def get_leg(name,
hip_distance=0.2,
hip_angle=0.0,
leg_length=0.4,
foot_length=0.6):
leg = e.Body(name=name, pos=[0, 0, 0], euler=[0, 0, hip_angle])
aux_geom = e.Geom(fromto=[0, 0, 0, hip_distance, 0, 0],
name="aux_geom_" + name,
size=0.08,
type="capsule")
aux_body = e.Body(name="aux_body_" + name, pos=[hip_distance, 0, 0])
leg.add_children([aux_geom, aux_body])
# Body
hip_joint = e.Joint(axis=[0, 0, 1],
name="hip_joint_" + name,
pos=[0.0, 0.0, 0.0],
range=[-30, 30],
type="hinge")
leg_geom = e.Geom(fromto=[0.0, 0.0, 0.0, leg_length, 0.0, 0.0],
name="leg_geom_" + name,
size=0.08,
type="capsule")
ankle_body = e.Body(name="ankle_body_" + name, pos=[leg_length, 0.0, 0])
aux_body.add_children([hip_joint, leg_geom, ankle_body])
# Body
ankle_joint = e.Joint(axis=[0, 1, 0],
name="ankle_joint_" + name,
pos=[0.0, 0.0, 0.0],
range=[30, 70],
type="hinge")
ankle_geom = e.Geom(fromto=[0.0, 0.0, 0.0, foot_length, 0.0, 0.0],
name="ankle_geom_" + name,
size=0.08,
type="capsule")
ankle_body.add_children([ankle_joint, ankle_geom])
# Actuators
hip = e.Motor(ctrllimited="true",
ctrlrange=[-1.0, 1.0],
joint=hip_joint.name,
gear=150)
ankle = e.Motor(ctrllimited=True,
ctrlrange=[-1.0, 1.0],
joint=ankle_joint.name,
gear=150)
return leg, hip, ankle
def main():
mujoco = e.Mujoco(model="reacher", )
compiler = e.Compiler(
angle="radian",
inertiafromgeom="true",
)
default = e.Default()
option = e.Option(
gravity="0 0 -9.81",
integrator="RK4",
timestep="0.01",
)
worldbody = e.Worldbody()
actuator = e.Actuator()
mujoco.add_children([
compiler,
default,
option,
worldbody,
actuator,
])
joint = e.Joint(
armature="1",
damping="1",
limited="true",
)
geom = e.Geom(
contype="0",
friction="1 0.1 0.1",
rgba="0.7 0.7 0 1",
)
default.add_children([
joint,
geom,
])
ground = e.Geom(
conaffinity="0",
contype="0",
name="ground",
pos="0 0 0",
rgba="0.9 0.9 0.9 1",
size="1 1 10",
type="plane",
)
sideS = e.Geom(
conaffinity="0",
fromto="-.3 -.3 .01 .3 -.3 .01",
name="sideS",
rgba="0.9 0.4 0.6 1",
size=".02",
type="capsule",
)
sideE = e.Geom(
conaffinity="0",
fromto=" .3 -.3 .01 .3 .3 .01",
name="sideE",
rgba="0.9 0.4 0.6 1",
size=".02",
type="capsule",
)
sideN = e.Geom(
conaffinity="0",
fromto="-.3 .3 .01 .3 .3 .01",
name="sideN",
rgba="0.9 0.4 0.6 1",
size=".02",
type="capsule",
)
sideW = e.Geom(
conaffinity="0",
fromto="-.3 -.3 .01 -.3 .3 .01",
name="sideW",
rgba="0.9 0.4 0.6 1",
size=".02",
type="capsule",
)
root = e.Geom(
conaffinity="0",
contype="0",
fromto="0 0 0 0 0 0.02",
name="root",
rgba="0.9 0.4 0.6 1",
size=".011",
type="cylinder",
)
body0 = e.Body(
name="body0",
pos="0 0 .01",
)
target = e.Body(
name="target",
pos=".1 -.1 .01",
)
worldbody.add_children([
ground,
sideS,
sideE,
sideN,
sideW,
root,
body0,
target,
])
motor = e.Motor(
ctrllimited="true",
ctrlrange="-1.0 1.0",
gear="200.0",
joint="joint0",
)
motor_1 = e.Motor(
ctrllimited="true",
ctrlrange="-1.0 1.0",
gear="200.0",
joint="joint1",
)
actuator.add_children([
motor,
motor_1,
])
link0 = e.Geom(
fromto="0 0 0 0.1 0 0",
name="link0",
rgba="0.0 0.4 0.6 1",
size=".01",
type="capsule",
)
joint0 = e.Joint(
axis="0 0 1",
limited="false",
name="joint0",
pos="0 0 0",
type="hinge",
)
body1 = e.Body(
name="body1",
pos="0.1 0 0",
)
body0.add_children([
link0,
joint0,
body1,
])
target_x = e.Joint(
armature="0",
axis="1 0 0",
damping="0",
limited="true",
name="target_x",
pos="0 0 0",
range="-.27 .27",
ref=".1",
stiffness="0",
type="slide",
)
target_y = e.Joint(
armature="0",
axis="0 1 0",
damping="0",
limited="true",
name="target_y",
pos="0 0 0",
range="-.27 .27",
ref="-.1",
stiffness="0",
type="slide",
)
target_1 = e.Geom(
conaffinity="0",
contype="0",
name="target",
pos="0 0 0",
rgba="0.9 0.2 0.2 1",
size=".009",
type="sphere",
)
target.add_children([
target_x,
target_y,
target_1,
])
joint1 = e.Joint(
axis="0 0 1",
limited="true",
name="joint1",
pos="0 0 0",
range="-3.0 3.0",
type="hinge",
)
link1 = e.Geom(
fromto="0 0 0 0.1 0 0",
name="link1",
rgba="0.0 0.4 0.6 1",
size=".01",
type="capsule",
)
fingertip = e.Body(
name="fingertip",
pos="0.11 0 0",
)
body1.add_children([
joint1,
link1,
fingertip,
])
fingertip_1 = e.Geom(
contype="0",
name="fingertip",
pos="0 0 0",
rgba="0.0 0.8 0.6 1",
size=".01",
type="sphere",
)
fingertip.add_children([
fingertip_1,
])
model_xml = mujoco.xml()
# Output
with open('reacher_gen.xml', 'w') as fh:
fh.write(model_xml)
def main():
mujoco = e.Mujoco(model="humanoidstandup", )
compiler = e.Compiler(
angle="degree",
inertiafromgeom="true",
)
default = e.Default()
option = e.Option(
integrator="RK4",
iterations="50",
solver="PGS",
timestep="0.003",
)
size = e.Size(
nkey="5",
nuser_geom="1",
)
visual = e.Visual()
asset = e.Asset()
worldbody = e.Worldbody()
tendon = e.Tendon()
actuator = e.Actuator()
mujoco.add_children([
compiler,
default,
option,
size,
visual,
asset,
worldbody,
tendon,
actuator,
])
joint = e.Joint(
armature="1",
damping="1",
limited="true",
)
geom = e.Geom(
conaffinity="1",
condim="1",
contype="1",
margin="0.001",
material="geom",
rgba="0.8 0.6 .4 1",
)
motor = e.Motor(
ctrllimited="true",
ctrlrange="-.4 .4",
)
default.add_children([
joint,
geom,
motor,
])
map = e.Map(
fogend="5",
fogstart="3",
)
visual.add_children([
map,
])
texture = e.Texture(
builtin="gradient",
height="100",
rgb1=".4 .5 .6",
rgb2="0 0 0",
type="skybox",
width="100",
)
texgeom = e.Texture(
builtin="flat",
height="1278",
mark="cross",
markrgb="1 1 1",
name="texgeom",
random="0.01",
rgb1="0.8 0.6 0.4",
rgb2="0.8 0.6 0.4",
type="cube",
width="127",
)
texplane = e.Texture(
builtin="checker",
height="100",
name="texplane",
rgb1="0 0 0",
rgb2="0.8 0.8 0.8",
type="2d",
width="100",
)
MatPlane = e.Material(
name="MatPlane",
reflectance="0.5",
shininess="1",
specular="1",
texrepeat="60 60",
texture="texplane",
)
geom_1 = e.Material(
name="geom",
texture="texgeom",
texuniform="true",
)
asset.add_children([
texture,
texgeom,
texplane,
MatPlane,
geom_1,
])
light = e.Light(
cutoff="100",
diffuse="1 1 1",
dir="-0 0 -1.3",
directional="true",
exponent="1",
pos="0 0 1.3",
specular=".1 .1 .1",
)
floor = e.Geom(
condim="3",
friction="1 .1 .1",
material="MatPlane",
name="floor",
pos="0 0 0",
rgba="0.8 0.9 0.8 1",
size="20 20 0.125",
type="plane",
)
torso = e.Body(
name="torso",
pos="0 0 .105",
)
worldbody.add_children([
light,
floor,
torso,
])
left_hipknee = e.Fixed(name="left_hipknee", )
right_hipknee = e.Fixed(name="right_hipknee", )
tendon.add_children([
left_hipknee,
right_hipknee,
])
abdomen_y = e.Motor(
gear="100",
joint="abdomen_y",
name="abdomen_y",
)
abdomen_z = e.Motor(
gear="100",
joint="abdomen_z",
name="abdomen_z",
)
abdomen_x = e.Motor(
gear="100",
joint="abdomen_x",
name="abdomen_x",
)
right_hip_x = e.Motor(
gear="100",
joint="right_hip_x",
name="right_hip_x",
)
right_hip_z = e.Motor(
gear="100",
joint="right_hip_z",
name="right_hip_z",
)
right_hip_y = e.Motor(
gear="300",
joint="right_hip_y",
name="right_hip_y",
)
right_knee = e.Motor(
gear="200",
joint="right_knee",
