mujofil

A GPU simulation pipeline for vision-based RL: MuJoCo Warp physics + a parallel, high-fidelity rasterization renderer (forked from Google Filament), zero-copy to PyTorch.

mujofil builds an efficient, GPU-parallel rasterization render engine (a fork of Google Filament: PBR materials, image-based lighting, soft shadows, SSAO, reflections) and wires it into a complete simulation pipeline. It plugs MuJoCo Warp's high-throughput GPU physics into that renderer so you get the best of both: MuJoCo Warp's fast, massively parallel dynamics and fast, parallel, photoreal visual frames from the Filament fork, delivered straight to PyTorch as torch.cuda tensors with no CPU round-trip for the pixels.

What that unlocks:

• Drop in any environment. Pull scenes/assets from Sketchfab, Poly Haven and similar sources (glTF / GLB / OBJ / USD) and train your robot's RL policy inside them. These are photoreal worlds MuJoCo and MuJoCo Warp's built-in raycaster cannot even load.
• Photoreal vision observations (PBR, IBL, reflections) at parallel-batch throughput, so the renderer keeps up with GPU physics instead of bottlenecking it.
• One import. Your code only ever imports mujofil; it drives the MuJoCo Warp physics and the renderer for you.

Positioning, honestly: the physics is MuJoCo Warp (DeepMind + NVIDIA's GPU MuJoCo); we don't reimplement dynamics. Our work is the parallel rasterization renderer and the zero-copy GPU-to-PyTorch pipeline that turns those GPU-resident world states into photoreal training observations. It targets the middle of the fidelity/speed spectrum: more realistic than a flat raycaster, far lighter than ray-traced stacks like Omniverse, photoreal-enough RGB that runs on a mid-range GPU.

📖 Full documentation: docs/: getting started, API guide, feature reference, cookbook & troubleshooting.

Highlights

• Zero-copy to torch.cuda. Filament renders into GPU memory that CUDA imports directly; observations arrive as torch.cuda tensors with no GPU-to-CPU-to-GPU bounce.
• GPU-resident pipeline. MJWarp steps physics on the GPU; only a tiny transform array crosses to the host. Pixels never leave the GPU.
• Photoreal. Full PBR metalness/roughness, IBL, soft shadows, SSAO, MSAA, filmic tone mapping. Renders complete GLB environments MJWarp/MuJoCo can't.
• Photoreal out of the box. A studio HDR (image-based light) is bundled and loaded automatically, so bare GLB/USD environments get balanced ambient light and PBR reflections with no lighting setup (~a few percent cost; turn it off with auto_ibl=False).
• USD/GLB environments in one call. load_usd() converts a USD scene to a visual GLB (cached) and loads it; load_glb() loads a GLB directly.
• Two backends. An OpenGL single-sync path and a Vulkan shared-device path, selectable at runtime.

Performance (RTX 4060 Laptop, 8 GiB)

All numbers are env-steps/s (= cameras/s), MJWarp GPU physics to torch.cuda.

vs vanilla MuJoCo, same scene, same workload (ours adds PBR + zero-copy):

	128px N=512	256px N=512	256px N=1024
mujofil (GL)	10,675	9,949	10,628
vanilla mujoco.Renderer	8,394	4,808	5,021
speedup	1.27×	2.07×	2.12×

We beat vanilla MuJoCo by 1.25 to 2.12x on equal work; the gap widens at higher resolution because zero-copy avoids the CPU readback that scales with pixels.

Full photoreal warehouse (3 GLB meshes + IBL + 16 spotlights + SSAO, geometry vanilla MuJoCo and MJWarp cannot even load): ~3,200 cam/s at 128px, holding flat from N=64 to N=2048.

GL vs Vulkan backend (full warehouse): the GL single-sync path is 1.3× faster and, critically, its sync cost is constant across N (one flushAndWait), where the Vulkan path's grows linearly with batch size.

vs MJWarp's own raycaster: MJWarp scales to ~42,000 cam/s at N=2048, but that is flat Lambertian on bare objects (no PBR/IBL, no GLB environments). At small N (<=32) mujofil is faster and photoreal; at large N MJWarp wins raw throughput by trading away all visual fidelity. Different categories: MJWarp is a parallel raycaster, this is a photoreal rasterizer.

Quickstart

You only import mujofil. ParallelScene runs the GPU physics (MuJoCo Warp) and renders every world to a zero-copy torch.cuda tensor, with no put_model / make_data / host-copy boilerplate:

import mujofil

scene = mujofil.ParallelScene("scene.xml", num_worlds=32,
                                   width=256, height=256, preset="high")

for _ in range(100):
    scene.step()                     # GPU physics (MuJoCo Warp)
    obs = scene.render(camera=0)     # (32, 256, 256, 4) uint8 torch.cuda, zero-copy

Set controls or initial state through scene.data (the MuJoCo Warp Data) and the model through scene.model. See examples/minimal_render.py for a runnable demo.

