MuJoCo plugin API reference

API functions that mainly serve to inject MuJoCo XML code

simMujoco.composite
simMujoco.getCompositeInfo
simMujoco.injectXML
simMujoco.removeXML

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 should be injected. Can be empty if shapeHandle is not empty shapeHandle: the handle of the shape where the composite XML should be injected. Can be empty if element is not empty prefix: the composite prefix string. Make sure the prefix is unique, and possible derived from the related shape type: the composite type: grid, rope, loop, cloth, box, cylinder or ellipsoid 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.injectXML

Description	Adds or injects XML data into a MuJoCo world
Lua synopsis	int injectionId=simMujoco.injectXML(string xml,string element/int shapeHandle,map info=nil)
Lua arguments	xml: the xml code to inject element/shapeHandle: the name of the XML element or the handle of the shape where the XML code should be injected info: additional information about the XML code: callback: a callback function that is called when the MuJoCo world gets regenerated. This allows to adjust the XML code on-the-fly
Lua return values	injectionId: the id of the injection
Python synopsis	int injectionId=simMujoco.injectXML(string xml,string element/int shapeHandle,dict info=None)

simMujoco.removeXML

Description	Removes XML data from the MuJoCo world
Lua synopsis	simMujoco.removeXML(int injectionId)
Lua arguments	injectionId: the injection ID returned by simMujoco.composite or simMujoco.injectXML
Lua return values
Python synopsis	simMujoco.removeXML(int injectionId)