Yuval Tassa
d507e92198
An actuator now owns a block of consecutive controls (actuator_ctrladr/ctrlnum, width defined by the actuator type) and a block of consecutive force outputs (actuator_outadr/outnum, width defined by the transmission type). Force outputs are the scalars of actuation space: one force, length, velocity and moment row each. nout = dim(actuator_force) is derived from transmission types; all current types have width 1, so all three counts coincide for every existing model and behavior is bit-exact. Array re-keying: ctrlrange/ctrllimited by nu; forcerange/forcelimited/gear/ acc0/length0/lengthrange and the moment row structure by nout; everything else per actuator. The mjModel actuator block is re-sorted by size key. Layout-breaking, not behavior-breaking: saved .mjb files are invalidated (size list changed) and recompilation is required. PiperOrigin-RevId: 948351772 Change-Id: Icbc196ffa083cb1eaa6f1a3710869c89d8f62540
MuJoCo XLA (MJX)
This package is a re-implementation of the MuJoCo physics engine in JAX. This library is developed and maintained by Google DeepMind, and is kept up-to-date with the latest developments in MuJoCo itself.
The mujoco-mjx package is API-compatible with MuJoCo, but is missing some
features found in MuJoCo. See our
documentation for more
details concerning feature parity.
Installation
The recommended way to install this package is via PyPI:
pip install mujoco-mjx
Usage
Once installed, the package can be imported via from mujoco import mjx. Please
consult our documentation
for further detail on the package's API.
We recommend going through the tutorial notebook which introduces the MJX API
and trains a reinforcement learning policy in a few minutes: 
Versioning
The major.minor.micro portion of the version number matches the version of
MuJoCo that this library provides. Optionally, if we release updates to MJX that
target the same version of MuJoCo, a .postN suffix is added, for example
3.0.1.post2 represents the second update to MJX for MuJoCo 3.0.1.
License and Disclaimer
Copyright 2023 DeepMind Technologies Limited
MuJoCo and its libraries are licensed under the Apache License, Version 2.0. You may obtain a copy of the License at https://www.apache.org/licenses/LICENSE-2.0.
This is not an officially supported Google product.