Lower-level API (drive the physics yourself)

If you already run your own MuJoCo Warp loop, render a batch of host MjData directly with WarpRenderer:

import mujoco, mujoco_warp as mjw, warp as wp
from mujofil import WarpRenderer

mjm = mujoco.MjModel.from_xml_path("scene.xml")
M = mjw.put_model(mjm)
d = mjw.make_data(mjm, nworld=32)
host = [mujoco.MjData(mjm) for _ in range(32)]

r = WarpRenderer(width=256, height=256, batch_size=32, preset="high")
r.load_model(mjm)

mjw.step(M, d); wp.synchronize()
gx = d.geom_xpos.numpy(); gm = d.geom_xmat.numpy().reshape(32, mjm.ngeom, 9)
for i, h in enumerate(host):
    h.geom_xpos[:] = gx[i]; h.geom_xmat[:] = gm[i]

obs = r.render_batch(mjm, host, cam_id=0)   # (32, 256, 256, 4) uint8 torch.cuda

Quality toggles

Every fidelity feature is an independent toggle so you can reproduce the throughput/fidelity trade-offs in benchmarks/ on your own hardware:

from mujofil import WarpRenderer, make_config

# keyword toggles
r = WarpRenderer(width=256, batch_size=32, ssao=False, shadows=True, msaa=True)

# or a named preset, optionally overriding individual toggles
r = WarpRenderer(width=256, batch_size=32, preset="fast")          # SSAO off, ~2x
r = WarpRenderer(width=256, batch_size=32, preset="high", bloom=True)

# or an explicit config
cfg = make_config(width=256, height=256, batch_size=32, exposure=1.6)
r = WarpRenderer(config=cfg)

Toggle	Effect	Notes
ssao	screen-space ambient occlusion	biggest cost, ~2x faster when off
ssao_quality	SSAO quality low/medium/high/ultra	affects look more than speed
ssao_ssct	SSAO cone tracing (contact shadows)	small extra cost on top of SSAO
shadows	soft shadow maps
msaa / msaa_samples	multi-sample AA	2 / 4 / 8
bloom	HDR bloom	off by default
fxaa	fast approximate AA	alternative to MSAA
exposure	linear exposure	before tone mapping
tone_mapping	FILMIC vs LINEAR
dithering	temporal dithering	reduces banding

Presets: high (photoreal, default), medium (high-quality SSAO, no cone tracing), fast (SSAO off, ~2x), ultra (8x MSAA + bloom), raw (no AO/shadows/AA, ~3x). eval is an alias of high; train is an alias of fast tuned for vision-RL.

Environments & lighting

Drop your simulation objects into a photoreal scene. GLB and USD are visual environment sources; load one as the backdrop and your MJCF freejoint bodies (which MuJoCo Warp simulates) drop into it.

r = scene.renderer          # a ParallelScene exposes its WarpRenderer

r.load_glb("warehouse.glb")                 # a GLB backdrop
r.load_usd("Warehouse01.usd", floor_z=0)    # or a USD: converted + cached, then loaded

load_usd() converts the USD to a visual GLB once (via the mujofil[usd] tooling) and caches it by file mtime, so repeat calls are instant. It also emits an aligned MuJoCo collision MJCF next to the GLB; pass return_collision=True to get its path and load it for physics. floor_z=0 pins the ground at z=0 for multi-level scenes. Needs the extra: pip install "mujofil[usd]".

Lighting. A bundled studio HDR (image-based light) is loaded automatically (auto_ibl=True, the default), giving balanced ambient light plus PBR specular reflections, so metals and floors look photoreal without any manual lights. It costs only a few percent throughput.

# default: auto IBL on, no setup needed
scene = mujofil.ParallelScene("scene.xml", num_worlds=32)

# turn it off for maximum throughput (e.g. flat-shaded RL where looks don't matter)
scene = mujofil.ParallelScene("scene.xml", num_worlds=32, auto_ibl=False)

# or drive lighting yourself
r.load_default_ibl(with_skybox=False)       # the bundled studio HDR
r.load_ibl("my_ibl.ktx", "my_skybox.ktx", with_skybox=True)   # your own HDR + visible sky
r.add_directional_light(-0.3, 0.5, -0.8, 1, 1, 1, 20000, cast_shadows=True)

Prefer IBL over a single bright directional light for interiors: a lone harsh directional tends to blow out the floor and exaggerate specular aliasing, while the prefiltered IBL gives soft, even, physically-based lighting. with_skybox defaults to False so the HDR lights the scene but stays invisible (your loaded GLB/USD remains the visible backdrop); set it True for open/outdoor scenes.