name="right_knee",
)
left_hip_x = e.Motor(
gear="100",
joint="left_hip_x",
name="left_hip_x",
)
left_hip_z = e.Motor(
gear="100",
joint="left_hip_z",
name="left_hip_z",
)
left_hip_y = e.Motor(
gear="300",
joint="left_hip_y",
name="left_hip_y",
)
left_knee = e.Motor(
gear="200",
joint="left_knee",
name="left_knee",
)
right_shoulder1 = e.Motor(
gear="25",
joint="right_shoulder1",
name="right_shoulder1",
)
right_shoulder2 = e.Motor(
gear="25",
joint="right_shoulder2",
name="right_shoulder2",
)
right_elbow = e.Motor(
gear="25",
joint="right_elbow",
name="right_elbow",
)
left_shoulder1 = e.Motor(
gear="25",
joint="left_shoulder1",
name="left_shoulder1",
)
left_shoulder2 = e.Motor(
gear="25",
joint="left_shoulder2",
name="left_shoulder2",
)
left_elbow = e.Motor(
gear="25",
joint="left_elbow",
name="left_elbow",
)
actuator.add_children([
abdomen_y,
abdomen_z,
abdomen_x,
right_hip_x,
right_hip_z,
right_hip_y,
right_knee,
left_hip_x,
left_hip_z,
left_hip_y,
left_knee,
right_shoulder1,
right_shoulder2,
right_elbow,
left_shoulder1,
left_shoulder2,
left_elbow,
])
track = e.Camera(
name="track",
mode="trackcom",
pos="0 -3 .5",
xyaxes="1 0 0 0 0 1",
)
root = e.Joint(
armature="0",
damping="0",
limited="false",
name="root",
pos="0 0 0",
stiffness="0",
type="free",
)
torso1 = e.Geom(
fromto="0 -.07 0 0 .07 0",
name="torso1",
size="0.07",
type="capsule",
)
head = e.Geom(
name="head",
pos="-.15 0 0",
size=".09",
type="sphere",
user="******",
)
uwaist = e.Geom(
fromto=".11 -.06 0 .11 .06 0",
name="uwaist",
size="0.06",
type="capsule",
)
lwaist = e.Body(
name="lwaist",
pos=".21 0 0",
quat="1.000 0 -0.002 0",
)
right_upper_arm = e.Body(
name="right_upper_arm",
pos="0 -0.17 0.06",
)
left_upper_arm = e.Body(
name="left_upper_arm",
pos="0 0.17 0.06",
)
torso.add_children([
track,
root,
torso1,
head,
uwaist,
lwaist,
right_upper_arm,
left_upper_arm,
])
joint_1 = e.Joint(
coef="-1",
joint="left_hip_y",
)
joint_2 = e.Joint(
coef="1",
joint="left_knee",
)
left_hipknee.add_children([
joint_1,
joint_2,
])
joint_3 = e.Joint(
coef="-1",
joint="right_hip_y",
)
joint_4 = e.Joint(
coef="1",
joint="right_knee",
)
right_hipknee.add_children([
joint_3,
joint_4,
])
lwaist_1 = e.Geom(
fromto="0 -.06 0 0 .06 0",
name="lwaist",
size="0.06",
type="capsule",
)
abdomen_z_1 = e.Joint(
armature="0.02",
axis="0 0 1",
damping="5",
name="abdomen_z",
pos="0 0 0.065",
range="-45 45",
stiffness="20",
type="hinge",
)
abdomen_y_1 = e.Joint(
armature="0.02",
axis="0 1 0",
damping="5",
name="abdomen_y",
pos="0 0 0.065",
range="-75 30",
stiffness="10",
type="hinge",
)
pelvis = e.Body(
name="pelvis",
pos="0.165 0 0",
quat="1.000 0 -0.002 0",
)
lwaist.add_children([
lwaist_1,
abdomen_z_1,
abdomen_y_1,
pelvis,
])
right_shoulder1_1 = e.Joint(
armature="0.0068",
axis="2 1 1",
name="right_shoulder1",
pos="0 0 0",
range="-85 60",
stiffness="1",
type="hinge",
)
right_shoulder2_1 = e.Joint(
armature="0.0051",
axis="0 -1 1",
name="right_shoulder2",
pos="0 0 0",
range="-85 60",
stiffness="1",
type="hinge",
)
right_uarm1 = e.Geom(
fromto="0 0 0 .16 -.16 -.16",
name="right_uarm1",
size="0.04 0.16",
type="capsule",
)
right_lower_arm = e.Body(
name="right_lower_arm",
pos=".18 -.18 -.18",
)
right_upper_arm.add_children([
right_shoulder1_1,
right_shoulder2_1,
right_uarm1,
right_lower_arm,
])
left_shoulder1_1 = e.Joint(
armature="0.0068",
axis="2 -1 1",
name="left_shoulder1",
pos="0 0 0",
range="-60 85",
stiffness="1",
type="hinge",
)
left_shoulder2_1 = e.Joint(
armature="0.0051",
axis="0 1 1",
name="left_shoulder2",
pos="0 0 0",
range="-60 85",
stiffness="1",
type="hinge",
)
left_uarm1 = e.Geom(
fromto="0 0 0 .16 .16 -.16",
name="left_uarm1",
size="0.04 0.16",
type="capsule",
)
left_lower_arm = e.Body(
name="left_lower_arm",
pos=".18 .18 -.18",
)
left_upper_arm.add_children([
left_shoulder1_1,
left_shoulder2_1,
left_uarm1,
left_lower_arm,
])
abdomen_x_1 = e.Joint(
armature="0.02",
axis="1 0 0",
damping="5",
name="abdomen_x",
pos="0 0 0.1",
range="-35 35",
stiffness="10",
type="hinge",
)
butt = e.Geom(
fromto="-.02 -.07 0 -.02 .07 0",
name="butt",
size="0.09",
type="capsule",
)
right_thigh = e.Body(
name="right_thigh",
pos="0 -0.1 0",
)
left_thigh = e.Body(
name="left_thigh",
pos="0 0.1 0",
)
pelvis.add_children([
abdomen_x_1,
butt,
right_thigh,
left_thigh,
])
right_elbow_1 = e.Joint(
armature="0.0028",
axis="0 -1 1",
name="right_elbow",
pos="0 0 0",
range="-90 50",
stiffness="0",
type="hinge",
)
right_larm = e.Geom(
fromto="0.01 0.01 0.01 .17 .17 .17",
name="right_larm",
size="0.031",
type="capsule",
)
right_hand = e.Geom(
name="right_hand",
pos=".18 .18 .18",
size="0.04",
type="sphere",
)
camera = e.Camera(pos="0 0 0", )
right_lower_arm.add_children([
right_elbow_1,
right_larm,
right_hand,
camera,
])
left_elbow_1 = e.Joint(
armature="0.0028",
axis="0 -1 -1",
name="left_elbow",
pos="0 0 0",
range="-90 50",
stiffness="0",
type="hinge",
)
left_larm = e.Geom(
fromto="0.01 -0.01 0.01 .17 -.17 .17",
name="left_larm",
size="0.031",
type="capsule",
)
left_hand = e.Geom(
name="left_hand",
pos=".18 -.18 .18",
size="0.04",
type="sphere",
)
left_lower_arm.add_children([
left_elbow_1,
left_larm,
left_hand,
])
right_hip_x_1 = e.Joint(
armature="0.01",
axis="1 0 0",
damping="5",
name="right_hip_x",
pos="0 0 0",
range="-25 5",
stiffness="10",
type="hinge",
)
right_hip_z_1 = e.Joint(
armature="0.01",
axis="0 0 1",
damping="5",
name="right_hip_z",
pos="0 0 0",
range="-60 35",
stiffness="10",
type="hinge",
)
right_hip_y_1 = e.Joint(
armature="0.0080",
axis="0 1 0",
damping="5",
name="right_hip_y",
pos="0 0 0",
range="-110 20",
stiffness="20",
type="hinge",
)
right_thigh1 = e.Geom(
fromto="0 0 0 0.34 0.01 0",
name="right_thigh1",
size="0.06",
type="capsule",
)
right_shin = e.Body(
name="right_shin",
pos="0.403 0.01 0",
)
right_thigh.add_children([
right_hip_x_1,
right_hip_z_1,
right_hip_y_1,
right_thigh1,
right_shin,
])
left_hip_x_1 = e.Joint(
armature="0.01",
axis="-1 0 0",
damping="5",
name="left_hip_x",
pos="0 0 0",
range="-25 5",
stiffness="10",
type="hinge",
)
left_hip_z_1 = e.Joint(
armature="0.01",
axis="0 0 -1",
damping="5",
name="left_hip_z",
pos="0 0 0",
range="-60 35",
stiffness="10",
type="hinge",
)
left_hip_y_1 = e.Joint(
armature="0.01",
axis="0 1 0",
damping="5",
name="left_hip_y",
pos="0 0 0",
range="-120 20",
stiffness="20",
type="hinge",
)
left_thigh1 = e.Geom(
fromto="0 0 0 0.34 -0.01 0",
name="left_thigh1",
size="0.06",
type="capsule",
)
left_shin = e.Body(
name="left_shin",
pos="0.403 -0.01 0",
)
left_thigh.add_children([
left_hip_x_1,
left_hip_z_1,
left_hip_y_1,
left_thigh1,
left_shin,
])
right_knee_1 = e.Joint(
armature="0.0060",
axis="0 -1 0",
name="right_knee",
pos="0 0 .02",
range="-160 -2",
type="hinge",
)
right_shin1 = e.Geom(
fromto="0 0 0 0.3 0 0",
name="right_shin1",
size="0.049",
type="capsule",
)
right_foot = e.Body(
name="right_foot",
pos="0.35 0 -.10",
)
right_shin.add_children([
right_knee_1,
right_shin1,
right_foot,
])
