers[quadprog]>=4.3.1",
         "Pillow",
         "opencv-python",