| API reference | |
| ============= | |
| .. contents:: :local: | |
| MjSim: Basic simulation | |
| ----------------------- | |
| .. autofunction:: mujoco_py.load_model_from_path(path) | |
| .. autofunction:: mujoco_py.load_model_from_xml(xml_string) | |
| .. autofunction:: mujoco_py.load_model_from_mjb(path) | |
| .. autoclass:: mujoco_py.MjSim(model, data=None, nsubsteps=1, udd_callback=None) | |
| :members: model, data, step, render, get_state, set_state, set_state_from_flattened, save, reset | |
| .. autoclass:: mujoco_py.MjSimState | |
| .. autofunction:: mujoco_py.ignore_mujoco_warnings | |
| .. _pymjdata: | |
| PyMjData: Time-dependent data | |
| ----------------------------- | |
| ``PyMjData`` and related classes are automatically generated from the MuJoCo C header files. For more information on this process, see :ref:`genwrapper`. Their structure therefore directly follows the MuJoCo structs. | |
| .. raw:: html | |
| <dl class="class"> | |
| <dt id="mujoco_py.PyMjData"> | |
| <em class="property">class </em><code class="descclassname">mujoco_py.</code><code class="descname">PyMjData</code><a class="headerlink" href="#mujoco_py.PyMjData" title="Permalink to this definition">¶</a></dt> | |
| <dd> | |
| <p class="rubric">Attributes</p> | |
| .. attribute:: act | |
| .. attribute:: act_dot | |
| .. attribute:: active_contacts_efc_pos | |
| .. attribute:: actuator_force | |
| .. attribute:: actuator_length | |
| .. attribute:: actuator_moment | |
| .. attribute:: actuator_velocity | |
| .. attribute:: body_jacp | |
| .. attribute:: body_jacr | |
| .. attribute:: body_xmat | |
| .. attribute:: body_xpos | |
| .. attribute:: body_xquat | |
| .. attribute:: body_xvelp | |
| .. attribute:: body_xvelr | |
| .. attribute:: cacc | |
| .. attribute:: cam_xmat | |
| .. attribute:: cam_xpos | |
| .. attribute:: cdof | |
| .. attribute:: cdof_dot | |
| .. attribute:: cfrc_ext | |
| .. attribute:: cfrc_int | |
| .. attribute:: cinert | |
| .. attribute:: contact | |
| .. attribute:: crb | |
| .. attribute:: ctrl | |
| .. attribute:: cvel | |
| .. attribute:: efc_AR | |
| .. attribute:: efc_AR_colind | |
| .. attribute:: efc_AR_rowadr | |
| .. attribute:: efc_AR_rownnz | |
| .. attribute:: efc_D | |
| .. attribute:: efc_J | |
| .. attribute:: efc_JT | |
| .. attribute:: efc_JT_colind | |
| .. attribute:: efc_JT_rowadr | |
| .. attribute:: efc_JT_rownnz | |
| .. attribute:: efc_J_colind | |
| .. attribute:: efc_J_rowadr | |
| .. attribute:: efc_J_rownnz | |
| .. attribute:: efc_R | |
| .. attribute:: efc_aref | |
| .. attribute:: efc_b | |
| .. attribute:: efc_diagApprox | |
| .. attribute:: efc_force | |
| .. attribute:: efc_frictionloss | |
| .. attribute:: efc_id | |
| .. attribute:: efc_margin | |
| .. attribute:: efc_solimp | |
| .. attribute:: efc_solref | |
| .. attribute:: efc_state | |
| .. attribute:: efc_type | |
| .. attribute:: efc_vel | |
| .. attribute:: energy | |
| .. attribute:: geom_jacp | |
| .. attribute:: geom_jacr | |
| .. attribute:: geom_xmat | |
| .. attribute:: geom_xpos | |
| .. attribute:: geom_xvelp | |
| .. attribute:: geom_xvelr | |
| .. attribute:: light_xdir | |
| .. attribute:: light_xpos | |
| .. attribute:: maxuse_con | |
| .. attribute:: maxuse_efc | |
| .. attribute:: maxuse_stack | |
| .. attribute:: mocap_pos | |
| .. attribute:: mocap_quat | |
| .. attribute:: nbuffer | |
| .. attribute:: ncon | |
| .. attribute:: ne | |
| .. attribute:: nefc | |
| .. attribute:: nf | |
| .. attribute:: nstack | |
| .. attribute:: pstack | |
| .. attribute:: qLD | |
| .. attribute:: qLDiagInv | |
| .. attribute:: qLDiagSqrtInv | |
| .. attribute:: qM | |
| .. attribute:: qacc | |
| .. attribute:: qacc_unc | |
| .. attribute:: qacc_warmstart | |
| .. attribute:: qfrc_actuator | |
| .. attribute:: qfrc_applied | |
| .. attribute:: qfrc_bias | |
| .. attribute:: qfrc_constraint | |
| .. attribute:: qfrc_inverse | |
| .. attribute:: qfrc_passive | |
| .. attribute:: qfrc_unc | |
| .. attribute:: qpos | |
| .. attribute:: qvel | |
| .. attribute:: sensordata | |
| .. attribute:: set_joint_qpos | |
| .. attribute:: set_joint_qvel | |
| .. attribute:: set_mocap_pos | |
| .. attribute:: set_mocap_quat | |
| .. attribute:: site_jacp | |
| .. attribute:: site_jacr | |
| .. attribute:: site_xmat | |
| .. attribute:: site_xpos | |
| .. attribute:: site_xvelp | |
| .. attribute:: site_xvelr | |
| .. attribute:: solver | |
| .. attribute:: solver_fwdinv | |
| .. attribute:: solver_iter | |
| .. attribute:: solver_nnz | |
| .. attribute:: subtree_angmom | |
| .. attribute:: subtree_com | |
| .. attribute:: subtree_linvel | |
| .. attribute:: ten_length | |
