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API reference — mujoco-py 1.50.1.0 documentation

mujoco-py API reference¶ MjSim: Basic simulation ¶

mujoco_py.load_model_from_path(path)¶: Loads model from path.

mujoco_py.load_model_from_xml(xml_string)¶: Loads and returns a PyMjModel model from a string containing XML markup. Saves the XML string used to create the returned model in model.xml.

mujoco_py.load_model_from_mjb(path)¶: Loads and returns a PyMjModel model from bytes encoded MJB. MJB is a MuJoCo-custom format that includes assets like meshes/textures.

class mujoco_py.MjSim(model, data=None, nsubsteps=1, udd_callback=None)¶

MjSim represents a running simulation including its state.

Similar to Gym’s MujocoEnv, it internally wraps a PyMjModel and a PyMjData.

Parameters:

model : PyMjModel

The model to simulate.

data : PyMjData

Optional container for the simulation state. Will be created if None.

nsubsteps : int

Optional number of MuJoCo steps to run for every call to step(). Buffers will be swapped only once per step.

udd_callback : fn(MjSim) -> dict

Optional callback for user-defined dynamics. At every call to step(), it receives an MjSim object sim containing the current user-defined dynamics state in sim.udd_state, and returns the next udd_state after applying the user-defined dynamics. This is useful e.g. for reward functions that operate over functions of historical state.

Attributes

Methods

get_state()¶: Returns a copy of the simulator state.

render()¶

Renders view from a camera and returns image as an numpy.ndarray.

Args: - width (int): desired image width. - height (int): desired image height. - camera_name (str): name of camera in model. If None, the free

camera will be used.

depth (bool): if True, also return depth buffer

Returns: - rgb (uint8 array): image buffer from camera - depth (float array): depth buffer from camera (only returned

if depth=True)

reset()¶: Resets the simulation data and clears buffers.

save()¶

Saves the simulator model and state to a file as either a MuJoCo XML or MJB file. The current state is saved as a keyframe in the model file. This is useful for debugging using MuJoCo’s simulate utility.

Note that this doesn’t save the UDD-state which is part of MjSimState, since that’s not supported natively by MuJoCo. If you want to save the model together with the UDD-state, you should use the get_xml or get_mjb methods on MjModel together with MjSim.get_state and save them with e.g. pickle.

Args: - file (IO stream): stream to write model to. - format: format to use (either ‘xml’ or ‘mjb’) - keep_inertials (bool): if False, removes all <inertial>

properties derived automatically for geoms by MuJoco. Note that this removes ones that were provided by the user as well.

set_state()¶

Sets the state from an MjSimState. If the MjSimState was previously unflattened from a numpy array, consider set_state_from_flattened, as the defensive copy is a substantial overhead in an inner loop.

Args: - value (MjSimState): the desired state. - call_forward: optionally call sim.forward(). Called by default if

the udd_callback is set.

set_state_from_flattened()¶: This helper method sets the state from an array without requiring a defensive copy.

step()¶

Advances the simulation by calling mj_step.

If qpos or qvel have been modified directly, the user is required to call forward() before step() if their udd_callback requires access to MuJoCo state set during the forward dynamics.

class mujoco_py.MjSimState¶

Represents a snapshot of the simulator’s state.

This includes time, qpos, qvel, act, and udd_state.

Attributes

Methods

mujoco_py.ignore_mujoco_warnings()[source]¶: Class to turn off mujoco warning exceptions within a scope. Useful for large, vectorized rollouts.

PyMjData: Time-dependent data ¶

PyMjData and related classes are automatically generated from the MuJoCo C header files. For more information on this process, see Autogenerated wrappers. Their structure therefore directly follows the MuJoCo structs.

class mujoco_py.PyMjData¶

Attributes

act¶

act_dot¶

active_contacts_efc_pos¶

actuator_force¶

actuator_length¶

actuator_moment¶

actuator_velocity¶

body_jacp¶

body_jacr¶

body_xmat¶

body_xpos¶

body_xquat¶

body_xvelp¶

body_xvelr¶

cacc¶

cam_xmat¶

cam_xpos¶

cdof¶

cdof_dot¶

cfrc_ext¶

cfrc_int¶

cinert¶

contact¶

crb¶

ctrl¶

cvel¶

efc_AR¶

efc_AR_colind¶

efc_AR_rowadr¶

efc_AR_rownnz¶

efc_D¶

efc_J¶

efc_JT¶

efc_JT_colind¶

efc_JT_rowadr¶

efc_JT_rownnz¶

efc_J_colind¶

efc_J_rowadr¶

efc_J_rownnz¶

efc_R¶

efc_aref¶

efc_b¶

efc_diagApprox¶

efc_force¶

efc_frictionloss¶

efc_id¶

efc_margin¶

efc_solimp¶

efc_solref¶

efc_state¶

efc_type¶

efc_vel¶

energy¶

geom_jacp¶

geom_jacr¶

geom_xmat¶

geom_xpos¶

geom_xvelp¶

geom_xvelr¶

light_xdir¶

light_xpos¶

maxuse_con¶

maxuse_efc¶

maxuse_stack¶

mocap_pos¶

mocap_quat¶

nbuffer¶

ncon¶

ne¶

nefc¶

nf¶

nstack¶

pstack¶

qLD¶

qLDiagInv¶

qLDiagSqrtInv¶

qM¶

qacc¶

qacc_unc¶

qacc_warmstart¶

qfrc_actuator¶

qfrc_applied¶

qfrc_bias¶

qfrc_constraint¶

qfrc_inverse¶

qfrc_passive¶

qfrc_unc¶

qpos¶

qvel¶

sensordata¶

set_joint_qpos¶

set_joint_qvel¶

set_mocap_pos¶

set_mocap_quat¶

site_jacp¶

site_jacr¶

site_xmat¶

site_xpos¶

site_xvelp¶

site_xvelr¶

solver¶

solver_fwdinv¶

solver_iter¶

solver_nnz¶

subtree_angmom¶

subtree_com¶

subtree_linvel¶

ten_length¶

ten_moment¶

ten_velocity¶

ten_wrapadr¶

ten_wrapnum¶

time¶

timer¶

userdata¶

warning¶

wrap_obj¶

wrap_xpos¶

xanchor¶

xaxis¶

xfrc_applied¶

ximat¶

xipos¶

Methods

get_body_jacp(name)¶: Get the entry in jacp corresponding to the body with the given name