Backends

Select at runtime with MUJOFIL_BACKEND:

• gl (default) is OpenGL single-sync, fully headless via surfaceless EGL (no X server needed). Renders N worlds into N imported GL textures bracketed by one flushAndWait, then exports via GL-to-CUDA interop. Sync cost is constant in N and it is the fastest and most-tested path. This is the universal default and fallback.
• vulkan is a shared Vulkan device + exportable swapchain + CUDA external-memory import. Also fully headless, but the 2-frame in-flight cap makes its sync cost grow with batch size. It is optional/experimental; if it cannot load or initialize, mujofil warns and falls back to the headless OpenGL backend.

# default is gl; force a backend explicitly with the env var:
MUJOFIL_BACKEND=gl     python examples/minimal_render.py --preset high
MUJOFIL_BACKEND=vulkan python examples/minimal_render.py --preset high

Installation

pip install mujofil

The wheel is self-contained: the custom EGL-enabled Filament and the CUDA runtime are statically baked into the native module, the compiled materials ship inside it, and libc++ is bundled. There is nothing to build and no Filament, CUDA toolkit, or graphics SDK to install separately; the only hard requirement at runtime is an NVIDIA GPU + driver and a CUDA-enabled PyTorch (pulled in automatically, see PyTorch below).

Supported environments

Because the package contains no CUDA device code (only host-side runtime calls), a single wheel is portable across GPUs and driver versions:

Dimension	Support
GPU	Any NVIDIA GPU (Turing / Ampere / Ada / Hopper / ...), no compute-capability lock-in
Driver / CUDA	NVIDIA driver ≥ R525 (CUDA 12.0+). One wheel, all newer drivers
OS	Linux x86_64, glibc ≥ 2.34 (Ubuntu 22.04+, Debian 12+, RHEL/Alma/Rocky 9+, Fedora 35+)
Python	CPython 3.10 – 3.13

Not yet supported: aarch64 (Jetson/Grace), glibc < 2.34 (Ubuntu 20.04 / RHEL 8), non-NVIDIA GPUs. These need a from-source Filament build (planned).

PyTorch (zero-copy target)

torch is a dependency and is installed automatically. The default PyPI build works for Ada / Hopper / Ampere GPUs. On Blackwell you must replace it with a CUDA-12.8 build, because the zero-copy DLPack handoff runs CUDA kernels through your torch, not ours:

• Blackwell (sm_120 consumer RTX 50-series, e.g. 5090; sm_100 datacenter, e.g. B200): install a CUDA 12.8 torch, pip install torch --index-url https://download.pytorch.org/whl/cu128. A torch+cu124 (or older) build has no Blackwell kernels and fails at runtime with CUDA error: no kernel image is available for execution on the device.
• Ada / Hopper / Ampere (sm_80 to sm_90): the default torch is fine.

warp-lang and mujoco-warp JIT-compile for the local GPU, so they need no such pinning; only torch ships prebuilt device code. If you manage torch yourself (common on clusters), install your CUDA-matched build first; pip will keep it.

Note on the default install. On many machines pip install mujofil resolves the newest default-index torch, whose CUDA build may be newer than your driver (for example a cu130 torch on an R550 / CUDA 12.4 driver). That torch reports torch.cuda.is_available() == False; mujofil detects this at construction and raises a clear, actionable error (it does not crash). The fix is to install a torch build matching your driver, e.g. pip install torch --index-url https://download.pytorch.org/whl/cu124.

If the default GL backend fails to start on an unusual GPU/driver (some datacenter parts report a GL_INVALID_ENUM at Filament Engine::create), the error now includes Filament's real message and tells you to try the headless Vulkan backend, which uses a different driver path: MUJOFIL_BACKEND=vulkan.

Headless / display

Both backends are fully headless, with no X server, no display, and nothing extra to install beyond the NVIDIA driver:

• GL (default) uses surfaceless EGL, so it renders headless at full speed on a bare GPU server (cloud, cluster, container). This is the recommended path for vision-RL training.
• Vulkan is also headless (shared device + exportable swapchain).

GL is the default and the universal fallback: if the optional Vulkan backend is requested but cannot load or initialize, mujofil falls back to the headless GL backend with a warning rather than failing.

