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1603fe5 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 | #!/usr/bin/env python3
"""
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)
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