# Copyright (C) 2020-2025 Motphys Technology Co., Ltd. All Rights Reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. # ============================================================================== from motrixsim import SceneData, load_mjcf_str, run, step from motrixsim.render import RenderApp # tag::model_load_from_string[] mjcf = """ """ def main(): # Create render window for visualization with RenderApp() as render: # Load the scene model model = load_mjcf_str(mjcf) # end::model_load_from_string[] # Create the render instance of the model render.launch(model) # Create the physics data of the model data = SceneData(model) run.render_loop( model.options.timestep, 60, lambda: step(model, data), lambda: render.sync(data), ) if __name__ == "__main__": main()