lvjonok / mujoco-logger

mujoco-logger

Overview

I have found a need in a handy logger for MuJoCo simulator. As most of my research is based on the modeling of robot in Pinocchio-based libraries and simulating the behaviour and control in MuJoCo it was crucial to have a proper conversion from one convention of data to another (e.g. qpos in MuJoCo to pinocchio).

This library provides a simple way to log data from MuJoCo simulation and load it for further analysis. It also provides a simple way to mock the simulation and visualize the trajectory of the robot.

Installation

pip install mujoco-logger

API

The library itself is quite simple, you can simple look through docstrings of the classes to understand how to use it.

• SimLog
• SimMock
• SimLogger

Examples

All examples are located in the examples directory.