mjlab.scene

Scene management.

class mjlab.scene.Scene

Bases: object

__init__(scene_cfg: SceneCfg, device: str) → None

compile() → MjModel

property device: str

property entities: dict[str, Entity]

property env_origins: Tensor

property env_spacing: float

initialize(mj_model: MjModel, model: mujoco_warp.Model, data: mujoco_warp.Data)

property num_envs: int

reset(env_ids: Tensor | slice | None = None) → None

property sensor_context: SensorContext | None

Shared sensing resources, or None if no cameras/raycasts.

property sensors: dict[str, Sensor]

property spec: MjSpec

property terrain: TerrainImporter | None

to_zip(path: Path) → None

Export the scene to a zip file.

Warning: The generated zip may require manual adjustment of asset paths to be reloadable. Specifically, you may need to add assetdir=”assets” to the compiler directive in the XML.

Parameters:

path – Output path for the zip file.

TODO: Verify if this is fixed in future MuJoCo releases.

update(dt: float) → None

write_data_to_sim() → None

class mjlab.scene.SceneCfg

Bases: object

__init__(*, num_envs: int = 1, env_spacing: float = 2.0, terrain: ~mjlab.terrains.terrain_importer.TerrainImporterCfg | None = None, entities: dict[str, ~mjlab.entity.entity.EntityCfg] = <factory>, sensors: tuple[~mjlab.sensor.sensor.SensorCfg, ...] = <factory>, extent: float | None = None, spec_fn: ~typing.Callable[[~mujoco._specs.MjSpec], None] | None = None) → None

env_spacing: float = 2.0

extent: float | None = None

num_envs: int = 1

spec_fn: Callable[[MjSpec], None] | None = None

terrain: TerrainImporterCfg | None = None

entities: dict[str, EntityCfg]

sensors: tuple[SensorCfg, ...]