Mujoco_WASM/mjx/mujoco/mjx/codegen

MJX Warp Codegen

Generates the MJX-Warp shim layer in mujoco/mjx/warp/ by reading the vendored mujoco_warp source in mujoco/mjx/third_party/mujoco_warp/.

Setup

From the root mjx/ directory, once you install uv, install the latest MuJoCo and local MJX:

uv venv .venv --default-index https://pypi.org/simple
source .venv/bin/activate
uv pip install --upgrade --force-reinstall mujoco --default-index https://pypi.org/simple --extra-index-url https://py.mujoco.org/
uv pip install -e ".[warp,dev]" --default-index https://pypi.org/simple

Run codegen

From the root mjx/ directory:

bash mujoco/mjx/codegen/update_for_mujoco_warp.sh