File size: 1,565 Bytes
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 51 52 53 54 55 56 57 58 59 60 | #!/usr/bin/env python3
"""
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}]
# MjModel.joint_name2id returns the index of a joint in
# MjData.qpos.
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
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