rerun-loader-mjcf 0.2.0

A Rerun data loader for MJCF (MuJoCo XML) files

rerun-loader-mjcf

A Rerun external data loader for MJCF (MuJoCo XML) files.

Installation

pip install rerun-loader-mjcf

Usage

CLI

rerun-loader-mjcf robot.xml

Python API

import mujoco
import rerun as rr
import rerun_loader_mjcf

model = mujoco.MjModel.from_xml_path("robot.xml")
data = mujoco.MjData(model)

rr.init("mjcf_viewer", spawn=True)
logger = rerun_loader_mjcf.MJCFLogger(model)

rr.set_time("frame", sequence=0)
logger.log_model()

data.qpos[0] += 0.5
mujoco.mj_forward(model, data)

rr.set_time("frame", sequence=1)
logger.log_data(data)

Lint

uv run pre-commit run -a

Credits

Inspired by rerun-loader-python-example-urdf.

What's Next

• Integrate mujoco-rs to implement a native Rust loader similar to loader_urdf.rs