mjviser 0.0.1__tar.gz

mjviser-0.0.1/LICENSE

@@ -0,0 +1,191 @@
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mjviser-0.0.1/PKG-INFO

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+Metadata-Version: 2.4
+Name: mjviser
+Version: 0.0.1
+Summary: Web-based MuJoCo viewer powered by viser.
+Keywords: mujoco,viser,visualization,robotics,simulation
+Author: The MjLab Developers
+License-Expression: Apache-2.0
+License-File: LICENSE
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: License :: OSI Approved :: Apache Software License
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Classifier: Programming Language :: Python :: 3 :: Only
+Classifier: Typing :: Typed
+Classifier: Topic :: Scientific/Engineering :: Visualization
+Requires-Dist: mujoco>=3.6.0
+Requires-Dist: numpy
+Requires-Dist: trimesh>=4.8.3
+Requires-Dist: viser>=1.0.24
+Requires-Dist: pillow
+Requires-Dist: pytest ; extra == 'dev'
+Requires-Dist: ruff ; extra == 'dev'
+Requires-Python: >=3.10, <3.14
+Project-URL: Bug Reports, https://github.com/mujocolab/mjviser/issues
+Project-URL: Source, https://github.com/mujocolab/mjviser
+Provides-Extra: dev
+Description-Content-Type: text/markdown
+
+# mjviser
+
+Web-based MuJoCo viewer powered by [viser](https://github.com/viser-project/viser).
+
+## Quick start
+
+View any MuJoCo model instantly, no install needed:
+
+```bash
+uvx mjviser path/to/model.xml
+```
+
+Or install and use:
+
+```bash
+pip install mjviser
+mjviser path/to/model.xml
+```
+
+Fuzzy path matching finds models in the current directory tree:
+
+```bash
+mjviser humanoid        # finds **/humanoid*.xml
+mjviser shadow_hand     # finds **/shadow_hand*.xml
+```
+
+When there's a single match it's used automatically. Multiple matches show a numbered list to pick from.
+
+## Python API
+
+```python
+import mujoco
+from mjviser import Viewer
+
+model = mujoco.MjModel.from_xml_path("robot.xml")
+data = mujoco.MjData(model)
+Viewer(model, data).run()
+```
+
+Open the printed URL in your browser. You get pause/resume, speed controls, single-stepping, reset, keyframe selection, joint sliders, and actuator sliders out of the box.
+
+## Extension points
+
+The `Viewer` accepts three callbacks for injecting custom logic:
+
+- **`step_fn(model, data)`**: Called each simulation step. Use this to apply a controller, external forces, or any per-step logic. Defaults to `mujoco.mj_step`.
+
+- **`render_fn(scene)`**: Called each render frame. Use this to push custom state to the scene, add ghost overlays, or render debug geometry. Defaults to `scene.update_from_mjdata(data)`.
+
+- **`reset_fn(model, data)`**: Called on reset. Use this to restore custom simulation state.
+
+For full control over the loop, use `ViserMujocoScene` directly. The `server` is a standard [viser](https://viser.studio) server, so you can add custom GUI elements, scene overlays, or anything else viser supports.
+
+```python
+server = viser.ViserServer()
+scene = ViserMujocoScene(server, model, num_envs=1)
+scene.create_visualization_gui()
+
+# Add your own GUI.
+with server.gui.add_folder("My Controls"):
+    slider = server.gui.add_slider("Force", min=0, max=100, initial_value=0)
+
+while True:
+    mujoco.mj_step(model, data)
+    scene.update_from_mjdata(data)
+```
+
+## Examples
+
+- `active_viewer.py`: simplest usage with playback controls
+- `active_viewer_with_controller.py`: custom `step_fn` with random torques
+- `passive_viewer.py`: manual simulation loop with `ViserMujocoScene`
+- `multi_env.py`: 4 humanoids in parallel via mujoco-warp
+- `ghost_overlay.py`: custom `render_fn` that overlays a time-delayed ghost
+- `motion_playback.py`: recorded trajectory with timeline scrubber, speed control, and contact replay

mjviser-0.0.1/README.md

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+# mjviser
+
+Web-based MuJoCo viewer powered by [viser](https://github.com/viser-project/viser).
+
+## Quick start
+
+View any MuJoCo model instantly, no install needed:
+
+```bash
+uvx mjviser path/to/model.xml
+```
+
+Or install and use:
+
+```bash
+pip install mjviser
+mjviser path/to/model.xml
+```
+
+Fuzzy path matching finds models in the current directory tree:
+
+```bash
+mjviser humanoid        # finds **/humanoid*.xml
+mjviser shadow_hand     # finds **/shadow_hand*.xml
+```
+
+When there's a single match it's used automatically. Multiple matches show a numbered list to pick from.
+
+## Python API
+
+```python
+import mujoco
+from mjviser import Viewer
+
+model = mujoco.MjModel.from_xml_path("robot.xml")
+data = mujoco.MjData(model)
+Viewer(model, data).run()
+```
+
+Open the printed URL in your browser. You get pause/resume, speed controls, single-stepping, reset, keyframe selection, joint sliders, and actuator sliders out of the box.
+
+## Extension points
+
+The `Viewer` accepts three callbacks for injecting custom logic:
+
+- **`step_fn(model, data)`**: Called each simulation step. Use this to apply a controller, external forces, or any per-step logic. Defaults to `mujoco.mj_step`.
+
+- **`render_fn(scene)`**: Called each render frame. Use this to push custom state to the scene, add ghost overlays, or render debug geometry. Defaults to `scene.update_from_mjdata(data)`.
+
+- **`reset_fn(model, data)`**: Called on reset. Use this to restore custom simulation state.
+
+For full control over the loop, use `ViserMujocoScene` directly. The `server` is a standard [viser](https://viser.studio) server, so you can add custom GUI elements, scene overlays, or anything else viser supports.
+
+```python
+server = viser.ViserServer()
+scene = ViserMujocoScene(server, model, num_envs=1)
+scene.create_visualization_gui()
+
+# Add your own GUI.
+with server.gui.add_folder("My Controls"):
+    slider = server.gui.add_slider("Force", min=0, max=100, initial_value=0)
+
+while True:
+    mujoco.mj_step(model, data)
+    scene.update_from_mjdata(data)
+```
+
+## Examples
+
+- `active_viewer.py`: simplest usage with playback controls
+- `active_viewer_with_controller.py`: custom `step_fn` with random torques
+- `passive_viewer.py`: manual simulation loop with `ViserMujocoScene`
+- `multi_env.py`: 4 humanoids in parallel via mujoco-warp
+- `ghost_overlay.py`: custom `render_fn` that overlays a time-delayed ghost
+- `motion_playback.py`: recorded trajectory with timeline scrubber, speed control, and contact replay