left_knee_1 = e.Joint(
armature="0.0060",
axis="0 -1 0",
name="left_knee",
pos="0 0 .02",
range="-160 -2",
stiffness="1",
type="hinge",
)
left_shin1 = e.Geom(
fromto="0 0 0 0.3 0 0",
name="left_shin1",
size="0.049",
type="capsule",
)
left_foot = e.Body(
name="left_foot",
pos="0.35 0 -.1",
)
left_shin.add_children([
left_knee_1,
left_shin1,
left_foot,
])
right_foot_1 = e.Geom(
name="right_foot",
pos="0 0 0.1",
size="0.075",
type="sphere",
user="******",
)
right_foot.add_children([
right_foot_1,
])
left_foot_1 = e.Geom(
name="left_foot",
type="sphere",
size="0.075",
pos="0 0 0.1",
user="******",
)
left_foot.add_children([
left_foot_1,
])
model_xml = mujoco.xml()
# Output
with open('humanoidstandup_gen.xml', 'w') as fh:
fh.write(model_xml)
def main():
mujoco = e.Mujoco(model="cheetah", )
compiler = e.Compiler(
angle="radian",
coordinate="local",
inertiafromgeom="true",
settotalmass="14",
)
default = e.Default()
size = e.Size(
nstack="300000",
nuser_geom="1",
)
option = e.Option(
gravity="0 0 -9.81",
timestep="0.01",
)
asset = e.Asset()
worldbody = e.Worldbody()
actuator = e.Actuator()
mujoco.add_children([
compiler,
default,
size,
option,
asset,
worldbody,
actuator,
])
joint = e.Joint(
armature=".1",
damping=".01",
limited="true",
solimplimit="0 .8 .03",
solreflimit=".02 1",
stiffness="8",
)
geom = e.Geom(
conaffinity="0",
condim="3",
contype="1",
friction=".4 .1 .1",
rgba="0.8 0.6 .4 1",
solimp="0.0 0.8 0.01",
solref="0.02 1",
)
motor = e.Motor(
ctrllimited="true",
ctrlrange="-1 1",
)
default.add_children([
joint,
geom,
motor,
])
texture = e.Texture(
builtin="gradient",
height="100",
rgb1="1 1 1",
rgb2="0 0 0",
type="skybox",
width="100",
)
texgeom = e.Texture(
builtin="flat",
height="1278",
mark="cross",
markrgb="1 1 1",
name="texgeom",
random="0.01",
rgb1="0.8 0.6 0.4",
rgb2="0.8 0.6 0.4",
type="cube",
width="127",
)
texplane = e.Texture(
builtin="checker",
height="100",
name="texplane",
rgb1="0 0 0",
rgb2="0.8 0.8 0.8",
type="2d",
width="100",
)
MatPlane = e.Material(
name="MatPlane",
reflectance="0.5",
shininess="1",
specular="1",
texrepeat="60 60",
texture="texplane",
)
geom_1 = e.Material(
name="geom",
texture="texgeom",
texuniform="true",
)
asset.add_children([
texture,
texgeom,
texplane,
MatPlane,
geom_1,
])
light = e.Light(
cutoff="100",
diffuse="1 1 1",
dir="-0 0 -1.3",
directional="true",
exponent="1",
pos="0 0 1.3",
specular=".1 .1 .1",
)
floor = e.Geom(
conaffinity="1",
condim="3",
material="MatPlane",
name="floor",
pos="0 0 0",
rgba="0.8 0.9 0.8 1",
size="40 40 40",
type="plane",
)
torso = e.Body(
name="torso",
pos="0 0 .7",
)
worldbody.add_children([
light,
floor,
torso,
])
bthigh = e.Motor(
gear="120",
joint="bthigh",
name="bthigh",
)
bshin = e.Motor(
gear="90",
joint="bshin",
name="bshin",
)
bfoot = e.Motor(
gear="60",
joint="bfoot",
name="bfoot",
)
fthigh = e.Motor(
gear="120",
joint="fthigh",
name="fthigh",
)
fshin = e.Motor(
gear="60",
joint="fshin",
name="fshin",
)
ffoot = e.Motor(
gear="30",
joint="ffoot",
name="ffoot",
)
actuator.add_children([
bthigh,
bshin,
bfoot,
fthigh,
fshin,
ffoot,
])
track = e.Camera(
name="track",
mode="trackcom",
pos="0 -3 0.3",
xyaxes="1 0 0 0 0 1",
)
rootx = e.Joint(
armature="0",
axis="1 0 0",
damping="0",
limited="false",
name="rootx",
pos="0 0 0",
stiffness="0",
type="slide",
)
rootz = e.Joint(
armature="0",
axis="0 0 1",
damping="0",
limited="false",
name="rootz",
pos="0 0 0",
stiffness="0",
type="slide",
)
rooty = e.Joint(
armature="0",
axis="0 1 0",
damping="0",
limited="false",
name="rooty",
pos="0 0 0",
stiffness="0",
type="hinge",
)
torso_1 = e.Geom(
fromto="-.5 0 0 .5 0 0",
name="torso",
size="0.046",
type="capsule",
)
head = e.Geom(
axisangle="0 1 0 .87",
name="head",
pos=".6 0 .1",
size="0.046 .15",
type="capsule",
)
bthigh_1 = e.Body(
name="bthigh",
pos="-.5 0 0",
)
fthigh_1 = e.Body(
name="fthigh",
pos=".5 0 0",
)
torso.add_children([
track,
rootx,
rootz,
rooty,
torso_1,
head,
bthigh_1,
fthigh_1,
])
bthigh_2 = e.Joint(
axis="0 1 0",
damping="6",
name="bthigh",
pos="0 0 0",
range="-.52 1.05",
stiffness="240",
type="hinge",
)
bthigh_3 = e.Geom(
axisangle="0 1 0 -3.8",
name="bthigh",
pos=".1 0 -.13",
size="0.046 .145",
type="capsule",
)
bshin_1 = e.Body(
name="bshin",
pos=".16 0 -.25",
)
bthigh_1.add_children([
bthigh_2,
bthigh_3,
bshin_1,
])
fthigh_2 = e.Joint(
axis="0 1 0",
damping="4.5",
name="fthigh",
pos="0 0 0",
range="-1 .7",
stiffness="180",
type="hinge",
)
fthigh_3 = e.Geom(
axisangle="0 1 0 .52",
name="fthigh",
pos="-.07 0 -.12",
size="0.046 .133",
type="capsule",
)
fshin_1 = e.Body(
name="fshin",
pos="-.14 0 -.24",
)
fthigh_1.add_children([
fthigh_2,
fthigh_3,
fshin_1,
])
bshin_2 = e.Joint(
axis="0 1 0",
damping="4.5",
name="bshin",
pos="0 0 0",
range="-.785 .785",
stiffness="180",
type="hinge",
)
bshin_3 = e.Geom(
axisangle="0 1 0 -2.03",
name="bshin",
pos="-.14 0 -.07",
rgba="0.9 0.6 0.6 1",
size="0.046 .15",
type="capsule",
)
bfoot_1 = e.Body(
name="bfoot",
pos="-.28 0 -.14",
)
bshin_1.add_children([
bshin_2,
bshin_3,
bfoot_1,
])
fshin_2 = e.Joint(
axis="0 1 0",
damping="3",
name="fshin",
pos="0 0 0",
range="-1.2 .87",
stiffness="120",
type="hinge",
)
fshin_3 = e.Geom(
axisangle="0 1 0 -.6",
name="fshin",
pos=".065 0 -.09",
rgba="0.9 0.6 0.6 1",
size="0.046 .106",
type="capsule",
)
ffoot_1 = e.Body(
name="ffoot",
pos=".13 0 -.18",
)
fshin_1.add_children([
fshin_2,
fshin_3,
ffoot_1,
])
bfoot_2 = e.Joint(
axis="0 1 0",
damping="3",
name="bfoot",
pos="0 0 0",
range="-.4 .785",
stiffness="120",
type="hinge",
)
bfoot_3 = e.Geom(
axisangle="0 1 0 -.27",
name="bfoot",
pos=".03 0 -.097",
rgba="0.9 0.6 0.6 1",
size="0.046 .094",
type="capsule",
)
bfoot_1.add_children([
bfoot_2,
bfoot_3,
])
ffoot_2 = e.Joint(
axis="0 1 0",
damping="1.5",
name="ffoot",
pos="0 0 0",
range="-.5 .5",
stiffness="60",
type="hinge",
)
ffoot_3 = e.Geom(
axisangle="0 1 0 -.6",
name="ffoot",
pos=".045 0 -.07",
rgba="0.9 0.6 0.6 1",
size="0.046 .07",
type="capsule",
)
ffoot_1.add_children([
ffoot_2,
ffoot_3,
])
model_xml = mujoco.xml()
# Output
with open('half_cheetah_gen.xml', 'w') as fh:
fh.write(model_xml)
def main():
mujoco = e.Mujoco(model="cartpole", )
compiler = e.Compiler(
coordinate="local",
inertiafromgeom="true",
)
custom = e.Custom()
default = e.Default()
option = e.Option(
gravity="1e-5 0 -9.81",
integrator="RK4",
timestep="0.01",
)
size = e.Size(nstack="3000", )
worldbody = e.Worldbody()
actuator = e.Actuator()
mujoco.add_children([
compiler,
custom,
default,
option,
size,
worldbody,
actuator,
])
frame_skip = e.Numeric(
data="2",
name="frame_skip",
)
custom.add_children([
frame_skip,
])
joint = e.Joint(damping="0.05", )
geom = e.Geom(
contype="0",
friction="1 0.1 0.1",
rgba="0.7 0.7 0 1",
)
default.add_children([
joint,
geom,
])
floor = e.Geom(
name="floor",
pos="0 0 -3.0",
rgba="0.8 0.9 0.8 1",
size="40 40 40",
type="plane",
)
rail = e.Geom(
name="rail",
pos="0 0 0",
quat="0.707 0 0.707 0",
rgba="0.3 0.3 0.7 1",
size="0.02 1",
type="capsule",
