mujoco_tools.tools

Functions

apply_force_to_body(model, data, body_name, ...)	Apply force to a body at specified point (or center of mass if not specified).
forward_kinematics(model, data)	Compute forward kinematics.
get_body_pose(model, data, body_name)	Get body position and orientation (quaternion).
get_jacobian(model, data, body_name)	Get body Jacobian (translational and rotational).
get_joint_qpos(model, data, joint_name)	Get joint position(s) by joint name.
get_sensor_data(model, data, sensor_name)	Get sensor reading by name.
launch_passive_viewer(model, data)
launch_viewer(model, data)
load_model_from_path(model_path)	Load a MuJoCo model from a path and initialize its data.
reset_simulation(model, data)	Reset simulation to initial state.
set_joint_qpos(model, data, joint_name, value)	Set joint position(s) by joint name.