get_body_jacr(name)¶: Get the entry in jacr corresponding to the body with the given name

get_body_ximat(name)¶: Get the entry in ximat corresponding to the body with the given name

get_body_xipos(name)¶: Get the entry in xipos corresponding to the body with the given name

get_body_xmat(name)¶: Get the entry in xmat corresponding to the body with the given name

get_body_xpos(name)¶: Get the entry in xpos corresponding to the body with the given name

get_body_xquat(name)¶: Get the entry in xquat corresponding to the body with the given name

get_body_xvelp(name)¶: Get the entry in xvelp corresponding to the body with the given name

get_body_xvelr(name)¶: Get the entry in xvelr corresponding to the body with the given name

get_cam_xmat(name)¶: Get the entry in xmat corresponding to the cam with the given name

get_cam_xpos(name)¶: Get the entry in xpos corresponding to the cam with the given name

get_camera_xmat(name)¶: Get the entry in xmat corresponding to the camera with the given name

get_camera_xpos(name)¶: Get the entry in xpos corresponding to the camera with the given name

get_geom_jacp(name)¶: Get the entry in jacp corresponding to the geom with the given name

get_geom_jacr(name)¶: Get the entry in jacr corresponding to the geom with the given name

get_geom_xmat(name)¶: Get the entry in xmat corresponding to the geom with the given name

get_geom_xpos(name)¶: Get the entry in xpos corresponding to the geom with the given name

get_geom_xvelp(name)¶: Get the entry in xvelp corresponding to the geom with the given name

get_geom_xvelr(name)¶: Get the entry in xvelr corresponding to the geom with the given name

get_joint_qpos(name)¶: Get the entry in qpos corresponding to the joint with the given name

get_joint_qvel(name)¶: Get the entry in qvel corresponding to the joint with the given name

get_joint_xanchor(name)¶: Get the entry in xanchor corresponding to the joint with the given name

get_joint_xaxis(name)¶: Get the entry in xaxis corresponding to the joint with the given name

get_light_xdir(name)¶: Get the entry in xdir corresponding to the light with the given name

get_light_xpos(name)¶: Get the entry in xpos corresponding to the light with the given name

get_mocap_pos(name)¶: Get the entry in pos corresponding to the mocap with the given name

get_mocap_quat(name)¶: Get the entry in quat corresponding to the mocap with the given name

get_site_jacp(name)¶: Get the entry in jacp corresponding to the site with the given name

get_site_jacr(name)¶: Get the entry in jacr corresponding to the site with the given name

get_site_xmat(name)¶: Get the entry in xmat corresponding to the site with the given name

get_site_xpos(name)¶: Get the entry in xpos corresponding to the site with the given name

get_site_xvelp(name)¶: Get the entry in xvelp corresponding to the site with the given name

get_site_xvelr(name)¶: Get the entry in xvelr corresponding to the site with the given name

MjSimPool: Batched simulation ¶

class mujoco_py.MjSimPool¶

Keeps a pool of multiple MjSims and enables stepping them quickly in parallel.

Parameters:

sims : list of MjSim

List of simulators that make up the pool.

nsubsteps:

Number of substeps to run on step(). The individual simulators’ nsubstep will be ignored.

Attributes

Methods

static create_from_sim()¶

Create an MjSimPool by cloning the provided sim a total of nsims times. Returns the created MjSimPool.

Parameters:

sim : MjSim

The prototype to clone.

nsims : int

Number of clones to create.

forward()¶: Calls mj_forward on all simulations in parallel. If nsims is specified, than only the first nsims simulator are forwarded.

reset()¶: Resets all simulations in pool. If nsims is specified, than only the first nsims simulators are reset.

step()¶

Calls mj_step on all simulations in parallel, with nsubsteps as specified when the pool was created.

If nsims is specified, than only the first nsims simulator are stepped.

MjViewer: 3D rendering ¶

class mujoco_py.MjViewerBasic(sim)[source]¶

A simple display GUI showing the scene of an MjSim with a mouse-movable camera.

MjViewer extends this class to provide more sophisticated playback and interaction controls.

Parameters:

sim : MjSim

The simulator to display.

Attributes

Methods

render()[source]¶: Render the current simulation state to the screen or off-screen buffer. Call this in your main loop.

class mujoco_py.MjViewer(sim)[source]¶

Extends MjViewerBasic to add video recording, interactive time and interaction controls.

The key bindings are as follows:

TAB: Switch between MuJoCo cameras.
H: Toggle hiding all GUI components.
SPACE: Pause/unpause the simulation.
RIGHT: Advance simulation by one step.
V: Start/stop video recording.
T: Capture screenshot.
I: Drop into ipdb debugger.
S/F: Decrease/Increase simulation playback speed.
C: Toggle visualization of contact forces (off by default).
D: Enable/disable frame skipping when rendering lags behind real time.
R: Toggle transparency of geoms.
M: Toggle display of mocap bodies.

Parameters:

sim : MjSim

The simulator to display.

Attributes

Methods

render()[source]¶: Render the current simulation state to the screen or off-screen buffer. Call this in your main loop.

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