Diagnostics & quiet mode

Run the bundled diagnostic to check your GPU/driver/torch/EGL setup and confirm the renderer can actually initialize on both backends:

mujofil-doctor

Filament prints a short startup banner (and a benign Ignoring pending GL error 0x500 on some drivers) to stdout. To silence that native log noise while keeping your own output, set MUJOFIL_QUIET=1:

MUJOFIL_QUIET=1 python your_script.py

Building from source

Most users never need this; pip install mujofil ships prebuilt wheels that already contain Filament, so nothing below applies to a normal install. Build from source only to hack on the C++ or target an unsupported environment.

Prerequisites (the native modules and Filament are built with Clang + libc++):

Tool	Debian/Ubuntu	RHEL/Fedora/Alma
Clang + libc++ dev	clang libc++-dev libc++abi-dev	clang + libc++ (LLVM release)
CUDA toolkit (headers + static cudart)	nvidia-cuda-toolkit	cuda-cudart-devel-12-x cuda-driver-devel-12-x
EGL / GL dev headers	libegl1-mesa-dev libgl1-mesa-dev	mesa-libEGL-devel mesa-libGL-devel
Build tools (source-built Filament only)	git cmake ninja-build	git cmake ninja-build

Then:

git clone https://github.com/tau-intelligence/mujofil
cd mujofil
CC=clang CXX=clang++ pip install .

How Filament is resolved when building from source (the GL backend's headless EGL rendering needs a custom EGL-enabled Filament, because Google's prebuilt Linux Filament is GLX-only). This applies only to a from-source build; prebuilt wheels already bundle it. CMakeLists.txt tries, in order:

1. FILAMENT_DIR=/path/to/egl-filament if you set it, used as-is (fastest).
2. Download a prebuilt EGL Filament artifact (seconds). The default path.
3. Build from source via packaging/build_filament_egl.sh (~20-30 min) if the download is unavailable; this is the step that needs git/cmake/ninja.

So a plain pip install . is one command; supply FILAMENT_DIR to skip the download/build entirely:

CC=clang CXX=clang++ FILAMENT_DIR=/path/to/egl-filament pip install .

The EGL Filament artifact is reproducible from source:

packaging/build_filament_egl.sh ./_filament_egl   # clone + patch + build

Dev rebuilds (no full reinstall)

For iterating on the C++ without a full pip install, the two helper scripts build the modules in place (point FILAMENT_DIR at the EGL Filament build):

bash native/build_gl.sh   # OpenGL single-sync, headless EGL -> _mujofil_warp_gl
bash native/build.sh      # Vulkan zero-copy                  -> _mujofil_warp

Architecture & porting

mujofil is one core with pluggable rendering backends, so new platforms are added as a backend, not a fork.

mujofil/__init__.py     Python API, presets, backend selection   (shared)
native/render_module.cpp     pybind bindings, batching                (shared)
native/vendor/core/          scene / material / light bridge          (shared)
native/renderer_gl.cpp       Linux: surfaceless EGL  + CUDA interop   (backend)
native/renderer_warp.cpp     Linux: Vulkan device    + CUDA interop   (backend)

Everything platform-specific lives behind the vf_mujoco::Renderer interface (context creation, GPU-to-tensor interop). Adding macOS or Windows means adding one renderer_*.{cpp,mm} implementing that interface; the scene, material, lighting, Python API, and batching layers are reused unchanged.

• Windows would use a WGL/EGL context + OPAQUE_WIN32 external-memory handles for the CUDA interop.
• macOS is a different target: there is no CUDA on Apple platforms, so a Mac backend would use Filament's Metal backend and export to PyTorch via MPS (MTLBuffer to torch-MPS) rather than torch.cuda.

These are not yet implemented (they need the respective hardware to develop and validate on), but the codebase is structured so they slot in without a fork.

Layout

mujofil/        Python package (WarpRenderer, make_config, presets)
native/              C++ renderer + pybind module + build scripts
  renderer_gl.cpp      OpenGL single-sync zero-copy backend
  renderer_warp.cpp    Vulkan shared-device zero-copy backend
  render_module.cpp    pybind bindings (shared by both backends)
examples/            runnable demos
benchmarks/          the benchmark suite behind the numbers above
spikes/              isolated feasibility proofs (GL/CUDA, Vulkan/CUDA, DLPack)
docs/ARCHITECTURE.md design + phased integration plan

Provenance

mujofil is this package: GPU-resident MuJoCo Warp physics + the parallel Filament-fork rasterizer + zero-copy torch.cuda output. Its renderer reuses the scene/material/light bridge originally written for the CPU-MuJoCo renderer, but builds it into a separate GPU pipeline. The earlier CPU-physics edition (NumPy frames, mujocofil on the CPU) has been retired and folded into this package, so there is now a single mujofil to install.

License

Apache-2.0.