This standalone experimental package is maintained separately from MuJoCo core.
It uses the MuJoCo 3.10.0 Python API and contains no third-party robot assets.

The independent CPU and Metal implementations of smooth spatial dynamics in
mujoco_metal/smooth.py, shaders/smooth_mass.metal, and shaders/smooth_bias.metal
adapt the algorithms in MuJoCo 3.10.0 src/engine/engine_core_smooth.c and
src/engine/engine_util_spatial.c. Those upstream MuJoCo files are Copyright
2021 DeepMind Technologies Limited and licensed under the Apache License,
Version 2.0. No upstream MuJoCo source files are bundled in this package.

The joint-coordinate and quaternion integration in shaders/integration.metal
follows the semantics of MuJoCo 3.10.0 mj_Euler, mj_integratePos and
mju_quatIntegrate in src/engine/engine_forward.c, engine_support.c and
engine_util_spatial.c, with the same upstream copyright and license above.
The native dense Cholesky solver implements standard factorization and
triangular substitution; it is not a new numerical method.

The pendulum XML/demo and benchmark model adapt the upstream Python tutorial,
Copyright 2021 DeepMind Technologies Limited, Apache License, Version 2.0.

Copyright 2026 The MuJoCo Metal contributors
This package is licensed under the Apache License, Version 2.0; see LICENSE.
