You can also find a good-view version for this instruction in my blog.
When I build up a new MuJoCo environment or need to modify the environment based on the previous environment, especially I want to insert a new body or geom with a precise position and rotation , sometimes it's difficult because of the complexity of the high-DoF model and waste me lots of time. Here you can use the tool I support here to help you find your desired placement in quick.
Preparations: Please refer the mujoco-py setup in my previous blog through this link to install related dependencies.
How to use:
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Drag the
Fast_Tune.pyfile in any location on your PC (suggested to put it on the same location of your MuJoCoxmlfile.) -
Change the two lines on the code with your own MuJoCo environment file and referred frame:
ref_body_name = "satellite" # Change your refered frame xml_test_name = "/home/wam/sat_demo.xml" # Change your own environment file location
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Then run the file. You will see the scenario like the following:
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You can use ← → ↑ ↓ F B on your keyboard to change the frame location; And Q/W, A/S, Z/X to change the row, pitch, yaw roation of the frame. You need to put the frame on your desired location and rotation. Then afterthat, record the data on the right-head dashboard as
Note that when the frame is moving, the data on this area is also changing. W-position means the position of moving frame relative to the world frame in X, Y, Z; B-position means the position of moving frame relative to your specific frame in X, Y, Z;n Similar to W-Rotation and B-Rotation. Based on this information, you can change your xml in a quick time.
Additionally, I also test in another project and find the effect is good.
