From abc3f70f1bb440192613c8cc80dbe318971211e0 Mon Sep 17 00:00:00 2001
From: Andrea Rosasco <andrearosasco.ar@gmail.com>
Date: Wed, 20 Dec 2023 11:26:25 +0100
Subject: [PATCH] examine_sim.py adapted to mujoco bindings

---
 robohive/utils/examine_sim.py | 24 +++++++++++-------------
 1 file changed, 11 insertions(+), 13 deletions(-)

diff --git a/robohive/utils/examine_sim.py b/robohive/utils/examine_sim.py
index 621c5369..34d42a22 100644
--- a/robohive/utils/examine_sim.py
+++ b/robohive/utils/examine_sim.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 DESC = """
 Vizualize model in a viewer\n
     - render forward kinematics if `qpos` is provided\n
@@ -8,7 +7,7 @@
     - python utils/examine_sim.py --sim_path envs/arms/franka/assets/franka_reach_v0.xml --ctrl "0, 0, -1, -1, 0, 0, 0, 0, 0"\n
 """
 
-from mujoco_py import load_model_from_path, MjSim, MjViewer
+from mujoco import MjModel, MjData, mj_step, mj_forward, viewer
 import click
 import numpy as np
 
@@ -19,20 +18,19 @@
 @click.option('-h', '--horizon', type=int, help='time (s) to simulate', default=5)
 
 def main(sim_path, qpos, ctrl, horizon):
-    model = load_model_from_path(sim_path)
-    sim = MjSim(model)
-    viewer = MjViewer(sim)
+    model = MjModel.from_xml_path(sim_path)
+    data = MjData(model)
 
-    while sim.data.time<horizon:
+    viewer.launch(model, data)
+
+    while data.time<horizon:
         if qpos is not None:
-            sim.data.qpos[:] = np.array(qpos.split(','), dtype=np.float)
-            sim.forward()
-            sim.data.time += sim.model.opt.timestep
+            data.qpos[:] = np.array(qpos.split(','), dtype=np.float)
+            mj_forward(model, data)
+            data.time += model.opt.timestep
         elif ctrl is not None:
-            sim.data.ctrl[:] = np.array(ctrl.split(','), dtype=np.float)
-            sim.step()
-        viewer.render()
+            data.ctrl[:] = np.array(ctrl.split(','), dtype=np.float)
+            mj_step(model, data)
 
 if __name__ == '__main__':
     main()
-