)
cart = e.Body(
name="cart",
pos="0 0 0",
)
worldbody.add_children([
floor,
rail,
cart,
])
slide = e.Motor(
ctrllimited="true",
ctrlrange="-1 1",
gear="500",
joint="slider",
name="slide",
)
actuator.add_children([
slide,
])
slider = e.Joint(
axis="1 0 0",
limited="true",
margin="0.01",
name="slider",
pos="0 0 0",
range="-1 1",
type="slide",
)
cart_1 = e.Geom(
name="cart",
pos="0 0 0",
quat="0.707 0 0.707 0",
size="0.1 0.1",
type="capsule",
)
pole = e.Body(
name="pole",
pos="0 0 0",
)
cart.add_children([
slider,
cart_1,
pole,
])
hinge = e.Joint(
axis="0 1 0",
name="hinge",
pos="0 0 0",
type="hinge",
)
cpole = e.Geom(
fromto="0 0 0 0 0 0.6",
name="cpole",
rgba="0 0.7 0.7 1",
size="0.045 0.3",
type="capsule",
)
pole2 = e.Body(
name="pole2",
pos="0 0 0.6",
)
pole.add_children([
hinge,
cpole,
pole2,
])
hinge2 = e.Joint(
axis="0 1 0",
name="hinge2",
pos="0 0 0",
type="hinge",
)
cpole2 = e.Geom(
fromto="0 0 0 0 0 0.6",
name="cpole2",
rgba="0 0.7 0.7 1",
size="0.045 0.3",
type="capsule",
)
tip = e.Site(
name="tip",
pos="0 0 .6",
size="0.01 0.01",
)
pole2.add_children([
hinge2,
cpole2,
tip,
])
model_xml = mujoco.xml()
# Output
with open('inverted_double_pendulum_gen.xml', 'w') as fh:
fh.write(model_xml)
def main():
mujoco = e.Mujoco(model="swimmer", )
compiler = e.Compiler(
angle="degree",
coordinate="local",
inertiafromgeom="true",
)
option = e.Option(
collision="predefined",
density="4000",
integrator="RK4",
timestep="0.01",
viscosity="0.1",
)
default = e.Default()
asset = e.Asset()
worldbody = e.Worldbody()
actuator = e.Actuator()
mujoco.add_children([
compiler,
option,
default,
asset,
worldbody,
actuator,
])
geom = e.Geom(
conaffinity="1",
condim="1",
contype="1",
material="geom",
rgba="0.8 0.6 .4 1",
)
joint = e.Joint(armature="0.1", )
default.add_children([
geom,
joint,
])
texture = e.Texture(
builtin="gradient",
height="100",
rgb1="1 1 1",
rgb2="0 0 0",
type="skybox",
width="100",
)
texgeom = e.Texture(
builtin="flat",
height="1278",
mark="cross",
markrgb="1 1 1",
name="texgeom",
random="0.01",
rgb1="0.8 0.6 0.4",
rgb2="0.8 0.6 0.4",
type="cube",
width="127",
)
texplane = e.Texture(
builtin="checker",
height="100",
name="texplane",
rgb1="0 0 0",
rgb2="0.8 0.8 0.8",
type="2d",
width="100",
)
MatPlane = e.Material(
name="MatPlane",
reflectance="0.5",
shininess="1",
specular="1",
texrepeat="30 30",
texture="texplane",
)
geom_1 = e.Material(
name="geom",
texture="texgeom",
texuniform="true",
)
asset.add_children([
texture,
texgeom,
texplane,
MatPlane,
geom_1,
])
light = e.Light(
cutoff="100",
diffuse="1 1 1",
dir="-0 0 -1.3",
directional="true",
exponent="1",
pos="0 0 1.3",
specular=".1 .1 .1",
)
floor = e.Geom(
conaffinity="1",
condim="3",
material="MatPlane",
name="floor",
pos="0 0 -0.1",
rgba="0.8 0.9 0.8 1",
size="40 40 0.1",
type="plane",
)
torso = e.Body(
name="torso",
pos="0 0 0",
)
worldbody.add_children([
light,
floor,
torso,
])
motor = e.Motor(
ctrllimited="true",
ctrlrange="-1 1",
gear="150.0",
joint="rot2",
)
motor_1 = e.Motor(
ctrllimited="true",
ctrlrange="-1 1",
gear="150.0",
joint="rot3",
)
actuator.add_children([
motor,
motor_1,
])
geom_2 = e.Geom(
density="1000",
fromto="1.5 0 0 0.5 0 0",
size="0.1",
type="capsule",
)
slider1 = e.Joint(
axis="1 0 0",
name="slider1",
pos="0 0 0",
type="slide",
)
slider2 = e.Joint(
axis="0 1 0",
name="slider2",
pos="0 0 0",
type="slide",
)
rot = e.Joint(
axis="0 0 1",
name="rot",
pos="0 0 0",
type="hinge",
)
mid = e.Body(
name="mid",
pos="0.5 0 0",
)
torso.add_children([
geom_2,
slider1,
slider2,
rot,
mid,
])
geom_3 = e.Geom(
density="1000",
fromto="0 0 0 -1 0 0",
size="0.1",
type="capsule",
)
rot2 = e.Joint(
axis="0 0 1",
limited="true",
name="rot2",
pos="0 0 0",
range="-100 100",
type="hinge",
)
back = e.Body(
name="back",
pos="-1 0 0",
)
mid.add_children([
geom_3,
rot2,
back,
])
geom_4 = e.Geom(
density="1000",
fromto="0 0 0 -1 0 0",
size="0.1",
type="capsule",
)
rot3 = e.Joint(
axis="0 0 1",
limited="true",
name="rot3",
pos="0 0 0",
range="-100 100",
type="hinge",
)
back.add_children([
geom_4,
rot3,
])
model_xml = mujoco.xml()
# Output
with open('swimmer_gen.xml', 'w') as fh:
fh.write(model_xml)
def main():
mujoco = e.Mujoco(model="arm3d", )
compiler = e.Compiler(
inertiafromgeom="true",
angle="radian",
coordinate="local",
)
option = e.Option(
timestep="0.01",
gravity="0 0 0",
iterations="20",
integrator="Euler",
)
default = e.Default()
worldbody = e.Worldbody()
actuator = e.Actuator()
mujoco.add_children([
compiler,
option,
default,
worldbody,
actuator,
])
joint = e.Joint(
armature="0.04",
damping="1",
limited="true",
)
geom = e.Geom(
friction=".0 .0 .0",
density="300",
margin="0.002",
condim="1",
contype="0",
conaffinity="0",
)
default.add_children([
joint,
geom,
])
light = e.Light(
diffuse=".5 .5 .5",
pos="0 0 3",
dir="0 0 -1",
)
table = e.Geom(
name="table",
type="plane",
pos="0 0.5 -0.325",
size="1 1 0.1",
contype="1",
conaffinity="1",
)
r_shoulder_pan_link = e.Body(
name="r_shoulder_pan_link",
pos="0 -0.6 0",
)
object = e.Body(
name="object",
pos="0 0 -0.270",
)
goal = e.Body(
name="goal",
pos="0.0 0.0 -0.3230",
)
worldbody.add_children([
light,
table,
r_shoulder_pan_link,
object,
goal,
])
motor = e.Motor(
joint="r_shoulder_pan_joint",
ctrlrange="-3.0 3.0",
ctrllimited="true",
)
motor_1 = e.Motor(
joint="r_shoulder_lift_joint",
ctrlrange="-3.0 3.0",
ctrllimited="true",
)
motor_2 = e.Motor(
joint="r_upper_arm_roll_joint",
ctrlrange="-3.0 3.0",
ctrllimited="true",
)
motor_3 = e.Motor(
joint="r_elbow_flex_joint",
ctrlrange="-3.0 3.0",
ctrllimited="true",
)
motor_4 = e.Motor(
joint="r_forearm_roll_joint",
ctrlrange="-3.0 3.0",
ctrllimited="true",
)
motor_5 = e.Motor(
joint="r_wrist_flex_joint",
ctrlrange="-3.0 3.0",
ctrllimited="true",
)
motor_6 = e.Motor(
joint="r_wrist_roll_joint",
ctrlrange="-3.0 3.0",
ctrllimited="true",
)
actuator.add_children([
motor,
motor_1,
motor_2,
motor_3,
motor_4,
motor_5,
motor_6,
])
e1 = e.Geom(
name="e1",
type="sphere",
rgba="0.6 0.6 0.6 1",
pos="-0.06 0.05 0.2",
size="0.05",
)
e2 = e.Geom(
name="e2",
type="sphere",
rgba="0.6 0.6 0.6 1",
pos=" 0.06 0.05 0.2",
size="0.05",
)
e1p = e.Geom(
name="e1p",
type="sphere",
rgba="0.1 0.1 0.1 1",
pos="-0.06 0.09 0.2",
size="0.03",
)
e2p = e.Geom(
name="e2p",
type="sphere",
rgba="0.1 0.1 0.1 1",
pos=" 0.06 0.09 0.2",
size="0.03",
)
sp = e.Geom(
name="sp",
type="capsule",
fromto="0 0 -0.4 0 0 0.2",
size="0.1",
)
r_shoulder_pan_joint = e.Joint(
name="r_shoulder_pan_joint",
type="hinge",
pos="0 0 0",
axis="0 0 1",
range="-2.2854 1.714602",
damping="1.0",
)
r_shoulder_lift_link = e.Body(
name="r_shoulder_lift_link",
pos="0.1 0 0",
)
r_shoulder_pan_link.add_children([
e1,
e2,
e1p,
e2p,
sp,
r_shoulder_pan_joint,
r_shoulder_lift_link,
])
geom_1 = e.Geom(
type="sphere",
rgba="1 1 1 1",
pos="0 0 0",
size="0.05 0.05 0.05",
contype="1",
conaffinity="0",
)
obj_slidey = e.Joint(
name="obj_slidey",
armature="0.1",
type="slide",
pos="0 0 0",
axis="0 1 0",
range="-10.3213 10.3",
