Skip to content

Installation

Requirements

  • Python 3.10 or newer
  • A 64-bit environment is assumed for JAX wheels on most platforms 
python -m venv .venv
source .venv/bin/activate          # Linux / macOS
# .venv\Scripts\activate         # Windows cmd
pip install --upgrade pip
pip install jaxonomy

Platform notes

  • Windows: for double precision in JAX you may need
    set JAX_ENABLE_X64=True (cmd) or $env:JAX_ENABLE_X64="True" (PowerShell) before importing JAX.
  • macOS: some optional builds (e.g. pieces of the NMPC stack, and other compiled dependencies on Apple Silicon) need cmake (brew install cmake).

Optional dependency groups

Install extras in brackets:

Command Typical use
pip install jaxonomy[safe] Scientific / ML extras, no NMPC/IPOPT. Note this is a large, multi-GB install: it pulls in PyTorch, TensorFlow, pandas, SymPy, python-control, PySINDy, pyTwin, Matplotlib, OpenCV, evosax, and nlopt.
pip install jaxonomy[nmpc] Nonlinear MPC blocks (cyipopt + OSQP) — requires IPOPT on the system.
pip install jaxonomy[all] Everything: the [safe] and [nmpc] sets plus MuJoCo / MJX / Brax. Largest install.

Nonlinear MPC (IPOPT)

NMPC blocks expect IPOPT to be available on the machine:

  • Ubuntu: sudo apt install coinor-libipopt-dev
  • macOS: brew install ipopt (and brew install cmake if builds fail)

Then:

pip install jaxonomy[nmpc]
# or
pip install jaxonomy[all]

If pip install jaxonomy or pip install jaxonomy[all] fails in the resolver (for example conflicting NumPy pins between transitive dependencies), fix or relax constraints in your environment, or install the project from a clone with pip install -e . --no-deps after you have compatible JAX/NumPy/etc. already installed.

Development install (git clone)

From the repository root:

pip install -e .

That makes import jaxonomy work from any working directory for that interpreter.

Jupyter / VS Code notebooks: pick a kernel that uses the same Python where you ran pip install -e ., or add the repo root to PYTHONPATH / use:

import sys
sys.path.insert(0, "/absolute/path/to/repo")

Building the documentation site (MkDocs):

pip install -r requirements.docs.txt
mkdocs serve    # preview at http://127.0.0.1:8000 by default
License The `jaxonomy` package is released under the MIT license.