| | |
| | """ |
| | Shows how to access internal functions from MuJoCo. |
| | """ |
| | from mujoco_py import load_model_from_xml, MjSim, functions |
| | import numpy as np |
| |
|
| | MODEL_XML = """ |
| | <?xml version="1.0" ?> |
| | <mujoco> |
| | <option timestep="0.005" /> |
| | <worldbody> |
| | <body name="robot" pos="0 0 1.2"> |
| | <joint axis="1 0 0" damping="0.1" name="robot:slide0" pos="0 0 0" type="slide"/> |
| | <geom mass="1.0" pos="0 0 0" rgba="1 0 0 1" size="0.15" type="sphere"/> |
| | </body> |
| | </worldbody> |
| | </mujoco> |
| | """ |
| |
|
| | model = load_model_from_xml(MODEL_XML) |
| | sim = MjSim(model) |
| |
|
| | print("Nicely exposed function:\n") |
| | print(sim.model.get_xml()) |
| |
|
| | print("\nversus MuJoCo internals:\n\n") |
| |
|
| | functions.mj_saveLastXML("/tmp/saved.xml", model, "", 0) |
| | with open("/tmp/saved.xml", "r") as f: |
| | print(f.read()) |
| |
|
| | sim.render(100, 100) |
| |
|
| | modelpos = np.zeros(3) |
| | modelquat = np.zeros(4) |
| | roompos = np.ones(3) |
| | roomquat = np.array([1., 0., 1., 0.]) |
| |
|
| | functions.mjv_room2model(modelpos, modelquat, roompos, |
| | roomquat, sim.render_contexts[0].scn) |
| |
|
| | print("\n\nAnother internal function, mjv_room2model:") |
| | print("modelpos = %s, modelquat = %s" % (str(modelpos), str(modelquat))) |
| |
|
| |
|
| | res = np.zeros(9) |
| | functions.mju_quat2Mat(res, roomquat) |
| | print("\n\nAnother internal function, mju_quat2Mat:\n%s" % res) |
| |
|