damping="0.5",
)
obj_slidex = e.Joint(
name="obj_slidex",
armature="0.1",
type="slide",
pos="0 0 0",
axis="1 0 0",
range="-10.3213 10.3",
damping="0.5",
)
object.add_children([
geom_1,
obj_slidey,
obj_slidex,
])
geom_2 = e.Geom(
rgba="1. 1. 1. 0",
pos="0 0 0",
type="box",
size="0.01 0.01 0.01",
contype="0",
conaffinity="0",
)
body = e.Body(pos="0 0 0", )
coaster = e.Body(
name="coaster",
pos="0 0 0",
)
body_1 = e.Body(
pos="0 0 0",
axisangle="0 0 1 0.785",
)
body_2 = e.Body(
pos="0 0 0",
axisangle="0 0 1 -0.785",
)
goal_free = e.Joint(
name="goal_free",
type="free",
pos="0 0 0",
limited="false",
damping="0",
)
goal.add_children([
geom_2,
body,
coaster,
body_1,
body_2,
goal_free,
])
sl = e.Geom(
name="sl",
type="capsule",
fromto="0 -0.1 0 0 0.1 0",
size="0.1",
)
r_shoulder_lift_joint = e.Joint(
name="r_shoulder_lift_joint",
type="hinge",
pos="0 0 0",
axis="0 1 0",
range="-0.5236 1.3963",
damping="1.0",
)
r_upper_arm_roll_link = e.Body(
name="r_upper_arm_roll_link",
pos="0 0 0",
)
r_shoulder_lift_link.add_children([
sl,
r_shoulder_lift_joint,
r_upper_arm_roll_link,
])
geom_3 = e.Geom(
rgba="1. 1. 1. 1",
pos="0 0.075 0.04",
type="box",
size="0.032 0.001 0.04",
contype="0",
conaffinity="1",
)
body.add_children([
geom_3,
])
geom_4 = e.Geom(
rgba="1. 1. 1. 1",
type="cylinder",
size="0.08 0.001 0.1",
density="1000000",
contype="0",
conaffinity="0",
)
coaster.add_children([
geom_4,
])
geom_5 = e.Geom(
rgba="1. 1. 1. 1",
pos="0 0.075 0.04",
type="box",
size="0.032 0.001 0.04",
contype="0",
conaffinity="1",
)
body_1.add_children([
geom_5,
])
geom_6 = e.Geom(
rgba="1. 1. 1. 1",
pos="0 0.075 0.04",
type="box",
size="0.032 0.001 0.04",
contype="0",
conaffinity="1",
)
body_2.add_children([
geom_6,
])
uar = e.Geom(
name="uar",
type="capsule",
fromto="-0.1 0 0 0.1 0 0",
size="0.02",
)
r_upper_arm_roll_joint = e.Joint(
name="r_upper_arm_roll_joint",
type="hinge",
pos="0 0 0",
axis="1 0 0",
range="-1.5 1.7",
damping="0.1",
)
r_upper_arm_link = e.Body(
name="r_upper_arm_link",
pos="0 0 0",
)
r_upper_arm_roll_link.add_children([
uar,
r_upper_arm_roll_joint,
r_upper_arm_link,
])
ua = e.Geom(
name="ua",
type="capsule",
fromto="0 0 0 0.4 0 0",
size="0.06",
)
r_elbow_flex_link = e.Body(
name="r_elbow_flex_link",
pos="0.4 0 0",
)
r_upper_arm_link.add_children([
ua,
r_elbow_flex_link,
])
ef = e.Geom(
name="ef",
type="capsule",
fromto="0 -0.02 0 0.0 0.02 0",
size="0.06",
)
r_elbow_flex_joint = e.Joint(
name="r_elbow_flex_joint",
type="hinge",
pos="0 0 0",
axis="0 1 0",
range="-2.3213 0",
damping="0.1",
)
r_forearm_roll_link = e.Body(
name="r_forearm_roll_link",
pos="0 0 0",
)
r_elbow_flex_link.add_children([
ef,
r_elbow_flex_joint,
r_forearm_roll_link,
])
fr = e.Geom(
name="fr",
type="capsule",
fromto="-0.1 0 0 0.1 0 0",
size="0.02",
)
r_forearm_roll_joint = e.Joint(
name="r_forearm_roll_joint",
type="hinge",
limited="true",
pos="0 0 0",
axis="1 0 0",
damping=".1",
range="-1.5 1.5",
)
r_forearm_link = e.Body(
name="r_forearm_link",
pos="0 0 0",
)
r_forearm_roll_link.add_children([
fr,
r_forearm_roll_joint,
r_forearm_link,
])
fa = e.Geom(
name="fa",
type="capsule",
fromto="0 0 0 0.291 0 0",
size="0.05",
)
r_wrist_flex_link = e.Body(
name="r_wrist_flex_link",
pos="0.321 0 0",
)
r_forearm_link.add_children([
fa,
r_wrist_flex_link,
])
wf = e.Geom(
name="wf",
type="capsule",
fromto="0 -0.02 0 0 0.02 0",
size="0.01",
)
r_wrist_flex_joint = e.Joint(
name="r_wrist_flex_joint",
type="hinge",
pos="0 0 0",
axis="0 1 0",
range="-1.094 0",
damping=".1",
)
r_wrist_roll_link = e.Body(
name="r_wrist_roll_link",
pos="0 0 0",
)
r_wrist_flex_link.add_children([
wf,
r_wrist_flex_joint,
r_wrist_roll_link,
])
r_wrist_roll_joint = e.Joint(
name="r_wrist_roll_joint",
type="hinge",
pos="0 0 0",
limited="true",
axis="1 0 0",
damping="0.1",
range="-1.5 1.5",
)
tips_arm = e.Body(
name="tips_arm",
pos="0 0 0",
)
geom_7 = e.Geom(
conaffinity="1",
contype="1",
fromto="0 -0.1 0. 0.0 +0.1 0",
size="0.02",
type="capsule",
)
r_wrist_roll_link.add_children([
r_wrist_roll_joint,
tips_arm,
geom_7,
])
tip_arml = e.Geom(
conaffinity="1",
contype="1",
name="tip_arml",
pos="0.017 0 0",
size="0.003 0.12 0.05",
type="box",
)
tips_arm.add_children([
tip_arml,
])
model_xml = mujoco.xml()
# Output
with open('striker_gen.xml', 'w') as fh:
fh.write(model_xml)
def main():
mujoco = e.Mujoco(
model="inverted pendulum",
)
compiler = e.Compiler(
inertiafromgeom="true",
)
default = e.Default(
)
option = e.Option(
gravity="0 0 -9.81",
integrator="RK4",
timestep="0.02",
)
size = e.Size(
nstack="3000",
)
worldbody = e.Worldbody(
)
actuator = e.Actuator(
)
mujoco.add_children([
compiler,
default,
option,
size,
worldbody,
actuator,
])
joint = e.Joint(
armature="0",
damping="1",
limited="true",
)
geom = e.Geom(
contype="0",
friction="1 0.1 0.1",
rgba="0.7 0.7 0 1",
)
tendon = e.Tendon(
)
motor = e.Motor(
ctrlrange="-3 3",
)
default.add_children([
joint,
geom,
tendon,
motor,
])
rail = e.Geom(
name="rail",
pos="0 0 0",
quat="0.707 0 0.707 0",
rgba="0.3 0.3 0.7 1",
size="0.02 1",
type="capsule",
)
cart = e.Body(
name="cart",
pos="0 0 0",
)
worldbody.add_children([
rail,
cart,
])
slide = e.Motor(
gear="100",
joint="slider",
name="slide",
)
actuator.add_children([
slide,
])
slider = e.Joint(
axis="1 0 0",
limited="true",
name="slider",
pos="0 0 0",
range="-1 1",
type="slide",
)
cart_1 = e.Geom(
name="cart",
pos="0 0 0",
quat="0.707 0 0.707 0",
size="0.1 0.1",
type="capsule",
)
pole = e.Body(
name="pole",
pos="0 0 0",
)
cart.add_children([
slider,
cart_1,
pole,
])
hinge = e.Joint(
axis="0 1 0",
name="hinge",
pos="0 0 0",
range="-90 90",
type="hinge",
)
cpole = e.Geom(
fromto="0 0 0 0.001 0 0.6",
name="cpole",
rgba="0 0.7 0.7 1",
size="0.049 0.3",
type="capsule",
)
pole.add_children([
hinge,
cpole,
])
model_xml = mujoco.xml()
# Output
with open('inverted_pendulum_gen.xml', 'w') as fh:
fh.write(model_xml)
def main(dataset_file):
#Path maker
handle_folder = os.path.join(args.input_dirname.format(knob_type),
dataset_file)
stl_path = os.path.join('door/{}knobs'.format(knob_type), dataset_file)
robot_path = "../../robot/{}.xml"
knob_stl_path = '../../{0}/body_{1}.stl'
with open(os.path.join(handle_folder, 'info.json'), 'r') as f:
params_dict = json.load(f)
#STL parts number
door_parts_n = 1
frame_parts_n = 6
wall_parts_n = 3
knob_parts_n = params_dict['model_count']
###################### Randomize Parameters ######################
# Lighting property
light_n = randrange(2, 6)
# Camera property
camera_random = False
camera1_pos = [0.99, -0.5, 1.0] #1m x 1m
camera1_ori = [0.0, 1.57, 1.57]
camera2_pos = [0.5, 0.0, 1.99] #1m x 1m
camera2_ori = [0, 0, 0]
camera_fieldview = 60
if camera_random:
for i in range(len(camera1_pos)):
camera1_pos[i] += randrange(-15, 15) / 1000
camera2_pos[i] += randrange(-15, 15) / 1000
for i in range(len(camera1_ori)):
camera1_ori[i] += randrange(-52, 52) / 1000
camera2_ori[i] += randrange(-52, 52) / 1000
camera_poses = [camera1_pos, camera2_pos]
