mjbatch

mjbatch is a Python library for running thousands of MuJoCo simulations in parallel on CPU.

Features include:

C++ thread pool execution, with the GIL released;
Live array access to simulation state and controls across the batch, with bind for MjData fields;
Per-simulation model parameters, with expand for MjModel fields and set_const to recompute derived constants.

For example:

import mujoco, numpy as np
from mjbatch import Batch

model = mujoco.MjModel.from_xml_path("scene.xml")
batch = Batch(model, num_sims=4096)  # threads default to every logical CPU
qpos, ctrl = batch.bind("qpos"), batch.bind("ctrl")
batch.expand("geom_friction")[:, :, 0] = np.random.uniform(0.4, 1.2, (4096, 1))
for _ in range(1000):
  ctrl[:] = policy(qpos)             # your controller, all 4096 at once
  batch.step()                       # step them in parallel; qpos updates in place

Examples

We showcase a range of applications built using mjbatch: RL, MPC, SysID, and hardware co-design. Each example is a self-contained, performant implementation. For instance, the Go1 RL controller learns to walk in under a minute on a five-year-old M1 laptop.


A two-pole cart swung upright with iLQR	A cart-pole swing-up controller using predictive sampling

A G1 humanoid tracking a reference backflip with receding-horizon iLQR	A Go1 quadruped joystick controller trained with PPO

CEM jointly optimizes a robot arm's proportions, gears, and controls	Damped Gauss–Newton fits a Rizon arm's inertial parameters to synthetic motion data

Run with uv run examples/<file>.py; some need uv sync --group examples. The ones that open a window need a display; --headless runs the solver without one.

License

Apache-2.0.

Metadata

Release files for mjbatch 0.1.1

For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.

Source distribution (sdist)

Source distribution for mjbatch 0.1.1
File	Size	Uploaded
mjbatch-0.1.1.tar.gz	20.3 kB	Sep 14, 2026	Details

Built distributions (wheels)

Table of built distributions (wheels) for mjbatch 0.1.1
File	Interpreter	ABI	Platform	Reset
mjbatch-0.1.1-cp314-cp314t-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 156.4 kB Sep 14, 2026	CPython 3.14	CPython 3.14 free-threading	Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64	Details
mjbatch-0.1.1-cp314-cp314t-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl 148.1 kB Sep 14, 2026	CPython 3.14	CPython 3.14 free-threading	Linux glibc 2.28+ ARM64, Linux glibc 2.26+ ARM64	Details
mjbatch-0.1.1-cp314-cp314t-macosx_11_0_arm64.whl 129.7 kB Sep 14, 2026	CPython 3.14	CPython 3.14 free-threading	macOS 11.0+ ARM64	Details
mjbatch-0.1.1-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 156.5 kB Sep 14, 2026	CPython 3.14	CPython 3.14	Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64	Details
mjbatch-0.1.1-cp314-cp314-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl 146.4 kB Sep 14, 2026	CPython 3.14	CPython 3.14	Linux glibc 2.26+ ARM64, Linux glibc 2.28+ ARM64	Details
mjbatch-0.1.1-cp314-cp314-macosx_11_0_arm64.whl 126.9 kB Sep 14, 2026	CPython 3.14	CPython 3.14	macOS 11.0+ ARM64	Details
mjbatch-0.1.1-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 156.3 kB Sep 14, 2026	CPython 3.13	CPython 3.13	Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64	Details
mjbatch-0.1.1-cp313-cp313-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl 146.1 kB Sep 14, 2026	CPython 3.13	CPython 3.13	Linux glibc 2.26+ ARM64, Linux glibc 2.28+ ARM64	Details
mjbatch-0.1.1-cp313-cp313-macosx_11_0_arm64.whl 126.7 kB Sep 14, 2026	CPython 3.13	CPython 3.13	macOS 11.0+ ARM64	Details
mjbatch-0.1.1-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 156.3 kB Sep 14, 2026	CPython 3.12	CPython 3.12	Linux glibc 2.28+ x86-64, Linux glibc 2.27+ x86-64	Details
mjbatch-0.1.1-cp312-cp312-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl 146.2 kB Sep 14, 2026	CPython 3.12	CPython 3.12	Linux glibc 2.26+ ARM64, Linux glibc 2.28+ ARM64	Details
mjbatch-0.1.1-cp312-cp312-macosx_11_0_arm64.whl 126.6 kB Sep 14, 2026	CPython 3.12	CPython 3.12	macOS 11.0+ ARM64	Details
mjbatch-0.1.1-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 156.8 kB Sep 14, 2026	CPython 3.11	CPython 3.11	Linux glibc 2.28+ x86-64, Linux glibc 2.27+ x86-64	Details
mjbatch-0.1.1-cp311-cp311-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl 147.0 kB Sep 14, 2026	CPython 3.11	CPython 3.11	Linux glibc 2.26+ ARM64, Linux glibc 2.28+ ARM64	Details
mjbatch-0.1.1-cp311-cp311-macosx_11_0_arm64.whl 127.4 kB Sep 14, 2026	CPython 3.11	CPython 3.11	macOS 11.0+ ARM64	Details
mjbatch-0.1.1-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 157.2 kB Sep 14, 2026	CPython 3.10	CPython 3.10	Linux glibc 2.28+ x86-64, Linux glibc 2.27+ x86-64	Details
mjbatch-0.1.1-cp310-cp310-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl 147.4 kB Sep 14, 2026	CPython 3.10	CPython 3.10	Linux glibc 2.26+ ARM64, Linux glibc 2.28+ ARM64	Details
mjbatch-0.1.1-cp310-cp310-macosx_11_0_arm64.whl 127.7 kB Sep 14, 2026	CPython 3.10	CPython 3.10	macOS 11.0+ ARM64	Details

