How to use mujoco-py to run various .xml files of the model #2437
Replies: 6 comments
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Hi, I am a MuJoCo user, You should use the official Python bindings instead of mujoco-py You may download the introductory tutorial and run it offline (after some editing)/write your own Python file with its help: |
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Thank you for your reply! import time m = mujoco.MjModel.from_xml_path('/home/zl/Mujoco/mujoco327/mujoco327/model/flex/floppy.xml') with mujoco.viewer.launch_passive(m, d) as viewer: Close the viewer automatically after 30 wall-seconds.start = time.time()
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~/.mujoco/mujoco_327/bin$ ./simulate /home/zl/Mujoco/mujoco327/mujoco327/model/flex/floppy.xml Very good ! |
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<mujoco model="Floppy">
<include file="scene.xml"/>
<compiler autolimits="true"/>
<option solver="CG" tolerance="1e-6" timestep=".001"/>
<size memory="100M"/>
<visual>
<map stiffness="100"/>
</visual>
<worldbody>
<flexcomp type="grid" count="24 4 4" spacing=".1 .1 .1" pos=".1 0 1.5"
radius=".0" rgba="0 .7 .7 1" name="softbody" dim="3" mass="25">
<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
<elasticity young="5e4" damping="0.002" poisson="0.2"/>
</flexcomp>
<body>
<joint name="hinge" pos="0 0 .5" axis="0 1 0" damping="50"/>
<geom type="cylinder" size=".4" fromto="0 -.5 .5 0 .5 .5" density="300"/>
</body>
</worldbody>
<actuator>
<motor name="cylinder" joint="hinge" gear="1 0 0 0 0 0" ctrlrange="-100 100"/>
</actuator>
</mujoco>
Code: import time
import mujoco
import mujoco.viewer
m = mujoco.MjModel.from_xml_path('/home/zl/Mujoco/mujoco327/mujoco327/model/flex/floppy.xml')
d = mujoco.MjData(m)
with mujoco.viewer.launch_passive(m, d) as viewer:
start = time.time()
while viewer.is_running() and time.time() - start < 30:
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) |
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The above is the code I use, looking forward to anyone's reply, thank you！ |
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Your code seems to have some problems with it. Regardless, you can open an issue because the simulation is breaking for me (for flexible models) as well when I use the Python viewer Please
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Intro
Hi!
I am a graduate student at HIT, I use MuJoCo for my research on robot control.
My setup
mujoco 3.2.7 python ubuntu22.04
My question
I downloaded the latest version of mujoco3.2.7. I can use /bin/simulate to run various .xml files of the model, but I want to run these programs using python programs, but an error will be reported.
Minimal model and/or code that explain my question
import mujoco_py
from mujoco_py import load_model_from_path, MjSim
model = load_model_from_path("~/.mujoco/mujoco327/model/humanoid.xml")
sim = MjSim(model)
print("MuJoCo version:", sim.model.opt.timestep)
error:
You appear to be missing MuJoCo. We expected to find the file here: /home/zl/.mujoco/mujoco210
This package only provides python bindings, the library must be installed separately.
Please follow the instructions on the README to install MuJoCo
Confirmations
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