The Nengo Interfaces library is a Python package that provides simple API interfaces for different simulation environments for use in Nengo models.
To install Nengo Interfaces, run:
pip install -e .
from the root directory.
To use the Mujoco interface, you must provide the path to the XML file written in MJCF that describes the environment you want to simulate. You must also provide a list of joint names from which you would like feedback.
Once you create the interface, you can create the Node in Nengo using the make_node method:
interface = nengo_interface.mujoco.Mujoco('rover.xml', ['steering_wheel'])
with nengo.Network() as net:
mujoco_node = interface.make_node()
The input to this node is the set of forces to apply to the joints being controlled. The output returned from this node is a vector of the joint angles and then joint velocities of each of the joints specified using the joint_list parameter.
If the render_params parameter has identified cameras in the environment to render the image from, then the output of mujoco_node will also include flattened output from each of the identified cameras concatenated.
There are also several handy functions provided to call from the interface if you need information from the environment, including
get_positionget_orientationset_mocap_xyset_mocap_orientation