42 lines
1.4 KiB
Python
42 lines
1.4 KiB
Python
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import time
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from pathlib import Path
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import mujoco
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import mujoco.viewer
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def main():
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_PROJECT_ROOT: Path = Path(__file__).parent.parent
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_MENAGERIE_ROOT: Path = _PROJECT_ROOT / "third_party" / "mujoco_menagerie"
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xml = _MENAGERIE_ROOT / "franka_emika_panda" / "panda.xml"
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# xml = _MENAGERIE_ROOT / "universal_robots_ur5e" / "ur5e.xml"
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m = mujoco.MjModel.from_xml_path(xml.as_posix())
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d = mujoco.MjData(m)
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with mujoco.viewer.launch_passive(m, d) as viewer:
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# Close the viewer automatically after 30 wall-seconds.
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while viewer.is_running():
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step_start = time.time()
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# mj_step can be replaced with code that also evaluates
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# a policy and applies a control signal before stepping the physics.
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mujoco.mj_step(m, d)
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# Example modification of a viewer option: toggle contact points every two seconds.
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with viewer.lock():
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viewer.opt.flags[mujoco.mjtVisFlag.mjVIS_CONTACTPOINT] = int(d.time % 2)
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# Pick up changes to the physics state, apply perturbations, update options from GUI.
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viewer.sync()
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# Rudimentary time keeping, will drift relative to wall clock.
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time_until_next_step = m.opt.timestep - (time.time() - step_start)
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if time_until_next_step > 0:
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time.sleep(time_until_next_step)
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if __name__ == "__main__":
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main()
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