Standalone MuJoCo apps

The idea: wrap what you already have

Your app already knows how to build the scene, reset it and advance one control step. Ballot will ask you to hand over those functions. You don’t restructure your code, and your local loop keeps working.

ballot_world.py

from ballot_sdk.mujoco import MujocoWorld
from workshop.app import create_workshop


def make_world():
    app = create_workshop(headless=True)
    return MujocoWorld(
        handles=app.current_model_and_data,
        advance=app.advance_one_control_interval,
        reset=app.reset,
        control_period_s=app.control_period_s,
        close=app.close,
    )

You provide	What it means
`handles`	Returns your current MuJoCo model and data
`advance`	Runs exactly one of your control steps, including your own controller updates
`reset`	Puts the world back to a starting state for a new attempt. Free play can leave it out.
`control_period_s`	How long one control step lasts
`close`	Releases your resources when a session ends

Ballot drives these functions from the session. It doesn’t add a second loop or step the physics behind your back.

Controls need a clear entry point

Ballot has to know where pilots’ commands go. For an arm, that’s a function that moves it toward a target. For a rover, a walker, a humanoid or a drone, it’s the controller that turns a velocity or flight command into motion, such as a drive controller or a trained walking policy. A robot driven only by raw joint torques, with nothing that accepts a command, isn’t automatically pilotable. See Upload a robot for the controller interface.

Robots

Any robot type can come from a MuJoCo app: arms, rovers, quadrupeds, humanoids and drones. Models with actuators already defined, such as the robots in MuJoCo Menagerie, are a good starting point. A URDF on its own isn’t enough: MuJoCo imports it without actuators, so there’s nothing to control yet.

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Standalone MuJoCo apps

The idea: wrap what you already have

Controls need a clear entry point

Robots

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​The idea: wrap what you already have

​Controls need a clear entry point

​Robots

​Tasks

Join the waitlist

The idea: wrap what you already have

Controls need a clear entry point

Robots

Tasks