Viewer for MuJoCo in Python

Interactive renderer to use with the official Python bindings for MuJoCo.

Starting with version 2.1.2, MuJoCo comes with native Python bindings officially supported by the MuJoCo devs.

If you have been a user of mujoco-py, you might be looking to migrate.
Some pointers on migration are available here.

Install

$ git clone https://github.com/rohanpsingh/mujoco-python-viewer
$ cd mujoco-python-viewer
$ pip install -e .

Or, install via Pip.

$ pip install mujoco-python-viewer

Usage

import mujoco
import mujoco_viewer

model = mujoco.MjModel.from_xml_path('humanoid.xml')
data = mujoco.MjData(model)

# create the viewer object
viewer = mujoco_viewer.MujocoViewer(model, data)

# simulate and render
for _ in range(100000):
    mujoco.mj_step(model, data)
    viewer.render()

# close
viewer.close()

The render should pop up and the simulation should be running.
Double-click on a geom and hold Ctrl to apply forces (right) and torques (left).

Press ESC to quit.
Other key bindings are shown in the overlay menu (almost similar to mujoco-py).