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mjorbit documentation

Getting started

Installation
Your first simulation
Browser viewer
Examples and paper reproduction

Concepts and guides

Architecture
Frames and units
Build a model
Forces and disturbances
Actuators and sensors
Rollouts and MPPI
Batched GPU simulation

Reference and development

Python API reference
Development and release checks
Publish the project page and documentation

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By The mjorbit contributors

© Copyright 2026, The mjorbit contributors.