peripherals.MujocoPeripheral

class peripherals.MujocoPeripheral

N_DOF = 5

gui_name = 'Mujoco'

__init__()

Initialize the peripheral

connect(mujoco_path='./peripherals/mjhaptix150/apicpp/mjhaptix_user.dll', **kwargs)

Connect the peripheral (disconnect first if necessary). Returns True if successful, False otherwise

disconnect()

Disconnect the peripheral

property connected

True if the peripheral is connected

output_position(x_hat, x_d) → None

Output the DOF positions x_hat and x_d to the peripheral. x_hat takes priority over x_d. Positions should be in the range of [-1, 1] with 0 as rest.