Implementation:Google deepmind Mujoco MJWarp Init
| Knowledge Sources | |
|---|---|
| Domains | Physics_Simulation, GPU_Computing, NVIDIA_Warp |
| Last Updated | 2026-02-15 04:00 GMT |
Overview
MJWarp Init is the public API entry point for the MuJoCo Warp package, re-exporting all primary functions and types from internal modules.
Description
This __init__.py module defines the public API surface for MuJoCo Warp (mjwarp). It re-exports the core simulation functions (step, forward, euler, rungekutta4, implicit), I/O functions (put_model, put_data, make_data, get_data_into, reset_data), collision functions (collision, sap_broadphase, nxn_broadphase), smooth dynamics functions (kinematics, crb, rne, tendon, factor_m, solve_m), sensor and energy functions, rendering, ray casting, and all type definitions including Model, Data, enums, and option classes. The module also reports its version via __version__.
Usage
Users import from mujoco.mjx.third_party.mujoco_warp (or import mujoco_warp as mjw) to access all public MJWarp functionality through this single entry point.
Code Reference
Source Location
- Repository: Google_deepmind_Mujoco
- File: mjx/mujoco/mjx/third_party/mujoco_warp/__init__.py
- Lines: 1-106
Key Functions
# Version
__version__ = metadata.version("mujoco_warp")
# Core simulation (re-exports)
step, forward, euler, rungekutta4, implicit
step1, step2, fwd_position, fwd_velocity, fwd_actuation, fwd_acceleration
# I/O (re-exports)
put_model, put_data, make_data, get_data_into, reset_data
set_const, set_const_0, set_const_fixed, create_render_context
# Collision (re-exports)
collision, sap_broadphase, nxn_broadphase
primitive_narrowphase, sdf_narrowphase
# Dynamics (re-exports)
kinematics, com_pos, com_vel, crb, factor_m, solve_m
rne, rne_postconstraint, tendon, transmission, flex, camlight
# Types (re-exports)
Model, Data, State, Option, Statistic
GeomType, JointType, SolverType, IntegratorType, ConeType
BroadphaseType, BroadphaseFilter, DisableBit, EnableBit
Import
import mujoco.mjx.third_party.mujoco_warp as mjw
# Or individual imports
from mujoco.mjx.third_party.mujoco_warp import step, put_model, put_data, Model, Data
I/O Contract
Inputs
| Name | Type | Required | Description |
|---|---|---|---|
| (re-export module) | N/A | N/A | This module re-exports functions; see individual module pages for I/O details |
Outputs
| Name | Type | Description |
|---|---|---|
| (re-export module) | N/A | All public API functions and types of MuJoCo Warp |