reference/generated/torchrl.render.send_mujoco_wasm_qpos

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send_mujoco_wasm_qpos

torchrl.render.send_mujoco_wasm_qpos(qpos: Any, *, port: int = 5178, viewer_origin: str | None = None, degrees: bool = False, pause: bool = True, wait: bool = False, timeout: float = 5.0) → dict[str, Any] | None

Sends one qpos vector to a live MuJoCo WASM notebook viewer.

Parameters:

• qpos – Iterable of joint position values. A full MuJoCo nq vector is preferred; the browser also accepts vectors matching the exposed hinge/slide joint controls.

• port – Viewer port when viewer_origin is not supplied.

• viewer_origin – Browser origin of the viewer iframe.

• degrees – Whether the provided values are degrees.

• pause – Whether the viewer should remain in kinematic pause mode.

• wait – Whether to block until the browser acknowledges the update.

• timeout – Seconds to wait before raising TimeoutError.

Returns:

The acknowledgement payload when wait=True, otherwise None.

Examples

>>> from torchrl.render.mujoco_wasm import send_mujoco_wasm_qpos
>>> callable(send_mujoco_wasm_qpos)
True