camera_ories = [camera1_ori, camera2_ori]
camera_fieldview_noise = [0, 0]
# Wall property
wall_shininess = randrange(1, 50) / 100.0
wall_specular = randrange(1, 50) / 100.0
wall_rgba = [
randrange(1, 85) / 100.0,
randrange(1, 85) / 100.0,
randrange(1, 85) / 100.0, 1.0
]
wall_location = [0.0, randrange(-100, 100) / 1000.0, 0.0]
# Frame property
frame_shininess = randrange(70, 99) / 100.0
frame_specular = randrange(50, 99) / 100.0
frame_rgba = [
randrange(70, 85) / 100.0,
randrange(70, 85) / 100.0,
randrange(70, 85) / 100.0, 1.0
]
# Door Frame Joint Property
if args.righthinge_ratio > randrange(0, 100) / 100.0:
hinge_loc = "righthinge"
else:
hinge_loc = "lefthinge"
if args.pulldoor_ratio > randrange(0, 100) / 100.0:
opendir = "pull"
else:
opendir = "push"
door_frame_damper = randrange(10, 20) / 100.0
# door_frame_spring = randrange(9, 10)
door_frame_spring = randrange(10, 20) / 100.0
door_frame_frictionloss = randrange(0, 1)
# Door property
door_height = randrange(2000, 2500) / 1000.0
door_width = randrange(800, 1200) / 1000.0
door_thickness = randrange(20, 30) / 1000.0
# knob_height = randrange(864, 1219)/1000.0
knob_height = randrange(990, 1010) / 1000.0
knob_horizontal_location_ratio = randrange(
10, 20) / 100.0 #height-ratio and from-side-ratio of knob
door_mass = door_height * door_width * door_thickness * randrange(
200, 300) # (700,850) Density of MDF
door_shininess = randrange(1, 50) / 100.0
door_specular = randrange(1, 80) / 100.0
door_rgba = [
randrange(1, 100) / 100.0,
randrange(1, 100) / 100.0,
randrange(1, 100) / 100.0, 1.0
]
# Knob Door Joint Property
knob_door_damper = randrange(10, 20) / 100.0
knob_door_spring = randrange(10, 15) / 100.0
knob_door_frictionloss = randrange(0, 1)
knob_rot_range = randrange(75, 80) * 3.14 / 180
# Knob property
if hinge_loc == "righthinge":
doorknob_pos = [0, 0, 0]
knob_euler = [-1.57, 1.57, 0]
else:
doorknob_pos = [
0, (0.5 - knob_horizontal_location_ratio) * door_width * 2, 0
]
knob_euler = [1.57, 1.57, 0]
knob_mass = randrange(1, 2)
knob_shininess = randrange(50, 100) / 100.0
knob_specular = randrange(80, 100) / 100.0
knob_rgba = [
randrange(1, 100) / 100.0,
randrange(1, 100) / 100.0,
randrange(1, 100) / 100.0, 1.0
]
knob_surface_friction = [
randrange(50, 100) / 100.0,
randrange(1, 5) / 1000.0,
randrange(1, 5) / 1000.0
]
# Robot property
robot_damping = randrange(9, 11) / 100 #OpenAI suggest 0.1-3 loguniform
###################### Constant Parameters ######################
# gravity
if args.robot_type.find("floating") > -1:
gravity_vector = [0, 0, 0]
else:
gravity_vector = [0, 0, -9.81]
# Stationaly Camera number
camera_n = 2
# Wall property
sidewall_len = 2000 / 1000.0
topwall_width = 1000 / 1000.0
wall_thickness = 300 / 1000.0
wall_euler = [0, 0, 0]
wall_mass = 100
wall_diaginertia = [0.0001, 0.0001, 0.0001]
# wall Frame Joint Property
frame_wall_armature = 0.0001
frame_wall_damper = 100000000
frame_wall_spring = 1000
frame_wall_frictionloss = 0
frame_wall_joint_pos = [0, 0, 0]
# Frame property
frame_width = 100 / 1000.0
overlap_door_frame = 10 / 1000.0
frame_world_pos = [
0, -(0.5 - knob_horizontal_location_ratio) * door_width, knob_height
]
frame_euler = [0, 0, 0]
frame_mass = 500
frame_diaginertia = [0.0001, 0.0001, 0.0001]
doorstopper_size = [door_thickness / 2.0, 0.05, 0.025]
if opendir == "push":
if hinge_loc == "righthinge":
doorstopper_pos = [
door_thickness * 2.3,
-door_width * knob_horizontal_location_ratio + 0.15,
door_height - knob_height - 0.05
]
else:
doorstopper_pos = [
door_thickness * 2.3, door_width -
door_width * knob_horizontal_location_ratio - 0.15,
door_height - knob_height - 0.05
]
else:
if hinge_loc == "righthinge":
doorstopper_pos = [
0 - door_thickness * 0.7,
-door_width * knob_horizontal_location_ratio + 0.15,
door_height - knob_height - 0.05
]
else:
doorstopper_pos = [
0 - door_thickness * 0.7, door_width -
door_width * knob_horizontal_location_ratio - 0.15,
door_height - knob_height - 0.05
]
# Door Frame Joint Property
door_frame_armature = 0.0001
door_frame_limited = False
door_frame_range = [-0.5, 0.5]
if hinge_loc == "righthinge":
door_frame_joint_pos = [
0, door_width - door_width * knob_horizontal_location_ratio, 0
]
else:
door_frame_joint_pos = [
0, -door_width * knob_horizontal_location_ratio, 0
]
# Door property
door_diaginertia = [
door_mass / 12.0 * (door_height**2 + door_width**2),
door_mass / 12.0 * (door_height**2 + door_thickness**2),
door_mass / 12.0 * (door_width**2 + door_thickness**2)
]
door_euler = [0, 0, 0]
door_pos = [door_thickness * 1.1, 0, 0]
# Knob Door Joint Property
knob_door_joint_pos = [0, 0, 0]
knob_door_armature = 0.0001
knob_door_limited = True
knob_door_range = [-knob_rot_range, knob_rot_range]
latch_thickness = 0.05
latch_height = 0.05
latch_width = (door_width * knob_horizontal_location_ratio) * 1.3
latch_gap = latch_thickness * 1.05
# Knob property
if knob_type == "pull":
knob_pos = [door_thickness / 2 - 0.006, 0, 0]
else:
knob_pos = [door_thickness / 2, 0, 0]
knob_diaginertia = [
knob_mass / 12.0 * (latch_height**2 + latch_width**2),
knob_mass / 12.0 * (latch_height**2 + latch_thickness**2),
knob_mass / 12.0 * (latch_width**2 + latch_thickness**2)
]
###################### XML Generator ######################
# Level 1
mujoco = e.Mujoco(model="door_knob")
#########################
# Level 2
compiler = e.Compiler(angle="radian")
include = e.Include(file=robot_path.format(robot_type))
option = e.Option(gravity=gravity_vector, timestep=0.001)
visual = e.Visual()
asset = e.Asset()
contact = e.Contact()
default = e.Default()
worldbody = e.Worldbody()
mujoco.add_children([
compiler, include, option, visual, asset, contact, default, worldbody
])
######################
# Level 3
# Visual
visual_list = []
v_map = e.visual.Map(fogstart=3, fogend=5, force=0.1, znear=0.01, zfar=10)
v_quality = v.Quality(shadowsize=2048)
v_global = v.Global(offwidth=256, offheight=256)
visual_list.append(v_map)
visual_list.append(v_quality)
visual_list.append(v_global)
visual.add_children(visual_list)
# Asset
if knob_type == "lever":
knob_scale = [0.0015, 0.0015, 0.0015]
else:
knob_scale = [0.001, 0.001, 0.001]
mesh_knob = []
name = 'door_knob_{}'
for i in range(1, knob_parts_n + 1):
mesh_knob.append(
e.Mesh(file=knob_stl_path.format(stl_path, i),
name=name.format(i),
scale=knob_scale))
texture_list = []
texture_name_list = ['wall_geom', 'frame_geom', 'door_geom', 'knob_geom']
texture_type_list = ['2d', '2d', '2d', '2d']
for i in range(len(texture_name_list)):
texture_list.append(
e.Texture(builtin="flat",
name=texture_name_list[i],
height=32,
width=32,
type=texture_type_list[i]))
#Sky color
texture_list.append(
e.Texture(type="skybox",
builtin="gradient",
width=128,
height=128,
rgb1=[.4, .6, .8],
rgb2=[0, 0, 0]))
#Floor color
texture_list.append(
e.Texture(name='texplane',
type='2d',
builtin='checker',
rgb1=[0.2, 0.3, 0.4],
rgb2=[0.1, 0.15, 0.2],
width=512,
height=512))
material_list = []