| .. attribute:: ten_moment | |
| .. attribute:: ten_velocity | |
| .. attribute:: ten_wrapadr | |
| .. attribute:: ten_wrapnum | |
| .. attribute:: time | |
| .. attribute:: timer | |
| .. attribute:: userdata | |
| .. attribute:: warning | |
| .. attribute:: wrap_obj | |
| .. attribute:: wrap_xpos | |
| .. attribute:: xanchor | |
| .. attribute:: xaxis | |
| .. attribute:: xfrc_applied | |
| .. attribute:: ximat | |
| .. attribute:: xipos | |
| .. raw:: html | |
| <p class="rubric">Methods</p> | |
| .. method:: get_body_jacp(name) | |
| Get the entry in ``jacp`` corresponding to the body with the given `name` | |
| .. method:: get_body_jacr(name) | |
| Get the entry in ``jacr`` corresponding to the body with the given `name` | |
| .. method:: get_body_ximat(name) | |
| Get the entry in ``ximat`` corresponding to the body with the given `name` | |
| .. method:: get_body_xipos(name) | |
| Get the entry in ``xipos`` corresponding to the body with the given `name` | |
| .. method:: get_body_xmat(name) | |
| Get the entry in ``xmat`` corresponding to the body with the given `name` | |
| .. method:: get_body_xpos(name) | |
| Get the entry in ``xpos`` corresponding to the body with the given `name` | |
| .. method:: get_body_xquat(name) | |
| Get the entry in ``xquat`` corresponding to the body with the given `name` | |
| .. method:: get_body_xvelp(name) | |
| Get the entry in ``xvelp`` corresponding to the body with the given `name` | |
| .. method:: get_body_xvelr(name) | |
| Get the entry in ``xvelr`` corresponding to the body with the given `name` | |
| .. method:: get_cam_xmat(name) | |
| Get the entry in ``xmat`` corresponding to the cam with the given `name` | |
| .. method:: get_cam_xpos(name) | |
| Get the entry in ``xpos`` corresponding to the cam with the given `name` | |
| .. method:: get_camera_xmat(name) | |
| Get the entry in ``xmat`` corresponding to the camera with the given `name` | |
| .. method:: get_camera_xpos(name) | |
| Get the entry in ``xpos`` corresponding to the camera with the given `name` | |
| .. method:: get_geom_jacp(name) | |
| Get the entry in ``jacp`` corresponding to the geom with the given `name` | |
| .. method:: get_geom_jacr(name) | |
| Get the entry in ``jacr`` corresponding to the geom with the given `name` | |
| .. method:: get_geom_xmat(name) | |
| Get the entry in ``xmat`` corresponding to the geom with the given `name` | |
| .. method:: get_geom_xpos(name) | |
| Get the entry in ``xpos`` corresponding to the geom with the given `name` | |
| .. method:: get_geom_xvelp(name) | |
| Get the entry in ``xvelp`` corresponding to the geom with the given `name` | |
| .. method:: get_geom_xvelr(name) | |
| Get the entry in ``xvelr`` corresponding to the geom with the given `name` | |
| .. method:: get_joint_qpos(name) | |
| Get the entry in ``qpos`` corresponding to the joint with the given `name` | |
| .. method:: get_joint_qvel(name) | |
| Get the entry in ``qvel`` corresponding to the joint with the given `name` | |
| .. method:: get_joint_xanchor(name) | |
| Get the entry in ``xanchor`` corresponding to the joint with the given `name` | |
| .. method:: get_joint_xaxis(name) | |
| Get the entry in ``xaxis`` corresponding to the joint with the given `name` | |
| .. method:: get_light_xdir(name) | |
| Get the entry in ``xdir`` corresponding to the light with the given `name` | |
| .. method:: get_light_xpos(name) | |
| Get the entry in ``xpos`` corresponding to the light with the given `name` | |
| .. method:: get_mocap_pos(name) | |
| Get the entry in ``pos`` corresponding to the mocap with the given `name` | |
| .. method:: get_mocap_quat(name) | |
| Get the entry in ``quat`` corresponding to the mocap with the given `name` | |
| .. method:: get_site_jacp(name) | |
| Get the entry in ``jacp`` corresponding to the site with the given `name` | |
| .. method:: get_site_jacr(name) | |
| Get the entry in ``jacr`` corresponding to the site with the given `name` | |
| .. method:: get_site_xmat(name) | |
| Get the entry in ``xmat`` corresponding to the site with the given `name` | |
| .. method:: get_site_xpos(name) | |
| Get the entry in ``xpos`` corresponding to the site with the given `name` | |
| .. method:: get_site_xvelp(name) | |
| Get the entry in ``xvelp`` corresponding to the site with the given `name` | |
| .. method:: get_site_xvelr(name) | |
| Get the entry in ``xvelr`` corresponding to the site with the given `name` | |
| .. raw:: html | |
| </dd></dl> | |
| MjViewer: 3D rendering | |
| ----------------------------- | |
| .. autoclass:: mujoco_py.MjViewerBasic | |
| :members: render | |
| .. autoclass:: mujoco_py.MjViewer | |
| :members: render | |