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machinaut/gravity.py

Created February 9, 2018 19:40
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mujoco-py - Change Model Parameters on the Fly
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gravity.py
#!/usr/bin/env python
import time
import numpy as np
from mujoco_py import load_model_from_xml, MjSim, MjViewer
XML = '''
<mujoco>
<worldbody>
<geom name='floor' pos='0 0 0' size='5 5 .125' type='plane' condim='3'/>
<body name='ball' pos='0 0 1'>
<joint type='free'/>
<geom name='ball' pos='0 0 0' size='.1' type='sphere' rgba='1 0 0 1'/>
</body>
</worldbody>
</mujoco>
'''
model = load_model_from_xml(XML)
sim = MjSim(model)
viewer = MjViewer(sim)
while True:
sim.model.opt.gravity[0] = np.sin(time.time())
sim.model.opt.gravity[1] = np.cos(time.time())
sim.step()
viewer.render()
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