Usage

Installation

To use MuJoCo Tools, first install it using pip:

# Install from PyPI
pip install mujoco-tools

# Or install from github
pip install git+https://github.com/ShanningZhuang/mujoco_tools.git

# Or install from source
git clone https://github.com/ShanningZhuang/mujoco_tools.git
cd mujoco_tools
pip install -e .

Command Line Usage

MuJoCo Tools provides a convenient command-line interface:

mujoco-tools -m <model.xml> [options]

Required Arguments:

  • -m, --model: Path to MuJoCo XML model file

  • --mode: Simulation mode (kinematics: runs mj.fwd_position, dynamics: runs mj.step) [default: kinematics]

Input Data Options:

  • -d, --data: Input data type and path (e.g., “qpos data/qpos.npy ctrl data/ctrl.npy”) or directly input the path of npz

  • --input_data_freq: Frequency of input data [default: 50]

Visualization Options:

  • --record_video: Enable video recording

  • --width: Video width in pixels [default: 1920]

  • --height: Video height in pixels [default: 1080]

  • --fps: Video framerate [default: 50]

  • --camera: Camera name [default: Free]

  • --flags: Custom vision flags (e.g., “mjVIS_ACTUATOR mjVIS_ACTIVATION”)

Python Module Usage

You can also use MuJoCo Tools as a Python module:

# Direct module import
from mujoco_tools import MujocoPlayer, VideoRecorder, StateRecorder

# Load a model
from mujoco_tools.mujoco_loader import MujocoLoader
loader = MujocoLoader(model_path='path/to/model.xml')

# Create a player for visualization
player = MujocoPlayer(loader.model, loader.data)