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Mojo model

mojo_model

UserData

Bases: MojoBaseModel

Base class for all user-defined simulation data.

MojoModel

Bases: MojoBaseModel, StochasBase

Mojo is the highest level watcher which manages model definitions.

mjcf class-attribute instance-attribute

Python
mjcf: Mujoco = Field(default_factory=Mujoco)

MuJoCo MJCF model to be written to XML.

user_data class-attribute instance-attribute

Python
user_data: SerializeAsAny[UserData] | None = None

User defined data for the model. This is used for transferring information from one function to another (generator to runtime or objective function).

get_user_data

Python
get_user_data(cls: type[T]) -> T

Returns the user_data re-validated into the requested class.

Source code in src/mujoco_mojo/mojo_model.py
Python
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def get_user_data(self, cls: type[T]) -> T:
    """Returns the user_data re-validated into the requested class."""
    if self.user_data is None:
        msg = "Unable to get user_data since it is None."
        logger.error(msg)
        raise ValueError(msg)

    if not isinstance(self.user_data, cls):
        data = self.user_data
        if isinstance(data, BaseModel):
            data = data.model_dump()

        self.user_data = cls.model_validate(data)

    return self.user_data