muwanx 0.0.2

Browser-based MuJoCo simulation with real-time policy control

Muwanx Python SDK

Python SDK for creating and deploying interactive MuJoCo simulations with trained policies in the browser.

Muwanx is a browser-based MuJoCo playground that enables real-time policy control without requiring a server. The Python SDK provides a convenient interface to configure projects, scenes, and policies for deployment as static sites (e.g., GitHub Pages).

Features

• 🚀 Browser-based: Run MuJoCo simulations with real-time policy control in the browser
• 🎯 Easy Configuration: Simple Python API for setting up projects and policies
• 📦 ONNX Support: Deploy PyTorch/JAX models using ONNX format
• 🌐 Static Hosting: Generate static sites for GitHub Pages or any web server
• 🔧 Flexible: Customize observations, actions, and scene configurations

Installation

pip install muwanx

Quick Start

import muwanx

# Create a project
project = muwanx.Project(name="My Robot Project")

# Add a scene with MuJoCo model
scene = project.add_scene(
    id="robot_walk",
    name="Robot Walking",
    model_path="./robot.xml"
)

# Add ONNX policy
policy = scene.add_policy(
    id="locomotion",
    onnx_path="./policy.onnx",
    config={
        "observations": [
            {"type": "BaseLinearVelocity"},
            {"type": "JointPositions", "joint_names": "isaac"}
        ],
        "actions": {
            "type": "isaac",
            "joint_names": ["joint1", "joint2"]
        }
    }
)

# Build and deploy
project.build(output_dir="./dist")

Configuration

Scene Configuration

scene = project.add_scene(
    id="my_scene",
    name="My Scene",
    model_path="./model.xml",
    initial_state={
        "qpos": [0.0, 0.0, 1.0],  # Initial joint positions
        "qvel": [0.0, 0.0, 0.0]   # Initial joint velocities
    }
)

Policy Configuration

policy = scene.add_policy(
    id="my_policy",
    onnx_path="./policy.onnx",
    config={
        "observations": [
            {"type": "BaseLinearVelocity"},
            {"type": "BaseAngularVelocity"},
            {"type": "ProjectedGravity"},
            {"type": "JointPositions", "joint_names": "isaac"},
            {"type": "JointVelocities", "joint_names": "isaac"}
        ],
        "actions": {
            "type": "isaac",
            "joint_names": ["FR_hip", "FR_thigh", "FR_calf", ...]
        }
    }
)

License

Apache-2.0 License. See LICENSE for details.