material_name_list = ['Paint', 'Wood', 'Metal', 'Carpet']
material_shininess_list = [
wall_shininess, frame_shininess, door_shininess, knob_shininess
]
material_specular_list = [
wall_specular, frame_specular, door_specular, knob_specular
]
for i in range(len(material_name_list)):
material_list.append(
e.Material(name=material_name_list[i],
texture=texture_name_list[i],
shininess=material_shininess_list[i],
specular=material_specular_list[i]))
material_list.append(e.Material(name="Floor", texture="texplane"))
asset_list = mesh_knob
asset_list.extend(texture_list)
asset_list.extend(material_list)
asset.add_children(asset_list)
#Contact
doorstopper_contact = e.Pair(geom1="doorstopper",
geom2="door0",
solref="0.01 1")
latch_contacts = []
for i in range(4):
latch_contacts.append(
e.Pair(geom1="knob_latch",
geom2="door_frame_{}".format(i),
solref="0.01 1"))
contact_list = [doorstopper_contact]
if knob_type != "pull":
contact_list.extend(latch_contacts)
contact.add_children(contact_list)
joint_default = e.Joint(armature=1, damping=1, limited="true")
wall_default = e.Default(class_='wall')
wall_geom = e.Geom(type='mesh', rgba=wall_rgba)
wall_default.add_child(wall_geom)
frame_default = e.Default(class_='frame')
frame_geom = e.Geom(type='mesh', rgba=frame_rgba)
frame_default.add_child(frame_geom)
door_default = e.Default(class_='door')
door_geom = e.Geom(type='mesh', rgba=door_rgba)
door_default.add_child(door_geom)
knob_default = e.Default(class_='door_knob')
knob_geom = e.Geom(condim=4, type="mesh", rgba=knob_rgba)
knob_default.add_child(knob_geom)
robot_default = e.Default(class_='robot')
robot_joint = e.Joint(damping=robot_damping)
robot_motor = e.Motor(ctrllimited='true')
robot_default.add_children([robot_joint, robot_motor])
default.add_children([
joint_default, wall_default, frame_default, door_default, knob_default,
robot_default
])
# Worldbody
light_condition_list = []
for i in range(light_n):
light_condition_list.append(
e.Light(directional=True,
diffuse=[
randrange(0, 10) / 10,
randrange(0, 10) / 10,
randrange(0, 10) / 10
],
pos=[
randrange(0, 500) / 100.0,
randrange(-500, 500) / 100.0,
randrange(300, 700) / 100.0
],
dir=[
randrange(-50, 50) / 100.0,
randrange(-50, 50) / 100.0,
randrange(-50, -25) / 100.0
]))
floor_geom = e.Geom(name='floor',
material="Floor",
pos=[0, 0, -0.05],
size=[40.0, 40.0, 0.05],
type='plane')
#Camera
camera_list = []
camera_names = ["camera1", "camera2"]
for i in range(camera_n):
camera_list.append(
e.Camera(name=camera_names[i],
mode="fixed",
fovy=camera_fieldview + camera_fieldview_noise[i],
pos=camera_poses[i],
euler=camera_ories[i]))
####### All body obj #######
body0 = e.Body(name='wall_link', pos=wall_location, childclass='wall')
body1 = e.Body(name='frame_link', pos=frame_world_pos, childclass='frame')
body2 = e.Body(name='door_link', pos=door_pos, childclass='door')
body3 = e.Body(name='knob_link'.format(knob_type),
pos=doorknob_pos,
childclass='door_knob')
body4 = e.Body(name='{}knob_link'.format(knob_type),
pos=knob_pos,
childclass='door_knob')
worldbody.add_children(light_condition_list)
worldbody.add_child(floor_geom)
worldbody.add_children(camera_list)
worldbody.add_children([body0])
# ######## Level0 body (origin) ########
body0_inertial = e.Inertial(pos=[0, 0, 0],
mass=wall_mass,
diaginertia=wall_diaginertia)
body0_geoms = []
name = 'wall_{}'
pos_list = [[
0, -door_width / 2.0 - frame_width - sidewall_len / 2.0 + 0.03,
(door_height + frame_width) / 2.0
],
[
0, door_width / 2.0 + frame_width + sidewall_len / 2.0,
(door_height + frame_width) / 2.0
], [0, 0, door_height + frame_width + topwall_width / 2.0]]
size_list = [[
wall_thickness / 2.0, sidewall_len / 2.0,
(door_height + frame_width) / 2.0
],
[
wall_thickness / 2.0, sidewall_len / 2.0,
(door_height + frame_width) / 2.0
],
[
wall_thickness / 2.0,
door_width / 2.0 + frame_width + sidewall_len,
topwall_width / 2.0
]]
wall_material = material_name_list[randrange(0, 3)]
for i in range(wall_parts_n):
body0_geoms.append(
e.Geom(name=name.format(i),
material=wall_material,
pos=pos_list[i],
size=size_list[i],
type='box',
euler=frame_euler))
body0_children_list = [body0_inertial]
body0_children_list.extend(body0_geoms)
body0.add_children(body0_children_list)
body0.add_children([body1])
######## Level1 body (Frame) ########
body1_inertial = e.Inertial(pos=[0, 0, 0],
mass=frame_mass,
diaginertia=frame_diaginertia)
body1_geoms = []
# door stopper to define the pull/push opening direction
body1_geoms.append(
e.Geom(name='doorstopper',
material='Metal',
pos=doorstopper_pos,
size=doorstopper_size,
type='box',
euler=frame_euler))
# Actual frame
name = 'door_frame_{}'
pos_list = [
[
0, -door_width * knob_horizontal_location_ratio -
frame_width / 2.0 - overlap_door_frame,
(door_height + frame_width) / 2.0 - knob_height
],
[
0, door_width - door_width * knob_horizontal_location_ratio +
frame_width / 2.0 + overlap_door_frame,
(door_height + frame_width) / 2.0 - knob_height
],
[
0, door_width / 2 - door_width * knob_horizontal_location_ratio,
door_height - knob_height + frame_width / 2
],
[
-(door_thickness + latch_gap),
-door_width * knob_horizontal_location_ratio - frame_width / 2.0 -
overlap_door_frame, (door_height + frame_width) / 2.0 - knob_height
],
[
-(door_thickness + latch_gap),
door_width - door_width * knob_horizontal_location_ratio +
frame_width / 2.0 + overlap_door_frame,
(door_height + frame_width) / 2.0 - knob_height
],
[
-(door_thickness + latch_gap),
door_width / 2 - door_width * knob_horizontal_location_ratio,
door_height - knob_height + frame_width / 2
]
]
size_list = [[
door_thickness / 2.0, frame_width / 2.0,
(door_height + frame_width) / 2.0
],
[
door_thickness / 2.0, frame_width / 2.0,
(door_height + frame_width) / 2.0
],
[
door_thickness / 2.0, door_width / 2.0 + frame_width,
frame_width / 2.0
],
[
door_thickness / 2.0, frame_width / 2.0,
(door_height + frame_width) / 2.0
],
[
door_thickness / 2.0, frame_width / 2.0,
(door_height + frame_width) / 2.0
],
[
door_thickness / 2.0, door_width / 2.0 + frame_width,
frame_width / 2.0
]]
for i in range(frame_parts_n):
body1_geoms.append(
e.Geom(name=name.format(i),
material='Metal',
pos=pos_list[i],
size=size_list[i],
type='box',
euler=frame_euler))
body1_children_list = [body1_inertial]
body1_children_list.extend(body1_geoms)
body1.add_children(body1_children_list)
body1.add_children([body2])
######## Level2 body (Door) ########
body2_joints = e.Joint(name='hinge0',
type='hinge',
axis=[0, 0, 1],
armature=door_frame_armature,
stiffness=door_frame_spring,
damping=door_frame_damper,
frictionloss=door_frame_frictionloss,
limited=door_frame_limited,
range=door_frame_range,
pos=door_frame_joint_pos)
body2_inertial = e.Inertial(pos=[
0, door_width / 2.0 - door_width * knob_horizontal_location_ratio,
door_height / 2.0 - knob_height
],
mass=door_mass,
diaginertia=door_diaginertia)
door_material = material_name_list[randrange(0, 3)]
body2_geoms = [
