simulation.py

import time
import mujoco
import mujoco.viewer

from simulation.interface import SimulatedRobot

m = mujoco.MjModel.from_xml_path('simulation/low_cost_robot/scene.xml')
d = mujoco.MjData(m)

r = SimulatedRobot(m, d)

with mujoco.viewer.launch_passive(m, d) as viewer:
  start = time.time()
  while viewer.is_running():
    step_start = time.time()
    mujoco.mj_step(m, d)
    viewer.sync()
    # Rudimentary time keeping, will drift relative to wall clock.
    time_until_next_step = m.opt.timestep - (time.time() - step_start)
    if time_until_next_step > 0:
      time.sleep(time_until_next_step)