Language Language English 简体中文

unilab.base.backend.mujoco.playback

MuJoCo-owned playback execution helpers.

Functions

materialize_visual_playback_model(*, ...)	Compile a visual MuJoCo model using geom sizes from a playback model.
resolve_render_play_model_files(env, *, ...)	Resolve visual MuJoCo model files for offline play/video export.
run_mujoco_playback(*, env, initialize, ...)

unilab.base.backend.mujoco.playback.run_mujoco_playback(*, env, initialize, step, num_steps, output_video, render_spacing, headless, record_video, frame_state_getter, camera_kwargs, extra_data_getter=None)

Parameters:

• env (Any)

• initialize (Callable[[], TypeVar(ObsT)])

• step (Callable[[TypeVar(ObsT)], TypeVar(ObsT)])

• num_steps (int | None)

• output_video (str | PathLike[str] | None)

• render_spacing (float | None)

• headless (bool)

• record_video (bool)

• frame_state_getter (Optional[Callable[[], ndarray]])

• camera_kwargs (dict[str, Any] | None)

• extra_data_getter (Optional[Callable[[], ndarray | None]])

Return type:

str | None

unilab.base.backend.mujoco.playback.resolve_render_play_model_files(env, *, num_envs, tmp_dir)

Resolve visual MuJoCo model files for offline play/video export.

Parameters:

• env (Any)

• num_envs (int)

• tmp_dir (str | Path)

Return type:

str | list[str]

unilab.base.backend.mujoco.playback.materialize_visual_playback_model(*, visual_model_file, visual_base_model, playback_model, output_path)

Compile a visual MuJoCo model using geom sizes from a playback model.

Parameters:

• visual_model_file (str)

• visual_base_model (Any)

• playback_model (Any)

• output_path (str | Path)

Return type:

str