mujoco-animator 0.0.3

The mujoco-animator project

mujoco-animator

Welcome to the mujoco-animator project!

This utility can be used to generate animations of Mujoco models, which in turn can be used for training robots to do bespoke behaviors.

Getting Started

File Format

If you just want to use recorded animations to train your model, install the base package:

pip install mujoco-animator

You can then load the MjAnim file format, which exposes a nice helper method to get per-frame qpos targets:

from mujoco_animator import MjAnim

anim = MjAnim.load("/path/to/file.mjanim")
qpos_sequence = anim.to_numpy(dt, interp="cubic", loop=True)

CLI

If you want to start recording animations using the CLI, install with:

pip install 'mujoco-animator[cli]'

Then you can run

mujoco-animator /path/to/your/robot.mjcf

You may provide a desired output file name with --output. The output is dynamic depending on the filetype. Currently supported:

• .mjanim -> Condensed Binary
• .json -> JSON Dictionary