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 0.1.3

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 0.1.3
File	Size	Uploaded
mjbatch-0.1.3.tar.gz	22.7 kB	Oct 4, 2026	Details

Built distributions (wheels)

Table of built distributions (wheels) for mjbatch 0.1.3
File	Interpreter	ABI	Platform	Reset
mjbatch-0.1.3-cp314-cp314t-win_amd64.whl 175.7 kB Oct 4, 2026	CPython 3.14	CPython 3.14 free-threading	Windows x86-64	Details
mjbatch-0.1.3-cp314-cp314t-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 158.9 kB Oct 4, 2026	CPython 3.14	CPython 3.14 free-threading	Linux glibc 2.28+ x86-64, Linux glibc 2.27+ x86-64	Details
mjbatch-0.1.3-cp314-cp314t-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl 150.1 kB Oct 4, 2026	CPython 3.14	CPython 3.14 free-threading	Linux glibc 2.26+ ARM64, Linux glibc 2.28+ ARM64	Details
mjbatch-0.1.3-cp314-cp314t-macosx_11_0_arm64.whl 131.9 kB Oct 4, 2026	CPython 3.14	CPython 3.14 free-threading	macOS 11.0+ ARM64	Details
mjbatch-0.1.3-cp314-cp314-win_amd64.whl 173.2 kB Oct 4, 2026	CPython 3.14	CPython 3.14	Windows x86-64	Details
mjbatch-0.1.3-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 159.1 kB Oct 4, 2026	CPython 3.14	CPython 3.14	Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64	Details
mjbatch-0.1.3-cp314-cp314-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl 148.6 kB Oct 4, 2026	CPython 3.14	CPython 3.14	Linux glibc 2.28+ ARM64, Linux glibc 2.26+ ARM64	Details
mjbatch-0.1.3-cp314-cp314-macosx_11_0_arm64.whl 129.0 kB Oct 4, 2026	CPython 3.14	CPython 3.14	macOS 11.0+ ARM64	Details
mjbatch-0.1.3-cp313-cp313-win_amd64.whl 168.9 kB Oct 4, 2026	CPython 3.13	CPython 3.13	Windows x86-64	Details
mjbatch-0.1.3-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 158.9 kB Oct 4, 2026	CPython 3.13	CPython 3.13	Linux glibc 2.28+ x86-64, Linux glibc 2.27+ x86-64	Details
mjbatch-0.1.3-cp313-cp313-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl 148.5 kB Oct 4, 2026	CPython 3.13	CPython 3.13	Linux glibc 2.26+ ARM64, Linux glibc 2.28+ ARM64	Details
mjbatch-0.1.3-cp313-cp313-macosx_11_0_arm64.whl 128.9 kB Oct 4, 2026	CPython 3.13	CPython 3.13	macOS 11.0+ ARM64	Details
mjbatch-0.1.3-cp312-cp312-win_amd64.whl 169.0 kB Oct 4, 2026	CPython 3.12	CPython 3.12	Windows x86-64	Details
mjbatch-0.1.3-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 158.9 kB Oct 4, 2026	CPython 3.12	CPython 3.12	Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64	Details
mjbatch-0.1.3-cp312-cp312-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl 148.5 kB Oct 4, 2026	CPython 3.12	CPython 3.12	Linux glibc 2.26+ ARM64, Linux glibc 2.28+ ARM64	Details
mjbatch-0.1.3-cp312-cp312-macosx_11_0_arm64.whl 128.9 kB Oct 4, 2026	CPython 3.12	CPython 3.12	macOS 11.0+ ARM64	Details
mjbatch-0.1.3-cp311-cp311-win_amd64.whl 168.8 kB Oct 4, 2026	CPython 3.11	CPython 3.11	Windows x86-64	Details
mjbatch-0.1.3-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 159.3 kB Oct 4, 2026	CPython 3.11	CPython 3.11	Linux glibc 2.28+ x86-64, Linux glibc 2.27+ x86-64	Details
mjbatch-0.1.3-cp311-cp311-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl 149.4 kB Oct 4, 2026	CPython 3.11	CPython 3.11	Linux glibc 2.26+ ARM64, Linux glibc 2.28+ ARM64	Details
mjbatch-0.1.3-cp311-cp311-macosx_11_0_arm64.whl 129.4 kB Oct 4, 2026	CPython 3.11	CPython 3.11	macOS 11.0+ ARM64	Details
mjbatch-0.1.3-cp310-cp310-win_amd64.whl 168.4 kB Oct 4, 2026	CPython 3.10	CPython 3.10	Windows x86-64	Details
mjbatch-0.1.3-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 159.7 kB Oct 4, 2026	CPython 3.10	CPython 3.10	Linux glibc 2.28+ x86-64, Linux glibc 2.27+ x86-64	Details
mjbatch-0.1.3-cp310-cp310-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl 149.9 kB Oct 4, 2026	CPython 3.10	CPython 3.10	Linux glibc 2.26+ ARM64, Linux glibc 2.28+ ARM64	Details
mjbatch-0.1.3-cp310-cp310-macosx_11_0_arm64.whl 129.7 kB Oct 4, 2026	CPython 3.10	CPython 3.10	macOS 11.0+ ARM64	Details

