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mujoco_basic_simulation_loop_with_passive_viewer.py

python

A basic script that loads the MuJoCo engine, loads a sample model, and performs a

15d ago40 linesmujoco.readthedocs.io
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mujoco_basic_simulation_loop_with_passive_viewer.py
1import mujoco
2import mujoco.viewer
3import time
4
5# Load a model from a string or file
6# Here we use a basic model of a sphere on a plane
7model_xml = """
8<mujoco>
9  <worldbody>
10    <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
11    <geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
12    <body name="sphere" pos="0 0 1">
13      <joint type="free"/>
14      <geom type="sphere" size=".1" rgba="0 0 .9 1"/>
15    </body>
16  </worldbody>
17</mujoco>
18"""
19
20# Load the model and create a data object
21model = mujoco.MjModel.from_xml_string(model_xml)
22data = mujoco.MjData(model)
23
24# Launch the interactive viewer
25with mujoco.viewer.launch_passive(model, data) as viewer:
26    # Close the viewer automatically after 30 seconds
27    start = time.time()
28    while viewer.is_running() and time.time() - start < 30:
29        step_start = time.time()
30
31        # mj_step can be replaced with user-defined control logic
32        mujoco.mj_step(model, data)
33
34        # Pick up changes to the physics state, apply perturbations, update options from GUI
35        viewer.sync()
36
37        # Rudimentary time keeping to keep simulation real-time
38        time_until_next_step = model.opt.timestep - (time.time() - step_start)
39        if time_until_next_step > 0:
40            time.sleep(time_until_next_step)