System identification toolbox for MuJoCo.

This resulted from a lengthy collaboration with @kevinzakka, @jonathanembleyriches, @nimrod-gileadi, @gizemozd, @quagla, and @yuval.

python/mujoco/sysid/__init__.py

@@ -0,0 +1,72 @@
+# Copyright 2026 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+"""Practical system identification for MuJoCo."""
+
+from mujoco.sysid._src import model_modifier as model_modifier
+from mujoco.sysid._src import parameter as parameter
+from mujoco.sysid._src import plotting as plotting
+from mujoco.sysid._src import signal_modifier as signal_modifier
+from mujoco.sysid._src.io import save_results as save_results
+from mujoco.sysid._src.model_modifier import InertiaType as InertiaType
+from mujoco.sysid._src.model_modifier import apply_body_inertia as apply_body_inertia
+from mujoco.sysid._src.model_modifier import apply_dgain as apply_dgain
+from mujoco.sysid._src.model_modifier import (
+  apply_param_modifiers as apply_param_modifiers,
+)
+from mujoco.sysid._src.model_modifier import (
+  apply_param_modifiers_spec as apply_param_modifiers_spec,
+)
+from mujoco.sysid._src.model_modifier import apply_pdgain as apply_pdgain
+from mujoco.sysid._src.model_modifier import apply_pgain as apply_pgain
+from mujoco.sysid._src.model_modifier import body_inertia_param as body_inertia_param
+from mujoco.sysid._src.model_modifier import remove_visuals as remove_visuals
+from mujoco.sysid._src.optimize import calculate_intervals as calculate_intervals
+from mujoco.sysid._src.optimize import optimize as optimize
+from mujoco.sysid._src.parameter import Parameter as Parameter
+from mujoco.sysid._src.parameter import ParameterDict as ParameterDict
+from mujoco.sysid._src.plotting import plot_sensor_comparison as plot_sensor_comparison
+from mujoco.sysid._src.plotting import render_rollout as render_rollout
+from mujoco.sysid._src.residual import BuildModelFn as BuildModelFn
+from mujoco.sysid._src.residual import CustomRolloutFn as CustomRolloutFn
+from mujoco.sysid._src.residual import ModifyResidualFn as ModifyResidualFn
+from mujoco.sysid._src.residual import build_residual_fn as build_residual_fn
+from mujoco.sysid._src.residual import (
+  construct_ts_from_defaults as construct_ts_from_defaults,
+)
+from mujoco.sysid._src.residual import model_residual as model_residual
+from mujoco.sysid._src.residual import residual as residual
+from mujoco.sysid._src.signal_modifier import apply_bias as apply_bias
+from mujoco.sysid._src.signal_modifier import apply_delay as apply_delay
+from mujoco.sysid._src.signal_modifier import (
+  apply_delayed_ts_window as apply_delayed_ts_window,
+)
+from mujoco.sysid._src.signal_modifier import apply_gain as apply_gain
+from mujoco.sysid._src.signal_modifier import (
+  apply_resample_and_delay as apply_resample_and_delay,
+)
+from mujoco.sysid._src.signal_modifier import get_sensor_indices as get_sensor_indices
+from mujoco.sysid._src.signal_modifier import normalize_residual as normalize_residual
+from mujoco.sysid._src.signal_modifier import weighted_diff as weighted_diff
+from mujoco.sysid._src.signal_transform import SignalTransform as SignalTransform
+from mujoco.sysid._src.timeseries import SignalType as SignalType
+from mujoco.sysid._src.timeseries import TimeSeries as TimeSeries
+from mujoco.sysid._src.trajectory import ModelSequences as ModelSequences
+from mujoco.sysid._src.trajectory import SystemTrajectory as SystemTrajectory
+from mujoco.sysid._src.trajectory import create_initial_state as create_initial_state
+from mujoco.sysid._src.trajectory import sysid_rollout as sysid_rollout
+from mujoco.sysid.report.defaults import default_report as default_report
+from mujoco.sysid.report.defaults import (
+  default_report_matplotlib as default_report_matplotlib,
+)