simrender 0.1.0

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simrender 🎬

A Python package for easily rendering robotic simulation environments to a web-ready (GLTF) format, including animated episodes for visualization and analysis. It also supports easy rendering to notebook cells in Jupyter and Marimo.

Features

• 🎯 GLB Export: Export static scenes and animated sequences to industry-standard GLB format
• 🎮 Gymnasium Integration: Automatic support for Gymnasium environments with InteractiveRenderWrapper
• 📊 Animation Recording: Capture animated episodes with configurable capture frame rates
• 📕 Notebook Support: Rendering wrapper classes can be displayed in Jupyter/Marimo notebooks out of the box

Simulator Support

• MuJoCo
• MJX/MuJoCo Warp
• Newton
• Isaac Sim
• Isaac Gym (legacy)

Installation

pip install simrender

Usage

Gymnasium Environments

Wrap any Gymnasium environment to enable GLB export:

import gymnasium as gym
from simrender.gym import InteractiveRenderWrapper

# Create and wrap environment
env = gym.make("Ant-v5")
env = InteractiveRenderWrapper(env)

# Record an animated episode
with env.animation(fps=30):
    obs, _ = env.reset(seed=42)
    for _ in range(1000):
        action = env.action_space.sample()
        obs, reward, terminated, truncated, info = env.step(action)
        env.render()
        if terminated or truncated:
            break

# Save to GLB file
env.save("episode.glb")

# or, display it if running in a notebook cell
env

MuJoCo Models

For direct MuJoCo model rendering:

import mujoco
from simrender.mujoco import MujocoRender

# Load MuJoCo model
model = mujoco.MjModel.from_xml_file("scene.xml")
data = mujoco.MjData(model)

# Create renderer
render = MujocoRender(model)

# Single frame render
mujoco.mj_step(model, data)
render.render(data)
render.save("single_frame.glb")

# Animated sequence
with render.animation(fps=10):
    for i in range(3000):
        mujoco.mj_step(model, data)
        render.render(data)

render.save("animated_sequence.glb")

# or, display it if running in a notebook cell
render

File Format

The exported GLB files are compatible with:

• 🌐 Web browsers (Three.js, Babylon.js)
• 🎨 3D modeling software (Blender, Maya, 3ds Max)
• 🎮 Game engines (Unity, Unreal Engine)
• 📱 AR/VR applications
• Anything that supports GLTF/GLB

License

This project is dual-licensed under MIT and Apache 2.0 licenses. You may choose either license for your use.

Contributing

Contributions are welcome! Please feel free to submit pull requests, report bugs, or suggest features.