https://github.com/vikashplus/mj_viz
Utility library for mujoco visualization
https://github.com/vikashplus/mj_viz
Last synced: 14 days ago
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Utility library for mujoco visualization
- Host: GitHub
- URL: https://github.com/vikashplus/mj_viz
- Owner: vikashplus
- License: apache-2.0
- Created: 2018-08-23T15:33:21.000Z (almost 7 years ago)
- Default Branch: master
- Last Pushed: 2018-12-12T22:59:35.000Z (over 6 years ago)
- Last Synced: 2025-02-16T22:25:14.539Z (3 months ago)
- Language: C++
- Size: 24.4 KB
- Stars: 2
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# mj_viz
Dependency-free utility library for visualization of MuJoCo Scenes. The library is written purely in C for speed and efficiency. Python bindings are also provided to facilitate usage.
## Build
1. Download MuJoCo binaries from the official [website](http://www.mujoco.org/) and also obtain the license key.
2. Unzip the downloaded mjpro150 directory into `~/.mujoco/mjpro150`, and place your license key (mjkey.txt) at `~/.mujoco/mjkey.txt`
3. Clone mj_viz repo
4. `cd mj_viz`
5. `make all`. This builds two targets `viz` and `libviz`. `viz` is a visualizer executable and `vizlib` is a shared library
6. Add `mj_viz/source` to your pythonpath.
## Demo
1. Use `./bin/mj_viz` to check out the c visualizer demo
1. Use `python demo/demo_mj_viz.py` to check out the python visualizer demo
## Usage
1. Use `viz_init(model_xml_path, mujoco_license_path)` to initialize the visualizer
2. Use `viz_model_info( (*vizModelInfo) info)` to get information about the loaded model
3. Use `viz_update(time, qpos, qvel, nq, nv)` to update the state of the model loaded in the visualizer
4. Use `viz_close()` to close the visualizer
## Known Issues
The library is developed on Linux. While the code is cross-platform, it has not been tested on other OS.