mjc_viewer is a browser-based 3D viewer for MuJoCo that can render static trajectories from JSON.
The recommended way to install this package is via PyPI:
pip install mjc_viewerimport numpy as np
import mujoco
from mjc_viewer import Serializer, Trajectory
# Load your MuJoCo model.
model = mujoco.MjModel.from_xml_path("humanoid.xml")
data = mujoco.MjData(model)
# Create a Serializer and Trajectory instance.
serializer = Serializer(model)
trajectory = Trajectory(data)
# Simulate for 3 seconds.
trajectory.reset()
while data.time < 3.0:
data.ctrl = np.random.uniform(*model.actuator_ctrlrange.T)
mujoco.mj_step(model, data)
trajectory.step()
html = serializer.render(trajectory)
with open("traj.html", "w") as f:
f.write(html)
# You can now open traj.html in a browser or render in a notebook with
# `IPython.display.HTML`.- Robustify XML parser
- Parse lights
- Add support for meshes and height fields
- Better default camera / light settings
- Figure out plane reflection
- Someday, make it interactive
mjc_viewer is heavily adapted from Brax's javascript viewer, full credit goes to its developers.