| Name | mujoco-toolbox JSON |
| Version |
0.6.3
JSON |
| download |
| home_page | https://github.com/MGross21/mujoco-toolbox |
| Summary | A Modern Simulation Wrapper for Google DeepMind's MuJoCo |
| upload_time | 2025-08-17 09:02:23 |
| maintainer | None |
| docs_url | None |
| author | MGross21 |
| requires_python | <4.0,>=3.9 |
| license | MIT License
Copyright (c) 2025 Michael Gross
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE. |
| keywords |
mujoco
mujoco
robotics
simulation
toolbox
wrapper
|
| VCS |
 |
| bugtrack_url |
|
| requirements |
No requirements were recorded.
|
| Travis-CI |
No Travis.
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| coveralls test coverage |
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|
<h1 align="center">
<img src="https://raw.githubusercontent.com/MGross21/mujoco-toolbox/main/assets/images/mjtb_logo_transparent.png" width="400">
</h1><br>
[](https://github.com/MGross21/mujoco-toolbox/actions/workflows/publish.yml)
[](https://github.com/MGross21/mujoco-toolbox/actions/workflows/docs.yml)
A Modern Simulation Wrapper for Google DeepMind’s MuJoCo
> **⚠️ WARNING**
> This package is currently in its zero-release stage. Class methods and APIs may change without prior notice. Please review the documentation and changelog after each update to stay informed about any modifications.
## Installation
*Add `-U` flag to upgrade pre-existing library*
### PyPI Package
[](https://pypi.org/project/mujoco-toolbox/)
```bash
pip install mujoco-toolbox
```
### GitHub Package
[](https://github.com/MGross21/mujoco-toolbox/releases)
```bash
pip install git+https://github.com/MGross21/mujoco-toolbox.git@main
```
### Adding to Project Dependencies
<details>
<summary><b>Click to Expand</b></summary><br>
Place the following in your `requirements.txt` or `pyproject.toml` file.
### PyPI
Expect less frequent, stable releases.
```
mujoco-toolbox
```
### Github
Expect frequent rolling releases.
```
git+https://github.com/MGross21/mujoco-toolbox.git@main#egg=mujoco-toolbox
```
</details>
## Extra Packages
<details>
<summary><b>FFMPEG</b></summary>
</br>
*Required for [mediapy](https://google.github.io/mediapy/mediapy.html) dependency*
**Windows**
```bash
winget install ffmpeg
ffmpeg -version
```
**Linux**
*Debian/Ubuntu*
```bash
sudo apt update && sudo apt install ffmpeg
ffmpeg -version
```
*Arch Linux*
```bash
sudo pacman -Syu ffmpeg
ffmpeg -version
```
**MacOS**
*Using Homebrew*
```bash
brew install ffmpeg
ffmpeg -version
```
*Using MacPorts*
```bash
sudo port install ffmpeg
ffmpeg -version
```
</details>
## Example Script
*Bare minimum to run MuJoCo simulation and display result*
```python
import mujoco_toolbox as mjtb
mjtb.Simulation("path/to/your/xml").run(render=True).save()
```
## Controllers
### Pre-Made Controllers
The following controllers are available out-of-the-box:
- `sin`
- `cos`
- `step`
- `random`
- `real_time` <sub>(recommended controller for digital twins)</sub>
You can import them as follows:
```python
import mujoco_toolbox.controllers as ctrl
```
### Custom
```python
def foo(model: MjModel, data: MjData,**kwargs):
# Perform logic based on model/data objects
# ie. PID Controller
```
## Instantiating a Digital Twin
```python
import mujoco_toolbox as mjtb
from mujoco_toolbox.controllers import real_time
with mjtb.Simulation("path/to/xml", controller=real_time) as digitaltwin:
digitaltwin.launch(show_menu=False) # Open the simulation window
while True:
digitaltwin.controller(digitaltwin.model, digitaltwin.data, {"mjdata_kwargs": value})
```
See `MjData` objects [here](https://mujoco.readthedocs.io/en/stable/APIreference/APItypes.html#mjdata)
## File Support
### XML / MJCF (Native)
```python
import mujoco_toolbox as mjtb
mjtb.Simulation("path/to/xml").show()
```
<img src="https://raw.githubusercontent.com/MGross21/mujoco-toolbox/main/assets/images/ur5_vention.png" alt="UR5/Vention" width="300">
### URDF
```python
import mujoco_toolbox as mjtb
mjtb.Simulation("path/to/urdf", meshdir="path/to/mesh/files").show() # supports *.stl or *.obj
```
<img src="https://raw.githubusercontent.com/MGross21/mujoco-toolbox/main/assets/images/ur5_render_no_gui.png" alt="UR5" width="300">
## Merging Capabilities
Supports full `<mujoco>...</mujoco>` and `<robot>...</robot>` structure as well as complete sub-tree structures.
```python
import mujoco_toolbox as mjtb
# Merges: XML & URDF Files, XML & URDF Strings, Sub Tree Structures
mjtb.Simulation("path/to/xml_1", string_xml_var, ..., "path/to/xml_n").show()
```
> **⚠️ WARNING**
> Duplicate sub-tree items with the same name will cause MuJoCo to throw a `FatalError`.