Total release size: 2.6 MB

Release files / mjbatch-0.1.1.tar.gz

Download URL	mjbatch-0.1.1.tar.gz
Size	20.3 kB
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SHA-256 checksum How to use checksums	`1f49fb622ddd7b70465abc85a2e6b4e0d22c6e1271a15d2ada85a7f1bfed4f77`
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Release files / mjbatch-0.1.1-cp314-cp314t-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl

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Release files / mjbatch-0.1.1-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl

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Publishing platform: GitHub Actions
Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/2f169146b643adda65e195d8ad13d997abdd2a2e

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Release files / mjbatch-0.1.1-cp314-cp314-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl

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Publishing commit: github.com/kevinzakka/mjbatch/tree/2f169146b643adda65e195d8ad13d997abdd2a2e

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Release files / mjbatch-0.1.1-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl

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Size	126.7 kB
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Download URL	mjbatch-0.1.1-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
Size	156.3 kB
Tags	CPython 3.12 Linux glibc 2.27+ x86-64 Linux glibc 2.28+ x86-64
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Uploaded via	`twine/6.1.0 CPython/3.13.13`

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Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/2f169146b643adda65e195d8ad13d997abdd2a2e

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Release files / mjbatch-0.1.1-cp312-cp312-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl

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Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/2f169146b643adda65e195d8ad13d997abdd2a2e

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Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/2f169146b643adda65e195d8ad13d997abdd2a2e

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Release files / mjbatch-0.1.1-cp311-cp311-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl

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Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/2f169146b643adda65e195d8ad13d997abdd2a2e

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Release files / mjbatch-0.1.1-cp311-cp311-macosx_11_0_arm64.whl

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Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/2f169146b643adda65e195d8ad13d997abdd2a2e

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Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/2f169146b643adda65e195d8ad13d997abdd2a2e

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Release files / mjbatch-0.1.1-cp310-cp310-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl

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Uploaded via	`twine/6.1.0 CPython/3.13.13`

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Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/2f169146b643adda65e195d8ad13d997abdd2a2e

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Release files / mjbatch-0.1.1-cp310-cp310-macosx_11_0_arm64.whl

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Uploaded via	`twine/6.1.0 CPython/3.13.13`

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Publishing platform: GitHub Actions
Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/2f169146b643adda65e195d8ad13d997abdd2a2e

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Release history Release notifications | RSS feed

0.1.4

Oct 4, 2026 25 release files

0.1.3

Oct 4, 2026 25 release files

0.1.2

Sep 30, 2026 19 release files

This release

0.1.1 This release

Sep 14, 2026 19 release files

0.1.0

Sep 10, 2026 19 release files

mjbatch 0.1.1

mjbatch

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