| |
| """ |
| Example of how bodies interact with each other. For a body to be able to |
| move it needs to have joints. In this example, the "robot" is a red ball |
| with X and Y slide joints (and a Z slide joint that isn't controlled). |
| On the floor, there's a cylinder with X and Y slide joints, so it can |
| be pushed around with the robot. There's also a box without joints. Since |
| the box doesn't have joints, it's fixed and can't be pushed around. |
| """ |
| from mujoco_py import load_model_from_xml, MjSim, MjViewer |
| import math |
| import os |
|
|
| 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="slide0" pos="0 0 0" type="slide"/> |
| <joint axis="0 1 0" damping="0.1" name="slide1" pos="0 0 0" type="slide"/> |
| <joint axis="0 0 1" damping="1" name="slide2" pos="0 0 0" type="slide"/> |
| <geom mass="1.0" pos="0 0 0" rgba="1 0 0 1" size="0.15" type="sphere"/> |
| <camera euler="0 0 0" fovy="40" name="rgb" pos="0 0 2.5"></camera> |
| </body> |
| <body mocap="true" name="mocap" pos="0.5 0.5 0.5"> |
| <geom conaffinity="0" contype="0" pos="0 0 0" rgba="1.0 1.0 1.0 0.5" size="0.1 0.1 0.1" type="box"></geom> |
| <geom conaffinity="0" contype="0" pos="0 0 0" rgba="1.0 1.0 1.0 0.5" size="0.2 0.2 0.05" type="box"></geom> |
| </body> |
| <body name="cylinder" pos="0.1 0.1 0.2"> |
| <geom mass="1" size="0.15 0.15" type="cylinder"/> |
| <joint axis="1 0 0" name="cylinder:slidex" type="slide"/> |
| <joint axis="0 1 0" name="cylinder:slidey" type="slide"/> |
| </body> |
| <body name="box" pos="-0.8 0 0.2"> |
| <geom mass="0.1" size="0.15 0.15 0.15" type="box"/> |
| </body> |
| <body name="floor" pos="0 0 0.025"> |
| <geom condim="3" size="1.0 1.0 0.02" rgba="0 1 0 1" type="box"/> |
| </body> |
| </worldbody> |
| <actuator> |
| <motor gear="2000.0" joint="slide0"/> |
| <motor gear="2000.0" joint="slide1"/> |
| </actuator> |
| </mujoco> |
| """ |
|
|
| model = load_model_from_xml(MODEL_XML) |
| sim = MjSim(model) |
| viewer = MjViewer(sim) |
| t = 0 |
| while True: |
| sim.data.ctrl[0] = math.cos(t / 10.) * 0.01 |
| sim.data.ctrl[1] = math.sin(t / 10.) * 0.01 |
| t += 1 |
| sim.step() |
| viewer.render() |
| if t > 100 and os.getenv('TESTING') is not None: |
| break |
|
|