<img src="https://raw.githubusercontent.com/MGross21/mujoco-toolbox/main/assets/images/human_in_box.png" alt="Humanoid in Box" width="300">
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"description": "<h1 align=\"center\">\n<img src=\"https://raw.githubusercontent.com/MGross21/mujoco-toolbox/main/assets/images/mjtb_logo_transparent.png\" width=\"400\">\n</h1><br>\n\n\n\n\n[](https://github.com/MGross21/mujoco-toolbox/actions/workflows/publish.yml)\n[](https://github.com/MGross21/mujoco-toolbox/actions/workflows/docs.yml)\n\nA Modern Simulation Wrapper for Google DeepMind\u2019s MuJoCo\n\n> **\u26a0\ufe0f WARNING** \n> This package is currently in its zero-release stage. Class methods and APIs may change without prior notice. Please review the documentation and changelog after each update to stay informed about any modifications.\n\n## Installation\n\n*Add `-U` flag to upgrade pre-existing library*\n\n### PyPI Package\n\n[](https://pypi.org/project/mujoco-toolbox/)\n\n```bash\npip install mujoco-toolbox\n```\n\n### GitHub Package\n\n[](https://github.com/MGross21/mujoco-toolbox/releases)\n\n```bash\npip install git+https://github.com/MGross21/mujoco-toolbox.git@main\n```\n\n\n### Adding to Project Dependencies\n<details>\n\n<summary><b>Click to Expand</b></summary><br>\n\n\nPlace the following in your `requirements.txt` or `pyproject.toml` file.\n\n### PyPI\n\nExpect less frequent, stable releases.\n\n```\nmujoco-toolbox\n```\n\n### Github\n\nExpect frequent rolling releases.\n\n```\ngit+https://github.com/MGross21/mujoco-toolbox.git@main#egg=mujoco-toolbox\n```\n\n</details>\n\n## Extra Packages\n\n<details>\n<summary><b>FFMPEG</b></summary>\n\n</br>\n\n*Required for [mediapy](https://google.github.io/mediapy/mediapy.html) dependency*\n\n**Windows**\n\n```bash\nwinget install ffmpeg\nffmpeg -version\n```\n\n**Linux**\n\n*Debian/Ubuntu*\n\n```bash\nsudo apt update && sudo apt install ffmpeg\nffmpeg -version\n```\n\n*Arch Linux*\n\n```bash\nsudo pacman -Syu ffmpeg\nffmpeg -version\n```\n\n**MacOS**\n\n*Using Homebrew*\n\n```bash\nbrew install ffmpeg\nffmpeg -version\n```\n\n*Using MacPorts*\n\n```bash\nsudo port install ffmpeg\nffmpeg -version\n```\n\n</details>\n\n## Example Script\n\n*Bare minimum to run MuJoCo simulation and display result*\n\n```python\nimport mujoco_toolbox as mjtb\n\nmjtb.Simulation(\"path/to/your/xml\").run(render=True).save()\n```\n\n## Controllers\n\n### Pre-Made Controllers\n\nThe following controllers are available out-of-the-box:\n\n- `sin`\n- `cos`\n- `step`\n- `random`\n- `real_time` <sub>(recommended controller for digital twins)</sub>\n\nYou can import them as follows:\n\n```python\nimport mujoco_toolbox.controllers as ctrl\n```\n\n### Custom\n\n```python\n\ndef foo(model: MjModel, data: MjData,**kwargs):\n # Perform logic based on model/data objects\n # ie. PID Controller\n```\n\n## Instantiating a Digital Twin\n\n```python\nimport mujoco_toolbox as mjtb\nfrom mujoco_toolbox.controllers import real_time\n\nwith mjtb.Simulation(\"path/to/xml\", controller=real_time) as digitaltwin:\n digitaltwin.launch(show_menu=False) # Open the simulation window\n while True:\n digitaltwin.controller(digitaltwin.model, digitaltwin.data, {\"mjdata_kwargs\": value})\n```\n\nSee `MjData` objects [here](https://mujoco.readthedocs.io/en/stable/APIreference/APItypes.html#mjdata)\n\n## File Support\n\n### XML / MJCF (Native)\n\n```python\nimport mujoco_toolbox as mjtb\n\nmjtb.Simulation(\"path/to/xml\").show()\n```\n\n<img src=\"https://raw.githubusercontent.com/MGross21/mujoco-toolbox/main/assets/images/ur5_vention.png\" alt=\"UR5/Vention\" width=\"300\">\n\n### URDF\n\n```python\nimport mujoco_toolbox as mjtb\n\nmjtb.Simulation(\"path/to/urdf\", meshdir=\"path/to/mesh/files\").show() # supports *.stl or *.obj\n```\n\n<img src=\"https://raw.githubusercontent.com/MGross21/mujoco-toolbox/main/assets/images/ur5_render_no_gui.png\" alt=\"UR5\" width=\"300\">\n\n## Merging Capabilities\n\nSupports full `<mujoco>...</mujoco>` and `<robot>...</robot>` structure as well as complete sub-tree structures.\n\n```python\nimport mujoco_toolbox as mjtb\n\n# Merges: XML & URDF Files, XML & URDF Strings, Sub Tree Structures\nmjtb.Simulation(\"path/to/xml_1\", string_xml_var, ..., \"path/to/xml_n\").show()\n\n```\n\n> **\u26a0\ufe0f WARNING** \n> Duplicate sub-tree items with the same name will cause MuJoCo to throw a `FatalError`.\n\n<img src=\"https://raw.githubusercontent.com/MGross21/mujoco-toolbox/main/assets/images/human_in_box.png\" alt=\"Humanoid in Box\" width=\"300\">\n",
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