initial commit, add gello software code and instructions

scripts/visualize_example.py

@@ -0,0 +1,41 @@
+import time
+from pathlib import Path
+
+import mujoco
+import mujoco.viewer
+
+
+def main():
+    _PROJECT_ROOT: Path = Path(__file__).parent.parent
+    _MENAGERIE_ROOT: Path = _PROJECT_ROOT / "third_party" / "mujoco_menagerie"
+    xml = _MENAGERIE_ROOT / "franka_emika_panda" / "panda.xml"
+
+    # xml = _MENAGERIE_ROOT / "universal_robots_ur5e" / "ur5e.xml"
+
+    m = mujoco.MjModel.from_xml_path(xml.as_posix())
+    d = mujoco.MjData(m)
+
+    with mujoco.viewer.launch_passive(m, d) as viewer:
+        # Close the viewer automatically after 30 wall-seconds.
+        while viewer.is_running():
+            step_start = time.time()
+
+            # mj_step can be replaced with code that also evaluates
+            # a policy and applies a control signal before stepping the physics.
+            mujoco.mj_step(m, d)
+
+            # Example modification of a viewer option: toggle contact points every two seconds.
+            with viewer.lock():
+                viewer.opt.flags[mujoco.mjtVisFlag.mjVIS_CONTACTPOINT] = int(d.time % 2)
+
+            # Pick up changes to the physics state, apply perturbations, update options from GUI.
+            viewer.sync()
+
+            # Rudimentary time keeping, will drift relative to wall clock.
+            time_until_next_step = m.opt.timestep - (time.time() - step_start)
+            if time_until_next_step > 0:
+                time.sleep(time_until_next_step)
+
+
+if __name__ == "__main__":
+    main()