Total release size: 3.7 MB

Release files / mjbatch-0.1.3.tar.gz

Download URL	mjbatch-0.1.3.tar.gz
Size	22.7 kB
Tags	Source
SHA-256 checksum How to use checksums	`d88e021b697691838f120a888d125d38f9b83a9e4127a5b6a07552ab979f16dc`
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Release files / mjbatch-0.1.3-cp314-cp314t-win_amd64.whl

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Release files / mjbatch-0.1.3-cp314-cp314t-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl

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Publishing commit: github.com/kevinzakka/mjbatch/tree/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Release files / mjbatch-0.1.3-cp314-cp314t-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl

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Size	150.1 kB
Tags	CPython 3.14 CPython 3.14 free-threading Linux glibc 2.26+ ARM64 Linux glibc 2.28+ ARM64
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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/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Release files / mjbatch-0.1.3-cp314-cp314t-macosx_11_0_arm64.whl

Download URL	mjbatch-0.1.3-cp314-cp314t-macosx_11_0_arm64.whl
Size	131.9 kB
Tags	CPython 3.14 CPython 3.14 free-threading macOS 11.0+ ARM64
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Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Release files / mjbatch-0.1.3-cp314-cp314-win_amd64.whl

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Publishing commit: github.com/kevinzakka/mjbatch/tree/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Release files / mjbatch-0.1.3-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl

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Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Size	129.0 kB
Tags	CPython 3.14 macOS 11.0+ ARM64
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Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Release files / mjbatch-0.1.3-cp313-cp313-win_amd64.whl

Download URL	mjbatch-0.1.3-cp313-cp313-win_amd64.whl
Size	168.9 kB
Tags	CPython 3.13 Windows x86-64
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Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Release files / mjbatch-0.1.3-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl

Download URL	mjbatch-0.1.3-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
Size	158.9 kB
Tags	CPython 3.13 Linux glibc 2.27+ x86-64 Linux glibc 2.28+ x86-64
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Upload date	Oct 4, 2026
Uploaded using Trusted Publishing? What is trusted publishing?	Yes
Uploaded via	`twine/6.1.0 CPython/3.13.13`

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Identity

Publishing platform: GitHub Actions
Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Release files / mjbatch-0.1.3-cp313-cp313-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl

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Identity

Publishing platform: GitHub Actions
Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Release files / mjbatch-0.1.3-cp313-cp313-macosx_11_0_arm64.whl

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Identity

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Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Release files / mjbatch-0.1.3-cp312-cp312-win_amd64.whl

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Identity

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Publishing commit: github.com/kevinzakka/mjbatch/tree/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Release files / mjbatch-0.1.3-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl

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Identity

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Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Release files / mjbatch-0.1.3-cp312-cp312-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl

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Identity

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Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Release files / mjbatch-0.1.3-cp312-cp312-macosx_11_0_arm64.whl

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Provenance

Identity

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Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Release files / mjbatch-0.1.3-cp311-cp311-win_amd64.whl

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Identity

Publishing platform: GitHub Actions
Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Release files / mjbatch-0.1.3-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl

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Uploaded via	`twine/6.1.0 CPython/3.13.13`

Provenance

Identity

Publishing platform: GitHub Actions
Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Release files / mjbatch-0.1.3-cp311-cp311-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl

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Uploaded via	`twine/6.1.0 CPython/3.13.13`

Provenance

Identity

Publishing platform: GitHub Actions
Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Release files / mjbatch-0.1.3-cp311-cp311-macosx_11_0_arm64.whl

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Uploaded via	`twine/6.1.0 CPython/3.13.13`

Provenance

Identity

Publishing platform: GitHub Actions
Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Release files / mjbatch-0.1.3-cp310-cp310-win_amd64.whl

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Identity

Publishing platform: GitHub Actions
Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Release files / mjbatch-0.1.3-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl

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Uploaded using Trusted Publishing? What is trusted publishing?	Yes
Uploaded via	`twine/6.1.0 CPython/3.13.13`

Provenance

Identity

Publishing platform: GitHub Actions
Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Release files / mjbatch-0.1.3-cp310-cp310-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl

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Uploaded using Trusted Publishing? What is trusted publishing?	Yes
Uploaded via	`twine/6.1.0 CPython/3.13.13`

Provenance

Identity

Publishing platform: GitHub Actions
Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Release files / mjbatch-0.1.3-cp310-cp310-macosx_11_0_arm64.whl

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Upload date	Oct 4, 2026
Uploaded using Trusted Publishing? What is trusted publishing?	Yes
Uploaded via	`twine/6.1.0 CPython/3.13.13`

Provenance

Identity

Publishing platform: GitHub Actions
Publishing repository: github.com/kevinzakka/mjbatch
Publishing commit: github.com/kevinzakka/mjbatch/tree/d9adade0abf91bcb22b55a7c29e7266e3ff79e64

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Release history Release notifications | RSS feed

0.1.4

Oct 4, 2026 25 release files

This release

0.1.3 This release

Oct 4, 2026 25 release files

0.1.2

Sep 30, 2026 19 release files

0.1.1

Sep 14, 2026 19 release files

0.1.0

Sep 10, 2026 19 release files

mjbatch 0.1.3

mjbatch

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Release files / mjbatch-0.1.3.tar.gz

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