mjviser-0.0.1/pyproject.toml

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+[build-system]
+requires = ["uv_build>=0.8.19,<0.9.0"]
+build-backend = "uv_build"
+
+[project]
+name = "mjviser"
+version = "0.0.1"
+license = "Apache-2.0"
+license-files = ["LICENSE"]
+readme = "README.md"
+authors = [
+  {name = "The MjLab Developers"},
+]
+keywords = ["mujoco", "viser", "visualization", "robotics", "simulation"]
+classifiers = [
+  "Development Status :: 4 - Beta",
+  "Intended Audience :: Developers",
+  "Intended Audience :: Science/Research",
+  "License :: OSI Approved :: Apache Software License",
+  "Programming Language :: Python :: 3",
+  "Programming Language :: Python :: 3.10",
+  "Programming Language :: Python :: 3.11",
+  "Programming Language :: Python :: 3.12",
+  "Programming Language :: Python :: 3.13",
+  "Programming Language :: Python :: 3 :: Only",
+  "Typing :: Typed",
+  "Topic :: Scientific/Engineering :: Visualization",
+]
+description = "Web-based MuJoCo viewer powered by viser."
+requires-python = ">=3.10,<3.14"
+dependencies = [
+  "mujoco>=3.6.0",
+  "numpy",
+  "trimesh>=4.8.3",
+  "viser>=1.0.24",
+  "Pillow",
+]
+
+[project.urls]
+Source = "https://github.com/mujocolab/mjviser"
+"Bug Reports" = "https://github.com/mujocolab/mjviser/issues"
+
+[project.scripts]
+mjviser = "mjviser.__main__:main"
+
+[project.optional-dependencies]
+dev = [
+  "pytest",
+  "ruff",
+]
+
+[dependency-groups]
+dev = [
+  "pyright>=1.1.408",
+  "pytest>=9.0.2",
+  "ruff>=0.15.7",
+]
+
+[tool.ruff]
+line-length = 88
+src = ["src"]
+indent-width = 2
+exclude = [
+  "typings",
+]
+
+[tool.ruff.lint]
+select = ["E4", "E7", "E9", "F", "I", "B"]
+ignore = ["B011"]
+
+[tool.pyright]
+pythonVersion = "3.10"
+ignore = ["./typings", "./examples"]
+stubPath = "typings"
+
+[tool.ty.environment]
+extra-paths = ["typings"]
+
+[tool.ty.src]
+include = ["src"]
+exclude = ["typings"]

mjviser-0.0.1/src/mjviser/__init__.py

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+"""Web-based MuJoCo viewer powered by viser."""
+
+from mjviser.scene import ViserMujocoScene as ViserMujocoScene
+from mjviser.viewer import Viewer as Viewer

mjviser-0.0.1/src/mjviser/__main__.py

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+"""Allow ``python -m mjviser model.xml`` to launch the active viewer."""
+
+from __future__ import annotations
+
+import sys
+from pathlib import Path
+
+import mujoco
+
+from mjviser import Viewer
+
+
+def _resolve_path(arg: str) -> Path:
+  """Resolve a model path, falling back to recursive glob search in CWD."""
+  path = Path(arg)
+  if path.is_file():
+    return path
+
+  # If pointing at a directory, search for XMLs inside it.
+  if path.is_dir():
+    matches = sorted(path.glob("**/*.xml"))
+  elif "*" in arg:
+    matches = sorted(Path.cwd().glob(arg))
+  else:
+    matches = sorted(Path.cwd().glob(f"**/*{arg}*.xml"))
+  if not matches:
+    print(f"No XML files matching '{arg}' found in {Path.cwd()}")
+    sys.exit(1)
+  if len(matches) == 1:
+    print(f"Found: {matches[0]}")
+    return matches[0]
+
+  # Multiple matches — let the user pick.
+  print(f"Multiple matches for '{arg}':")
+  for i, m in enumerate(matches, 1):
+    try:
+      label = m.relative_to(Path.cwd())
+    except ValueError:
+      label = m
+    print(f"  [{i}] {label}")
+  try:
+    choice = input("Select [1]: ").strip()
+    idx = int(choice) - 1 if choice else 0
+    return matches[idx]
+  except (ValueError, IndexError, KeyboardInterrupt):
+    sys.exit(1)
+
+
+def main() -> None:
+  if len(sys.argv) < 2:
+    print("Usage: python -m mjviser <model.xml>")
+    sys.exit(1)
+
+  path = _resolve_path(sys.argv[1])
+  model = mujoco.MjModel.from_xml_path(str(path))
+  data = mujoco.MjData(model)
+  Viewer(model, data).run()
+
+
+if __name__ == "__main__":
+  main()