bb87928bce
Upstream: https://github.com/Rhoban/onshape-to-robot Upstream-Commit: 80e710700aac9573a2230f74f7ce9e094833a0bc Upstream-Branch: master
39 lines
1.2 KiB
Python
39 lines
1.2 KiB
Python
def main():
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import time
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import mujoco
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import argparse
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import mujoco.viewer
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parser = argparse.ArgumentParser(prog="onshape-to-robot-mujoco")
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parser.add_argument("--sim", action="store_true")
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parser.add_argument("--x", type=float, default=0)
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parser.add_argument("--y", type=float, default=0)
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parser.add_argument("--z", type=float, default=0.5)
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parser.add_argument("directory")
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args = parser.parse_args()
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robot_path = args.directory
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if not robot_path.endswith(".xml"):
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robot_path += "/scene.xml"
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model: mujoco.MjModel = mujoco.MjModel.from_xml_path(robot_path)
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data: mujoco.MjData = mujoco.MjData(model)
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# Check for root existence
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if len(model.jnt_type) and model.jnt_type[0] == mujoco.mjtJoint.mjJNT_FREE:
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data.qpos[:3] = [args.x, args.y, args.z]
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viewer = mujoco.viewer.launch_passive(model, data)
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while viewer.is_running():
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step_start = time.time()
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mujoco.mj_step(model, data)
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viewer.sync()
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time_until_next_step = model.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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