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import mediapy as media
import mujoco
import numpy as np
model_xml = """<mujoco model="kinematic_chain">
<worldbody>
<body name="body_0">
<!-- Geometries will be added here -->
</body>
</worldbody>
</mujoco>"""
# Load the model
spec = mujoco.MjSpec()
spec.from_string(model_xml)
body_name = "world"
model = spec.compile()
data = mujoco.MjData(model)
height, width = (480, 640)
duration = 10
framerate = 30
frames = []
mujoco.mj_resetData(model, data) # Reset state and time
with mujoco.Renderer(model, height, width) as renderer:
add_body_time = 2 # seconds
add_body = False
start = data.time
while data.time < duration:
mujoco.mj_step(model, data)
renderer.update_scene(data)
if data.time - start > add_body_time and not add_body:
print("Adding body...")
add_body = True
body = spec.find_body(body_name)
kcgeom00 = body.add_geom()
kcgeom00.type = mujoco.mjtGeom.mjGEOM_CAPSULE
kcgeom00.size = [0.05, 0.0, 0]
kcgeom00.fromto = [0, 0, 0, 0.5, 0, 0]
kcgeom00.name = "Kc_geom00"
kcgeom00.rgba = [0.1, 1, 0.1, 1]
kcgeom00.contype = 0 # to avoid collision
kcgeom00.conaffinity = 0 # to avoid collision
kcgeom01 = body.add_geom()
kcgeom01.type = mujoco.mjtGeom.mjGEOM_CAPSULE
kcgeom01.size = [0.05, 0.0, 0]
kcgeom01.fromto = [0.5, 0, 0, 0.5, 0.0, -0.5]
kcgeom01.name = "Kc_geom01"
kcgeom01.rgba = [0.1, 1, 0.1, 1]
kcgeom01.contype = 0 # to avoid collision
kcgeom01.conaffinity = 0 # to avoid collision
model, data = spec.recompile(model, data)
renderer.close()
renderer = mujoco.Renderer(model, height=height, width=width)
if len(frames) < data.time * framerate:
frame = renderer.render()
frames.append(frame)
# Display the video
media.show_video(frames, fps=framerate)Leave a Comment