Taylor Howell
a5ed4ee223
PiperOrigin-RevId: 810016913 Change-Id: Id4c309919068f7329cd35a2e0b63dc97c42343c3
74 lines
1.4 KiB
ReStructuredText
74 lines
1.4 KiB
ReStructuredText
.. _MJW:
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====================
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MuJoCo Warp (MJWarp)
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====================
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.. toctree::
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:hidden:
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API <api.rst>
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MuJoCo Warp (MJWarp) is an implementation of MuJoCo written in `Warp <https://nvidia.github.io/warp/>`__ and optimized
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for `Nvidia <https://nvidia.com>`__ GPUs. MJWarp lives in the
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`google-deepmind/mujoco_warp <https://github.com/google-deepmind/mujoco_warp>`__ GitHub repository and is currently in
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beta.
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.. _MJW_getstarted:
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Getting Started
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===============
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.. code-block:: python
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import mujoco
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import mujoco_warp as mjw
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mjm = mujoco.MjModel.from_file("example.xml")
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m = mjw.put_model(mjm)
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d = mjw.make_data(mjm)
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mjw.step(m, d)
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.. _MJW_install:
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Installation
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============
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The beta version of MuJoCo Warp is installed from GitHub. Please note that the beta version of MuJoCo Warp does not
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support all versions of MuJoCo, Warp, CUDA, Nvidia drivers, etc.
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.. code-block:: shell
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git clone https://github.com/google-deepmind/mujoco_warp.git
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cd mujoco_warp
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python3 -m venv env
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source env/bin/activate
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pip install --upgrade pip
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pip install uv
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uv pip install -e .[dev,cuda]
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Test the Installation
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.. code-block:: shell
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pytest
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.. _MJW_Cli:
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Utilities
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=========
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Benchmark an environment with testspeed
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.. code-block:: shell
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mjwarp-testspeed benchmark/humanoid/humanoid.xml
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Interactive environment simulation with MJWarp
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.. code-block:: shell
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mjwarp-viewer benchmark/humanoid/humanoid.xml
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