mujoco-learning/mujoco_viewer.py at main · Miaozyyy/mujoco-learning · GitHub

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import mujoco
import mujoco.viewer

class CustomViewer:
    def __init__(self, model_path, distance=3, azimuth=0, elevation=-30):
        self.model = mujoco.MjModel.from_xml_path(model_path)
        self.data = mujoco.MjData(self.model)

        self.handle = mujoco.viewer.launch_passive(self.model, self.data)
        self.handle.cam.distance = distance
        self.handle.cam.azimuth = azimuth
        self.handle.cam.elevation = elevation

    def is_running(self):
        return self.handle.is_running()

    def sync(self):
        self.handle.sync()

    @property
    def cam(self):
        return self.handle.cam

    @property
    def viewport(self):
        return self.handle.viewport

    def run_loop(self):
        self.runBefore()
        while self.is_running():
            mujoco.mj_forward(self.model, self.data)
            self.runFunc()
            mujoco.mj_step(self.model, self.data)
            self.sync()

    def runBefore(self):
        pass

    def runFunc(self):
        pass