Add mujoco folder with roomba data collection#810
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gkielian merged 4 commits intoMay 11, 2026
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May 8, 2026 09:28
This will help synthetic data collection for roomba based robots.
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Pull request overview
Adds a new MuJoCo-based “Roomba” room simulation and dataset/video collection utility under mujoco/, along with a small companion requirements file to install the needed Python dependencies.
Changes:
- Added
mujoco/roomba_mujoco_collect.py: a MuJoCo room + Roomba-like agent simulation that can record annotated MP4 and a 16×16 grayscale CSV/GZip dataset, with optional multi-process collection. - Added
mujoco/roomba_mujoco_requirements.txtlisting the core runtime dependencies for the new script.
Reviewed changes
Copilot reviewed 2 out of 2 changed files in this pull request and generated 5 comments.
| File | Description |
|---|---|
| mujoco/roomba_mujoco_requirements.txt | Adds dependency list for running the MuJoCo Roomba collector. |
| mujoco/roomba_mujoco_collect.py | Introduces the simulation + rendering + CSV/video dataset collection implementation. |
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| @@ -0,0 +1,4 @@ | |||
| mujoco>=3.0 | |||
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| if args.view and args.num_workers > 1: | ||
| print("[info] --view uses a single interactive episode; forcing --num-workers 1 and --num-episodes 1.", file=sys.stderr) | ||
| args.num_workers = 1 | ||
| args.num_episodes = 1 | ||
| if args.view: |
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| return gzip.open(path, mode + "t", newline="") | ||
| return open(path, mode, newline="") |
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| def merge_csv_shards(shards: Sequence[Path], output_path: Path) -> None: | ||
| if not shards: | ||
| return | ||
| output_path.parent.mkdir(parents=True, exist_ok=True) | ||
| with open_csv_text(output_path, "w") as fout: |
| from pathlib import Path | ||
| import sys | ||
| import time | ||
| from typing import Any, Dict, Iterable, List, Optional, Sequence, Tuple |
gkielian
approved these changes
May 11, 2026
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This pull request adds a new requirements file for the MuJoCo Roomba project, specifying the necessary Python dependencies.
Dependency management:
mujoco/roomba_mujoco_requirements.txtfile listing required packages:mujoco>=3.0,numpy,pillow, andimageio[ffmpeg].