Wrapper Module

Wrapper module for managing MuJoCo simulations.

This module provides a Wrapper class to handle MuJoCo simulations, including loading models, running simulations, capturing data, and rendering frames.

class mujoco_toolbox.wrapper.Wrapper(*args: Any, **kwargs: Any)[source]

Bases: object

Wrapper class for managing MuJoCo simulations.

body_data(body_name: str, data_name: str | None = None) → dict[str, ndarray] | ndarray[source]

Get the data for a specific body in the simulation.

Parameters:

  • body_name (str) – The name of the body to retrieve data for.

  • data_name (str) – The name of the data to retrieve.

Returns:

The data for the specified body.

Return type:

dict[str, np.ndarray] | np.ndarray

property captured_data: dict[str, ndarray]

Read-only property to access the entire captured simulation data.

property controller: Callable[[MjModel, MjData, Any], None] | None

Controller Function.

property data: MjData

Read-only property to access the MjData single-step object.

Use captured_data to access the entire simulation data.

property data_rate: int

Data rate of the simulation in frames per second.

property duration: float

Duration of the simulation in seconds.

f2t(frame: int) → float[source]

Convert frame index to time.

property fps: float

Frames per second.

property frames: list[ndarray]

Read-only property to access the captured frames.

property gravity: ndarray

Gravity vector of the simulation.

id2name(id: int) → str[source]

Get the name of a body given its ID.

Parameters:

id (int) – The ID of the body.

Returns:

The name of the body.

Return type:

str

property initial_conditions: dict[str, list]

Initial conditions for the simulation.

property keyframe: int | None

Keyframe index for the simulation.

launch(show_menu: bool = True) → None[source]

Open a window to display the simulation in real time.

property model: MjModel

Read-only property to access the MjModel object.

name2id(name: str) → int[source]

Get the name of a body given its index.

Parameters:

name (str) – The name of the body.

Returns:

The index of the body.

Return type:

int

reload() → Wrapper[source]

Reload the model and data objects.

Returns:

Self for method chaining.

Return type:

Wrapper

property resolution: tuple[int, int]

Resolution of the simulation in pixels (w,h).

run(*, render: bool = False, camera: str | None = None, interactive: bool = False, show_menu: bool = True, multi_thread: bool = False) → Wrapper[source]

Run the simulation with optional rendering.

Parameters:

  • render (bool) – If True, renders the simulation.

  • camera (str) – The camera view to render from, defaults to None.

  • data_rate (int) – How often to capture data, expressed as frames

  • second. (per)

  • interactive (bool) – If True, opens an interactive viewer window.

  • show_menu (bool) – Shows the menu in the interactive viewer.

  • True. (Interactive must be)

  • multi_thread (bool) – If True, runs the simulation in multi-threaded

  • mode.

Returns:

The current Wrapper object for method chaining.

Return type:

self

save(title: str = 'render', codec: str = 'gif', frame_idx: int | tuple[int, int] | None = None, time_idx: float | tuple[float, float] | None = None) → str[source]

Save specific frame(s) as a video or GIF to a file.

Parameters:

  • title (str, optional) – Filename for the saved media.

  • codec (str, optional) – Video codec/format. Defaults to “gif”.

  • frame_idx (int or tuple, optional) – Single frame index or (start, stop) frame indices.

  • time_idx (float or tuple, optional) – Single time or (start, end) times in seconds.

Returns:

Absolute path to the saved file.

Return type:

str

Raises:

ValueError – If no frames are captured or invalid input parameters.

save_yaml(name: str = 'Model') → None[source]

Save simulation data to a YAML file.

Parameters:

name (str) – The filename for the YAML file.

Returns:

None

show(title: str | None = None, codec: str = 'gif', frame_idx: int | tuple[int, int] | None = None, time_idx: float | tuple[float, float] | None = None) → None[source]

Render specific frame(s) as a video or GIF in a window.

Parameters:

  • title (str, optional) – Title for the rendered media.

  • codec (str, optional) – Video codec/format. Defaults to “gif”.

  • frame_idx (int or tuple, optional) – Single frame index or (start, stop) frame indices.

  • time_idx (float or tuple, optional) – Single time or (start, end) times in seconds.

Raises:

ValueError – If no frames are captured or invalid input parameters.

t2f(t: float) → int[source]

Convert time to frame index.

property ts: float

Timestep of the simulation in seconds.