MuJoCo

Ver. 1.2.8 (2024-04-10)

This module wraps bf.Systems with MuJoCo Simulation functionality.

class mlpro.wrappers.mujoco.CallbacksViewer

Bases: object

All callbacks function for the viewer

_key_callback(window, key, scancode, action, mods)

_scroll_callback(window, x_offset, y_offset)

_cursor_pos_callback(window, xpos, ypos)

_mouse_button_callback(window, button, act, mods)

class mlpro.wrappers.mujoco.BaseViewer(model, data, width, height)

Bases: object

_init_camera(xyz_pos=None, elevation=None, distance=None)

add_overlay(gridpos: int, text1: str, text2: str)

_set_mujoco_buffer()

_make_context_current()

close()

class mlpro.wrappers.mujoco.OffRenderViewer(model, data, xyz_pos=None, elevation=None, distance=None)

Bases: BaseViewer

_set_mujoco_buffer()

_make_context_current()

_get_opengl_backend(width: int, height: int)

render()

close()

free()

class mlpro.wrappers.mujoco.RenderViewer(model, data, xyz_pos=None, elevation=None, distance=None)

Bases: BaseViewer, CallbacksViewer

_create_overlays(): Should be user customizeable

_set_mujoco_buffer()

_make_context_current()

render()

close()

free()

class mlpro.wrappers.mujoco.MujocoHandler(p_mujoco_file, p_frame_skip, p_state_mapping=None, p_action_mapping=None, p_camera_conf=(None, None, None), p_visualize=False, p_logging=True)

Bases: Wrapper

Module provides the functionality of MuJoCo.

Parameters:

p_mujoco_file (str) – String path points the MuJoCo file.
p_frame_skip (int) – Frame skips for each simulation step.
p_state_mapping (list) – State mapping for customized state. Defaults to None.
p_action_mapping (list) – Action mapping for customized action. Defaults to None.
p_camera_conf (tuple) – Camera configuration (xyz position, elevation, distance). Defaults to (None, None, None).
p_visualize (bool) – Visualize the MuJoCo Simulation. Defaults to False.
p_logging (bool) – Logging. Defaults to Log.C_LOG_ALL.

C_NAME = 'MuJoCo'

C_TYPE = 'Wrapper MuJoCo -> MLPro'

C_WRAPPED_PACKAGE = 'mujoco'

C_MINIMUM_VERSION = '2.3.1'

setup_spaces()

Setup state and action spaces.

Returns:: State Space and Action Space
Return type:: ESpace, ESpace

get_init_qpos_space(): Get Initial State Space

get_init_qvel_space(): Get Initial State Space

_get_state_space()

Generate the state space based on MJCF file.

Returns:: State Space
Return type:: ESpace

_get_action_space()

Generate the action space based on MJCF file.

Returns:: Action Space
Return type:: ESpace

_get_obs()

Get the current observation of MuJoCo Simulation.

Returns:: List of state values.
Return type:: list

_reset_model(reset_state=None)

Reset the model simulation. If resete_state is None, then the default state from MuJoCo will be taken for the intial value. Otherwise, a customized state can be defined in _reset() function.

Parameters:: reset_state (list) – qpos data and qvel data. Defaults to None.
Returns:: List of state values
Return type:: list

_set_state(*args): Set the current state of MuJoCo Simulation.

_initialize_simulation(): Initialize Simulation.

_setup_camera(camera_name)

Setup MuJoCo Camera Object.

Parameters:: camera_name (str) – Camera name in MJCF file.
Returns:: MuJoCo Camera Object.
Return type:: mujoco.MjvCamera

_get_camera_data(cam)

Get camera data from MuJoCo camera.

Parameters:: cam (mujoco.MjvCamera) – MuJoCo Camera Object.
Returns:: RGB Image or Depth Image.
Return type:: ndarray

_get_viewer()

Get the MuJoCo viewer.

Returns:: MuJoCo Viewer
Return type:: BaseViewer

_reset_simulation(reset_state=None)

Reset the simulation. If resete_state is None, then the default state from MuJoCo will be taken for the intial value. Otherwise, a customized state can be defined in _reset() function.

Parameters:: reset_state (list) – qpos data and qvel data. Defaults to None.
Returns:: List of state values
Return type:: list

_step_simulation(p_action: Action)

Pass the action to the simulation.

Parameters:: p_action (Action) – Action

render(): Render the MuJoCo Viewer.

get_latency()

Get latency from MJCF file.

Returns:: None or Timestep
Return type:: float

_close(): Close MuJoCo Viewer

Cross References