Public Member Functions
SceneSpec	spec (self)
mujoco.MjModel	model (self)
mujoco.MjData	data (self)
None	close (self)
Env	__enter__ (self)
None	__exit__ (self, *object args)
Robot	create_robot (self, str base_body, str tip_body, str prefix="", Optional[ToolFrameSpec] tool=None)
Robot	create_robot_from_chain (self, kdl.Chain chain, Sequence[str] joint_names, str prefix="", Optional[ToolFrameSpec] tool=None)
bool	step (self)
None	update (self)
None	pace (self)
None	open_viewer (self, str title="MuJoCo")
Viewer	viewer (self)
ResetInfo	reset (self, Optional[ResetOptions] options=None)
None	add_object (self, SceneObject object)
None	set_control_mode (self, int robot, CtrlMode mode)
None	remove_object (self, str name)
kdl.Frame	body_frame (self, str name)
kdl.Frame	site_frame (self, str name)
None	set_body_pose (self, str name, Sequence[float] pos, Optional[Sequence[float]] quat=None)
None	save_model_xml (self, str path)

Static Public Member Functions
Env	build (SceneSpec spec)

Static Public Attributes
Optional	on_reset [Callable[[ResetContext], None]]

Detailed Description

The simulation: compiled scene, its robots and viewer. The loop is step(), then
update() (read every robot, apply its commands), then pace().

Definition at line 321 of file _mj_kdl_wrapper.pyi.

Member Function Documentation

◆ enter()

Env mj_kdl_wrapper._mj_kdl_wrapper.Env.__enter__ ( self )

Definition at line 342 of file _mj_kdl_wrapper.pyi.

◆ exit()

None mj_kdl_wrapper._mj_kdl_wrapper.Env.__exit__	(		self,
		*object	args )

Definition at line 343 of file _mj_kdl_wrapper.pyi.

◆ add_object()

None mj_kdl_wrapper._mj_kdl_wrapper.Env.add_object	(		self,
		SceneObject	object )

Rebuild with an added object; robots and the viewer follow the new model.

Definition at line 372 of file _mj_kdl_wrapper.pyi.

◆ body_frame()

kdl.Frame mj_kdl_wrapper._mj_kdl_wrapper.Env.body_frame	(		self,
		str	name )

Definition at line 379 of file _mj_kdl_wrapper.pyi.

◆ build()

Env mj_kdl_wrapper._mj_kdl_wrapper.Env.build ( SceneSpec spec )

static

Definition at line 339 of file _mj_kdl_wrapper.pyi.

◆ close()

None mj_kdl_wrapper._mj_kdl_wrapper.Env.close ( self )

Close the viewer and free the model; robots become closed.

Definition at line 340 of file _mj_kdl_wrapper.pyi.

◆ create_robot()

Robot mj_kdl_wrapper._mj_kdl_wrapper.Env.create_robot	(		self,
		str	base_body,
		str	tip_body,
		str	prefix = "",
		Optional[ToolFrameSpec]	tool = None )

Definition at line 344 of file _mj_kdl_wrapper.pyi.

◆ create_robot_from_chain()

Robot mj_kdl_wrapper._mj_kdl_wrapper.Env.create_robot_from_chain	(		self,
		kdl.Chain	chain,
		Sequence[str]	joint_names,
		str	prefix = "",
		Optional[ToolFrameSpec]	tool = None )

Register a robot driven by chain; joint_names are the MuJoCo joints in chain order.

Definition at line 351 of file _mj_kdl_wrapper.pyi.

◆ data()

mujoco.MjData mj_kdl_wrapper._mj_kdl_wrapper.Env.data ( self )

The live mujoco.MjData; a new object after add_object()/remove_object(). The viewer
thread reads it too: call mujoco functions on it only while the viewer is closed or
paused.

Definition at line 334 of file _mj_kdl_wrapper.pyi.

◆ model()

mujoco.MjModel mj_kdl_wrapper._mj_kdl_wrapper.Env.model ( self )

The live mujoco.MjModel; a new object after add_object()/remove_object().

Definition at line 331 of file _mj_kdl_wrapper.pyi.

◆ open_viewer()

None mj_kdl_wrapper._mj_kdl_wrapper.Env.open_viewer	(		self,
		str	title = "MuJoCo" )

Open the simulate UI; step() drives it, close() closes it.

Definition at line 365 of file _mj_kdl_wrapper.pyi.

◆ pace()

None mj_kdl_wrapper._mj_kdl_wrapper.Env.pace ( self )

Sleep out this step's share of wall time; no-op headless. step() never sleeps.

Definition at line 363 of file _mj_kdl_wrapper.pyi.

◆ remove_object()

None mj_kdl_wrapper._mj_kdl_wrapper.Env.remove_object	(		self,
		str	name )

Rebuild without the named object; robots and the viewer follow the new model.

Definition at line 377 of file _mj_kdl_wrapper.pyi.

◆ reset()

ResetInfo mj_kdl_wrapper._mj_kdl_wrapper.Env.reset	(		self,
		Optional[ResetOptions]	options = None )

Reset MuJoCo state, re-seed every robot, then call on_reset; what it moves is read
back.

Definition at line 369 of file _mj_kdl_wrapper.pyi.

◆ save_model_xml()

None mj_kdl_wrapper._mj_kdl_wrapper.Env.save_model_xml	(		self,
		str	path )

Definition at line 388 of file _mj_kdl_wrapper.pyi.

◆ set_body_pose()

None mj_kdl_wrapper._mj_kdl_wrapper.Env.set_body_pose	(		self,
		str	name,
		Sequence[float]	pos,
		Optional[Sequence[float]]	quat = None )

Set a free body pose. quat is xyzw when provided.

Definition at line 381 of file _mj_kdl_wrapper.pyi.

◆ set_control_mode()

None mj_kdl_wrapper._mj_kdl_wrapper.Env.set_control_mode	(		self,
		int	robot,
		CtrlMode	mode )

Switch robot (its SceneSpec.robots index) to mode, for robots driven without a
Robot.

Definition at line 374 of file _mj_kdl_wrapper.pyi.

◆ site_frame()

kdl.Frame mj_kdl_wrapper._mj_kdl_wrapper.Env.site_frame	(		self,
		str	name )

Definition at line 380 of file _mj_kdl_wrapper.pyi.

◆ spec()

SceneSpec mj_kdl_wrapper._mj_kdl_wrapper.Env.spec ( self )

A copy of the SceneSpec the Env runs, with objects added or removed since build().

Definition at line 328 of file _mj_kdl_wrapper.pyi.

◆ step()

bool mj_kdl_wrapper._mj_kdl_wrapper.Env.step ( self )

Advance one timestep; False once the viewer window is closed.

Definition at line 359 of file _mj_kdl_wrapper.pyi.

◆ update()

None mj_kdl_wrapper._mj_kdl_wrapper.Env.update ( self )

Read every robot, then apply its commands.

Definition at line 361 of file _mj_kdl_wrapper.pyi.

◆ viewer()

Viewer mj_kdl_wrapper._mj_kdl_wrapper.Env.viewer ( self )

Definition at line 368 of file _mj_kdl_wrapper.pyi.

Member Data Documentation

◆ on_reset

Optional mj_kdl_wrapper._mj_kdl_wrapper.Env.on_reset [Callable[[ResetContext], None]]