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Merge pull request #83 from diegoferigo/feature/mujoco_passive_viewer
Add `jaxsim.mujoco` package with resources to render a scene using the Mujoco viewer
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from .loaders import RodModelToMjcf, SdfToMjcf, UrdfToMjcf | ||
from .model import MujocoModelHelper | ||
from .visualizer import MujocoVisualizer |
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import argparse | ||
import pathlib | ||
import sys | ||
import time | ||
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import numpy as np | ||
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from . import MujocoModelHelper, MujocoVisualizer, SdfToMjcf, UrdfToMjcf | ||
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if __name__ == "__main__": | ||
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parser = argparse.ArgumentParser( | ||
prog="jaxsim.mujoco", | ||
description="Process URDF and SDF files for Mujoco usage.", | ||
) | ||
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parser.add_argument( | ||
"-d", | ||
"--description", | ||
required=True, | ||
metavar="INPUT_FILE", | ||
type=pathlib.Path, | ||
help="Path to the URDF or SDF file.", | ||
) | ||
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parser.add_argument( | ||
"-m", | ||
"--model-name", | ||
metavar="NAME", | ||
type=str, | ||
default=None, | ||
help="The target model of a SDF description if multiple models exists.", | ||
) | ||
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parser.add_argument( | ||
"-e", | ||
"--export", | ||
metavar="MJCF_FILE", | ||
type=pathlib.Path, | ||
default=None, | ||
help="Path to the exported MJCF file.", | ||
) | ||
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parser.add_argument( | ||
"-f", | ||
"--force", | ||
action="store_true", | ||
default=False, | ||
help="Override the output MJCF file if it already exists (default: %(default)s).", | ||
) | ||
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parser.add_argument( | ||
"-p", | ||
"--print", | ||
action="store_true", | ||
default=False, | ||
help="Print in the stdout the exported MJCF string (default: %(default)s).", | ||
) | ||
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parser.add_argument( | ||
"-v", | ||
"--visualize", | ||
action="store_true", | ||
default=False, | ||
help="Visualize the description in the Mujoco viewer (default: %(default)s).", | ||
) | ||
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parser.add_argument( | ||
"-b", | ||
"--base-position", | ||
metavar=("x", "y", "z"), | ||
nargs=3, | ||
type=float, | ||
default=None, | ||
help="Override the base position (supports only floating-base models).", | ||
) | ||
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parser.add_argument( | ||
"-q", | ||
"--base-quaternion", | ||
metavar=("w", "x", "y", "z"), | ||
nargs=4, | ||
type=float, | ||
default=None, | ||
help="Override the base quaternion (supports only floating-base models).", | ||
) | ||
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args = parser.parse_args() | ||
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# ================== | ||
# Validate arguments | ||
# ================== | ||
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# Expand the path of the URDF/SDF file if not absolute. | ||
if args.description is not None: | ||
args.description = ( | ||
( | ||
args.description | ||
if args.description.is_absolute() | ||
else pathlib.Path.cwd() / args.description | ||
) | ||
.expanduser() | ||
.absolute() | ||
) | ||
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if not pathlib.Path(args.description).is_file(): | ||
msg = f"The URDF/SDF file '{args.description}' does not exist." | ||
parser.error(msg) | ||
sys.exit(1) | ||
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# Expand the path of the output MJCF file if not absolute. | ||
if args.export is not None: | ||
args.export = ( | ||
( | ||
args.export | ||
if args.export.is_absolute() | ||
else pathlib.Path.cwd() / args.export | ||
) | ||
.expanduser() | ||
.absolute() | ||
) | ||
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if pathlib.Path(args.export).is_file() and not args.force: | ||
msg = "The output file '{}' already exists, use '--force' to override." | ||
parser.error(msg.format(args.export)) | ||
sys.exit(1) | ||
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# ================================================ | ||
# Load the URDF/SDF file and produce a MJCF string | ||
# ================================================ | ||
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match args.description.suffix.lower()[1:]: | ||
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case "urdf": | ||
mjcf_string, assets = UrdfToMjcf().convert(urdf=args.description) | ||
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case "sdf": | ||
mjcf_string, assets = SdfToMjcf().convert( | ||
sdf=args.description, model_name=args.model_name | ||
) | ||
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case _: | ||
msg = f"The file extension '{args.description.suffix}' is not supported." | ||
parser.error(msg) | ||
sys.exit(1) | ||
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if args.print: | ||
print(mjcf_string, flush=True) | ||
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# ======================================== | ||
# Write the MJCF string to the output file | ||
# ======================================== | ||
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if args.export is not None: | ||
with open(args.export, "w+", encoding="utf-8") as file: | ||
file.write(mjcf_string) | ||
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# ======================================= | ||
# Visualize the MJCF in the Mujoco viewer | ||
# ======================================= | ||
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if args.visualize: | ||
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mj_model_helper = MujocoModelHelper.build_from_xml( | ||
mjcf_description=mjcf_string, assets=assets | ||
) | ||
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viz = MujocoVisualizer(model=mj_model_helper.model, data=mj_model_helper.data) | ||
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with viz.open() as viewer: | ||
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with viewer.lock(): | ||
if args.base_position is not None: | ||
mj_model_helper.set_base_position( | ||
position=np.array(args.base_position) | ||
) | ||
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if args.base_quaternion is not None: | ||
mj_model_helper.set_base_orientation( | ||
orientation=np.array(args.base_quaternion) | ||
) | ||
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viz.sync(viewer=viewer) | ||
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while viewer.is_running(): | ||
time.sleep(0.500) | ||
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# ============================= | ||
# Exit the program with success | ||
# ============================= | ||
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sys.exit(0) |
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