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unisim.backend.mujoco.playback

MuJoCo-owned playback execution helpers.

Functions

resolve_render_play_model_files(env, *, ...)	Resolve the visual MuJoCo model file for offline play/video export.
run_mujoco_playback(*, env, initialize, ...)

unisim.backend.mujoco.playback.run_mujoco_playback(*, env, initialize, step, num_steps, output_video, render_spacing, headless, record_video, frame_state_getter, camera_kwargs, debug_overlay_getter=None, on_frame=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 (CameraCfg | Mapping[str, Any] | None)

• debug_overlay_getter (Callable[[], Sequence[Sequence[DebugPrimitive] | None] | None] | None)

• on_frame (Optional[Callable[[int, ndarray], ndarray | None]])

Return type:

str | None

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

Resolve the visual MuJoCo model file for offline play/video export.

Fixed variant plans carry per-env identities, in which case each world’s independently compiled playback model is saved as a self-contained MJB. Otherwise one visual model file serves every rendered environment.

Parameters:

• env (Any)

• num_envs (int)

• tmp_dir (str | Path)

Return type:

str | list[str]