MuJoCo plugin API reference

API functions that mainly serve to inject MuJoCo XML code

simMujoco.addFlexcomp
simMujoco.composite
simMujoco.getCompositeInfo
simMujoco.getFlexcompInfo
simMujoco.getInfo
simMujoco.addInjection
simMujoco.removeInjection

simMujoco.addFlexcomp

Description	Adds or injects a flexcomp to the MuJoCo world
Lua synopsis	int injectionId=simMujoco.addFlexcomp(map info)
Lua arguments	info: an information field that contains: element: the name of the XML element where the flexcomp XML code should be injected. Can be empty if shapeHandle is not empty shapeHandle: the handle of the shape where the flexcomp XML code should be injected. Can be empty if element is not empty name: the flexcomp name element. Make sure the name is unique, and possibly derived from the related shape type: the flexcomp type element. Only grid is currently supported count: the flexcomp count element spacing: the flexcomp spacing element radius: the flexcomp radius element mass: the flexcomp mass element pose: the flexcomp pose element pin: the flexcomp pin element (array of indices) extraFlexcompXml: additional xml code to be added to the flexcomp element (as attribute) extraXml: additional xml code to be added as a flexcomp element node callback: a callback function that is called when the MuJoCo world gets regenerated. This allows to adjust the flexcomp on-the-fly
Lua return values	injectionId: the id of the injection
Python synopsis	int injectionId=simMujoco.addFlexcomp(dict info)

simMujoco.composite

Description	Adds or injects a composite to the MuJoCo world
Lua synopsis	int injectionId=simMujoco.composite(string xml,map info)
Lua arguments	xml: the xml code corresponding to a composite object info: additional information about the composite: element: the name of the XML element where the composite XML code should be injected. Can be empty if shapeHandle is not empty shapeHandle: the handle of the shape where the composite XML code should be injected. Can be empty if element is not empty prefix: the composite prefix string. Make sure the prefix is unique, and possibly derived from the related shape type: the composite type. In newest Mujoco version only grid, and cable are supported types count: the size of the composite respondableMask: the composite respondable mask grow: the amount the composite nodes should grow for visuals callback: a callback function that is called when the MuJoCo world gets regenerated. This allows to adjust the composite code on-the-fly
Lua return values	injectionId: the id of the injection
Python synopsis	int injectionId=simMujoco.composite(string xml,dict info)

simMujoco.getCompositeInfo

Description	Retrieves data about a composite
Lua synopsis	map info=simMujoco.getCompositeInfo(int injectionId,int what)
Lua arguments	injectionId: the injection ID returned by simMujoco.composite what: the type of requested data: 0: the positions of the composite nodes 1: the poses of the composite nodes 2: the triangles to render the composite 3: the grown triangles to render the composite
Lua return values	info: the requested data
Python synopsis	dict info=simMujoco.getCompositeInfo(int injectionId,int what)

simMujoco.getFlexcompInfo

Description	Retrieves data about a flexcomp
Lua synopsis	map info=simMujoco.getFlexcompInfo(int injectionId,int what)
Lua arguments	injectionId: the injection ID returned by simMujoco.addFlexcomp what: the type of requested data: 0: the positions of the flexcomp nodes 1: the triangles to render the flexcomp
Lua return values	info: the requested data
Python synopsis	dict info=simMujoco.getCompositeInfo(int injectionId,int what)

simMujoco.getInfo

Description	Retrieves general information
Lua synopsis	string info=simMujoco.getInfo(string what)
Lua arguments	what: the information type. Currently only 'nameAndIds' and 'bodies' is supported
Lua return values	info: the requested information
Python synopsis	string info=simMujoco.getInfo(string what)

simMujoco.addInjection

Description	Adds or injects XML code into a MuJoCo world
Lua synopsis	int injectionId=simMujoco.addInjection(map info)
Lua arguments	info: information field containing: shapeHandle: the handle of the shape where the XML code should be injected. Can be empty if element is not empty element: the name of the XML element where the XML code should be injected. Can be empty if shapeHandle is not empty xml: the XML code to inject callback: a callback function that is called when the MuJoCo world gets regenerated. This allows to adjust the xml code on-the-fly, if needed
Lua return values	injectionId: the id of the injection
Python synopsis	int injectionId=simMujoco.addInjection(dict info)

simMujoco.removeInjection

Description	Removes XML code from the MuJoCo world
Lua synopsis	simMujoco.removeInjection(int injectionId)
Lua arguments	injectionId: the injection ID returned by simMujoco.addFlexcomp, simMujoco.composite, or simMujoco.addInjection
Lua return values
Python synopsis	simMujoco.removeInjection(int injectionId)