3.2.4 #2146

erikfrey · 2024-10-16T19:48:24Z

erikfrey
Oct 16, 2024
Maintainer

See the changelog.

This discussion was created from the release 3.2.4.

jc-cr · 2024-10-16T20:35:17Z

jc-cr
Oct 16, 2024

cool

0 replies

rohanpsingh · 2024-10-17T04:42:23Z

rohanpsingh
Oct 17, 2024

There appears to be something broken with python bindings. Is this only me?

Minimal example that works with 3.2.3 but not with 3.2.4:

import time

import mujoco
import mujoco.viewer

MODEL_XML = """
<?xml version="1.0" ?>
<mujoco>
    <option timestep="0.001" />

    <asset>
        <texture name="texplane" type="2d" builtin="checker" width="512" height="512" />  
        <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
    </asset>

    <worldbody>
        <geom name="floor" pos="0 0 0" size="0 0 .25" type="plane" material="matplane" condim="3"/>
        <body name="ball" pos="0 0 1">
            <freejoint name="root"/>
            <geom mass="1" pos="0 0 0" rgba="1 0 0 1" size="0.15" type="sphere"/>
        </body>
    </worldbody>
</mujoco>
"""

def main():

    spec = mujoco.MjSpec()
    spec.from_string(MODEL_XML)
    model = spec.compile()
    data = mujoco.MjData(model)

    print("Number of bodies in scene: {}".format(model.nbody))
    for i in range(model.nbody):
        print("Body ({}) name: {}".format(i, model.body(i).name))


    with mujoco.viewer.launch_passive(model, data) as viewer:

        while viewer.is_running():
            step_start = time.time()
            mujoco.mj_step(model, data)
            viewer.sync()

            time_until_next_step = model.opt.timestep - (time.time() - step_start)
            if time_until_next_step > 0:
                time.sleep(time_until_next_step)

main()

0 replies

quagla · 2024-10-17T10:37:29Z

quagla
Oct 17, 2024
Collaborator

Please replace

spec = mujoco.MjSpec()
spec.from_string(MODEL_XML)

with

spec = mujoco.MjSpec.from_string(MODEL_XML)

Aplogies for this change of API.

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3.2.4 #2146

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3.2.4 #2146

erikfrey Oct 16, 2024 Maintainer

Replies: 3 comments

jc-cr Oct 16, 2024

rohanpsingh Oct 17, 2024

quagla Oct 17, 2024 Collaborator

erikfrey
Oct 16, 2024
Maintainer

jc-cr
Oct 16, 2024

rohanpsingh
Oct 17, 2024

quagla
Oct 17, 2024
Collaborator