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Go2Py_SIM
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custom xml loading argument is added.

This commit is contained in:
Rooholla-KhorramBakht 2024-05-25 21:04:47 -04:00
parent 61ce7244a5
commit 735cd3ca46
1 changed files with 7 additions and 4 deletions
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11
Go2Py/sim/mujoco.py
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@ -18,11 +18,14 @@ dist = np.zeros(nray, np.float64)
class Go2Sim:
def __init__(self, mode='lowlevel', render=True, dt=0.002):
def __init__(self, mode='lowlevel', render=True, dt=0.002, xml_path=None):
self.model = mujoco.MjModel.from_xml_path(
os.path.join(ASSETS_PATH, 'mujoco/go2.xml')
)
if xml_path is None:
self.model = mujoco.MjModel.from_xml_path(
os.path.join(ASSETS_PATH, 'mujoco/go2.xml')
)
else:
self.model = mujoco.MjModel.from_xml_path(xml_path)
self.simulated = True
self.data = mujoco.MjData(self.model)
self.dt = dt