_scene_to_model

Module Contents

Functions

scene_to_model(→ tuple[mujoco.MjModel, ...)

Convert a scene to a MuJoCo model.

Attributes

old_len

old_len
scene_to_model(scene: revolve2.simulation.scene.Scene, simulation_timestep: float, cast_shadows: bool, fast_sim: bool) → tuple[mujoco.MjModel, mujoco_simulator._abstraction_to_mujoco_mapping.AbstractionToMujocoMapping]

Convert a scene to a MuJoCo model.

Parameters:

  • cast_shadows – Whether shadows are cast by the light.

  • scene – The scene to convert.

  • simulation_timestep – The duration to integrate over during each step of the simulation. In seconds.

  • fast_sim – If simulations have to be fast, unnecessary stuff will be turned off.

Returns:

The created MuJoCo model and mapping from the simulation abstraction to the model.