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Installation

mjswan can be installed as a Python package (the primary workflow) or as an npm package for JavaScript/TypeScript projects.

  Docker / Cluster

Not supported.

Requirements

Requirement Version
Python 3.10 – 3.12 (3.13+ not yet supported)
Platform macOS (Apple Silicon) or Linux (x86-64)
Browser Any modern browser with WebAssembly and WebGL
Node.js 20+ (npm installation only)

Python 3.13

A transitive dependency (labmaze, pulled in via MyoSuite) does not yet publish a Python 3.13 wheel. Until it does, mjswan requires Python ≤ 3.12.

Python Installation

pip install mjswan

Install extra dependency sets as needed:

pip install 'mjswan[dev]'       # type checking, linting, test tools
pip install 'mjswan[examples]'  # dependencies for the bundled examples

The examples extra pulls in MyoSuite, MuJoCo Playground, robot_descriptions, and related packages. It can take several minutes to install and requires Python ≤ 3.12.

JavaScript Installation

npm install mjswan

Or with yarn:

yarn add mjswan

The npm package provides the compiled browser-side runtime. It is independent of the Python package and has no Python dependency.

GitHub Source

Clone the repository and install all dependencies with uv:

git clone https://github.com/ttktjmt/mjswan.git
cd mjswan
uv sync --all-extras

To run the bundled demo after cloning:

mjswan demo          # runs the default demo
mjswan demo --list   # see all available demos