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:~$ python
Python 3.7.11 (default, Jul 27 2021, 14:32:16)
[GCC 7.5.0] :: Anaconda, Inc. on linux
Type “help”, “copyright”, “credits” or “license” for more information.
import mujoco_py
import os
mj_path = mujoco_py.utils.discover_mujoco()
xml_path=os.path.join(mj_path,‘model’,‘humanoid.xml’)
model=mujoco_py.load_model_from_path(xml_path)
sim=mujoco_py.MjSim(model)
print(sim.data.qpos)
[0. 0. 1.4 1. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.
0. 0. 0. 0. 0. 0. 0. 0. 0. 0. ]
sim.step()
print(sim.data.qpos)
[-1.12164337e-05 7.29847036e-22 1.39975300e+00 9.99999999e-01
1.80085466e-21 4.45933954e-05 -2.70143345e-20 1.30126513e-19
-4.63561234e-05 -1.88020744e-20 -2.24492958e-06 4.79357124e-05
-6.38208396e-04 -1.61130312e-03 -1.37554006e-03 5.54173825e-05
-2.24492958e-06 4.79357124e-05 -6.38208396e-04 -1.61130312e-03
-1.37554006e-03 -5.54173825e-05 -5.73572648e-05 7.63833991e-05
-2.12765194e-05 5.73572648e-05 -7.63833991e-05 -2.12765194e-05]
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