pythonUtils

pythonUtils.visualize(time: ndarray, qpos: ndarray, modelFileOrScene: str | MJScene, speedUp: float = 1, track: str = '', files: List[str] = [])[source]

Calls a tool to visualize the movement of multi-body systems simulated through MJScene.

To be able to use this function, one must have built Basilisk with the flag: ‘–mujocoReplay True’.

The arguments time and qpos are typically the product of an MJScene state recorder:

scene: MJScene = ...
stateRecorder = scene.stateOutMsg.recorder()
scSim.AddModelToTask("myTask", stateRecorder)

# Run simulation

mujoco.visualize(
    stateRecorder.times(),
    np.squeeze(stateRecorder.qpos),
    scene,
    ...
)
Parameters:

  • time (np.ndarray) – A one-dimensional array with the times at which the scene positions are recorded (in seconds)

  • qpos (np.ndarray) – A two-dimensional array with the position of the multi-body in general coordinates. The length of the first dimension must match the length of the time argument.

  • modelFileOrScene (Union[str, MJScene]) – Path to a file describing the MuJoCo model (can be XML or compiled .mjb). Alternatively, this can be an MJScene object, from which a model file will generated.

  • speedUp (float, optional) – Factor with which to speed up simulation replay. =1 is real time, =2 is double speed, =0.2 is five times slower, etc.. Defaults to 1.

  • track (str, optional) – Name of the body to track during visualization, by default, the first free body in the simulation. If ‘none’, camera is moved freely by the user. Defaults to “”.

  • files (List[str], optional) – Paths to extra files to expose to MuJoCo, for example to load meshes. Defaults to [].