viewers

Different viewer implementations for mujoco.

Package Contents

Classes

CustomMujocoViewer	Custom Viewer Object that allows for additional keyboard inputs.
CustomMujocoViewerMode	Enumerate different viewer modes for the CustomMujocoViewer.
NativeMujocoViewer	Native Viewer Object.
ViewerType	Viewer types available for mujoco.

class CustomMujocoViewer(model: mujoco.MjModel, data: mujoco.MjData, *, backend: mujoco_simulator._render_backend.RenderBackend, width: int | None = None, height: int | None = None, start_paused: bool = False, render_every_frame: bool = False, hide_menus: bool = False, mode: CustomMujocoViewerMode = CustomMujocoViewerMode.CLASSIC, **_: Any)

Bases: revolve2.simulation.simulator.Viewer, mujoco_viewer.MujocoViewer

Custom Viewer Object that allows for additional keyboard inputs.

We need the type ignore since the mujoco_viewer library is not typed properly and therefor the MujocoViewer class cant be resolved.

property context: mujoco.MjrContext

Get the context.

Returns:

The context.

property view_port: mujoco.MjrRect

Get the view_port.

Returns:

The viewport.

property can_record: bool

Return True.

Returns:

True.

current_viewport_size() → tuple[int, int]

Grabs the current viewport size (and updates the cached values).

Returns:

the viewport size

render() → int | None

Render the scene.

Returns:

A cycle position if applicable.

close_viewer() → None

Close the viewer.

class CustomMujocoViewerMode(*args, **kwds)

Bases: enum.Enum

Enumerate different viewer modes for the CustomMujocoViewer.

• CLASSIC mode gives an informative interface for regular simulations.

• MANUAL mode gives a cut down interface, specific for targeting robot movement manually.

CLASSIC = 'classic'

MANUAL = 'manual'

class NativeMujocoViewer(model: mujoco.MjModel, data: mujoco.MjData, *, key_callback: Callable[[int], None] | None = None, **_: Any)

Bases: revolve2.simulation.simulator.Viewer

Native Viewer Object.

property context: mujoco.MjrContext

Get the context.

Returns:

The context.

abstract property view_port: mujoco.MjrRect

Get the view port.

Raises:

NotImplementedError – As it is not implemented.

property can_record: bool

Return False.

Returns:

False.

render() → int | None

Render the scene.

Returns:

A cycle position if applicable.

close_viewer() → None

Close the viewer.

abstract current_viewport_size() → tuple[int, int]

Grabs the current viewport size (and updates the cached values).

Raises:

NotImplementedError – As it is not implemented.

class ViewerType(*args, **kwds)

Bases: enum.Enum

Viewer types available for mujoco.

NATIVE

CUSTOM

static from_string(value: str) → ViewerType

Get viewer type from string.

Parameters:

value – The value.

Returns:

The viewer type.

Raises:

ValueError – If the passed value has no viewer type defined.