| | |
| | """ |
| | Example for how to modifying the MuJoCo qpos during execution. |
| | """ |
| |
|
| | import os |
| | from mujoco_py import load_model_from_xml, MjSim, MjViewer |
| |
|
| | MODEL_XML = """ |
| | <?xml version="1.0" ?> |
| | <mujoco> |
| | <worldbody> |
| | <body name="box" pos="0 0 0.2"> |
| | <geom size="0.15 0.15 0.15" type="box"/> |
| | <joint axis="1 0 0" name="box:x" type="slide"/> |
| | <joint axis="0 1 0" name="box:y" type="slide"/> |
| | </body> |
| | <body name="floor" pos="0 0 0.025"> |
| | <geom size="1.0 1.0 0.02" rgba="0 1 0 1" type="box"/> |
| | </body> |
| | </worldbody> |
| | </mujoco> |
| | """ |
| |
|
| |
|
| | def print_box_xpos(sim): |
| | print("box xpos:", sim.data.get_body_xpos("box")) |
| |
|
| |
|
| | model = load_model_from_xml(MODEL_XML) |
| | sim = MjSim(model) |
| | viewer = MjViewer(sim) |
| |
|
| | states = [{'box:x': +0.8, 'box:y': +0.8}, |
| | {'box:x': -0.8, 'box:y': +0.8}, |
| | {'box:x': -0.8, 'box:y': -0.8}, |
| | {'box:x': +0.8, 'box:y': -0.8}, |
| | {'box:x': +0.0, 'box:y': +0.0}] |
| |
|
| | |
| | |
| | x_joint_i = sim.model.get_joint_qpos_addr("box:x") |
| | y_joint_i = sim.model.get_joint_qpos_addr("box:y") |
| |
|
| | print_box_xpos(sim) |
| |
|
| | while True: |
| | for state in states: |
| | sim_state = sim.get_state() |
| | sim_state.qpos[x_joint_i] = state["box:x"] |
| | sim_state.qpos[y_joint_i] = state["box:y"] |
| | sim.set_state(sim_state) |
| | sim.forward() |
| | print("updated state to", state) |
| | print_box_xpos(sim) |
| | viewer.render() |
| |
|
| | if os.getenv('TESTING') is not None: |
| | break |
| |
|