e.Geom(name='door0',
material=door_material,
pos=[
0, door_width / 2.0 -
door_width * knob_horizontal_location_ratio,
door_height / 2.0 - knob_height
],
size=[
door_thickness / 2.0, door_width / 2.0,
door_height / 2.0 * 0.99
],
type="box",
euler=door_euler)
]
body2_children_list = [body2_joints]
body2_children_list.extend(body2_geoms)
body2_children_list.extend([body2_inertial])
body2.add_children(body2_children_list)
body2.add_children([body3])
######## Level3 body (Knob Wrapper) ########
body3_joints = []
if knob_type != "pull":
body3_joints.append(
e.Joint(name='hinge1',
type='hinge',
axis=[1, 0, 0],
armature=knob_door_armature,
stiffness=knob_door_spring,
damping=knob_door_damper,
frictionloss=knob_door_frictionloss,
limited=knob_door_limited,
range=knob_door_range,
pos=knob_door_joint_pos))
axes = [[0, 1, 0], [0, 0, 1]]
ranges = [[-0.2, 0.3], [-0.5, 0.5]]
for i in range(2):
body3_joints.append(
e.Joint(name='target{}'.format(i),
type='slide',
axis=axes[i],
armature=0,
stiffness=0,
damping=30000,
frictionloss=0,
limited="true",
range=ranges[i]))
body3_inertial = e.Inertial(pos=[0, 0, 0],
mass=1,
diaginertia=[0.001, 0.001, 0.001])
body3.add_child(body3_inertial)
body3.add_children(body3_joints)
body3.add_children([body4])
######## Level4 body (Knob Link) ########
body4_geoms = []
name = 'door_knob_{}'
mesh = 'door_knob_{}'
doorknob_material = material_name_list[randrange(0, 3)]
knobparts_start_idx = 1
for i in range(knobparts_start_idx, knob_parts_n + 1):
body4_geoms.append(
e.Geom(name=name.format(i),
material=doorknob_material,
mesh=mesh.format(i),
euler=knob_euler,
friction=knob_surface_friction))
if knob_type != "pull":
body4_geoms.append(
e.Geom(name='knob_latch',
material=material_name_list[randrange(0, 3)],
pos=[-(latch_gap / 2.0 + door_thickness * 1.5), 0, 0],
size=[latch_thickness / 2.0, latch_width, latch_height],
type="box",
euler=[0, 0, 0]))
body4_inertial = e.Inertial(
pos=[-(latch_gap / 2.0 + door_thickness * 2.1), 0, 0],
mass=knob_mass,
diaginertia=knob_diaginertia)
body4_children_list = body4_geoms
if knob_type != "pull":
body4_children_list.extend([body4_inertial])
body4.add_children(body4_children_list)
######## Write file to Output folder ########
model_xml = mujoco.xml()
name = '{0}_{1}_{2}.xml'
if args.one_dir:
output_path = args.output_dirname + '/world'
else:
output_path = os.path.join(
args.output_dirname, '{0}_{1}'.format(knob_type, args.robot_type))
try:
os.makedirs(output_path)
except OSError:
pass
output_filename = os.path.join(
output_path, name.format(dataset_file, knob_type, args.robot_type))
if knob_type == "lever" and knob_parts_n < 4:
# print("parts are too less!!", dataset_file)
pass
else:
with open(output_filename, 'w') as fh:
fh.write(model_xml)
def main():
mujoco = e.Mujoco(model="arm", )
compiler = e.Compiler(
angle="degree",
coordinate="local",
inertiafromgeom="true",
)
default = e.Default()
option = e.Option(
integrator="RK4",
timestep="0.002",
)
visual = e.Visual()
worldbody = e.Worldbody()
tendon = e.Tendon()
sensor = e.Sensor()
actuator = e.Actuator()
asset = e.Asset()
mujoco.add_children([
compiler,
default,
option,
visual,
worldbody,
tendon,
sensor,
actuator,
asset,
])
# Standard assets
utils.populated_ma_asset(asset)
# Standard floor and lighting
utils.populate_ma_worldbody(worldbody)
geom = e.Geom(
conaffinity="1",
condim="1",
contype="1",
margin="0.001",
material="geom",
rgba="0.8 0.6 .4 1",
solimp=".8 .8 .01",
solref=".02 1",
)
motor = e.Motor(
ctrllimited="true",
ctrlrange="-.4 .4",
)
default.add_children([
geom,
motor,
])
map = e.visual.Map(znear="0.02", )
visual.add_children([
map,
])
# light = e.Light(
# cutoff="100",
# diffuse="1 1 1",
# dir="-0 0 -1.3",
# directional="true",
# exponent="1",
# pos="0 0 1.3",
# specular=".1 .1 .1",
# )
# floor = e.Geom(
# conaffinity="1",
# condim="3",
# material="MatPlane",
# name="floor",
# pos="0 0 0",
# rgba="0.8 0.9 0.8 1",
# size="20 20 .125",
# type="plane",
# )
block_body = e.Body(
name="block_body",
pos="0.0 0.0 3.0",
)
worldbody.add_children([
# light,
# floor,
block_body,
])
string = e.Spatial(
name="string",
width="0.02",
rgba=".95 .3 .3 1",
limited="false",
range="0.5 2",
stiffness="3700.0",
damping="100.0",
)
tendon.add_children([
string,
])
ball_sensor = e.sensor.Force(
name="ball_sensor",
site="ball_site",
)
sensor.add_children([
ball_sensor,
])
string_actuator = e.General(
name="string_actuator",
tendon="string",
ctrllimited="true",
gainprm="2000",
ctrlrange="-2 0",
)
actuator.add_children([
string_actuator,
])
# texture = e.Texture(
# builtin="gradient",
# height="100",
# rgb1=".4 .5 .6",
# rgb2="0 0 0",
# type="skybox",
# width="100",
# )
# texgeom = e.Texture(
# builtin="flat",
# height="1278",
# mark="cross",
# markrgb="1 1 1",
# name="texgeom",
# random="0.01",
# rgb1="0.8 0.6 0.4",
# rgb2="0.8 0.6 0.4",
# type="cube",
# width="127",
# )
# texplane = e.Texture(
# builtin="checker",
# height="100",
# name="texplane",
# rgb1="0 0 0",
# rgb2="0.8 0.8 0.8",
# type="2d",
# width="100",
# )
# MatPlane = e.Material(
# name="MatPlane",
# reflectance="0.5",
# shininess="1",
# specular="1",
# texrepeat="60 60",
# texture="texplane",
# )
# geom_1 = e.Material(
# name="geom",
# texture="texgeom",
# texuniform="true",
# )
# asset.add_children([
# texture,
# texgeom,
# texplane,
# MatPlane,
# geom_1,
# ])
block_geom = e.Geom(
name="block_geom",
size="0.2 0.2 0.2",
type="box",
)
box_site = e.Site(
name="box_site",
pos="0.0 0.0 -0.2",
size="0.05",
)
ball = e.Body(
name="ball",
pos="0.0 0.0 -1.0",
)
block_body.add_children([
block_geom,
box_site,
ball,
])
site = e.spatial.Site(site="box_site", )
site_1 = e.spatial.Site(site="ball_site", )
string.add_children([
site,
site_1,
])
ball_joint = e.Joint(
name="ball_joint",
pos="0.0 0.0 -0.2",
type="ball",
damping="2.0",
)
joint = e.Joint(
type="slide",
axis="0 0 1",
damping="2.0",
)
joint_1 = e.Joint(
type="slide",
axis="0 1 0",
damping="2.0",
)
joint_2 = e.Joint(
type="slide",
axis="1 0 0",
damping="2.0",
)
geom_2 = e.Geom(
pos="0.0 0.0 0.0",
size="0.2",
type="sphere",
)
ball_site = e.Site(
name="ball_site",
pos="0.0 0.0 0.2",
size="0.05",
)
ball.add_children([
ball_joint,
joint,
joint_1,
joint_2,
geom_2,
ball_site,
])
model_xml = mujoco.xml()
# Output
out_path = os.path.join("..", "muscledagents", "envs", "mujoco", "assets",
"ballonstring.xml")
with open(out_path, 'w') as fh:
fh.write(model_xml)
def main():
mujoco = e.Mujoco()
compiler = e.Compiler(
angle="degree",
coordinate="local",
inertiafromgeom="true",
)
option = e.Option(
integrator="RK4",
timestep="0.02",
)
default = e.Default()
asset = e.Asset()
worldbody = e.Worldbody()
actuator = e.Actuator()
mujoco.add_children([
compiler,
option,
default,
asset,
worldbody,
actuator,
])
joint = e.Joint(
armature="0",
damping="0",
limited="false",
)
geom = e.Geom(
conaffinity="0",
condim="3",
density="100",
friction="1 0.5 0.5",
margin="0",
rgba="0.8 0.6 0.4 1",
)
default.add_children([
joint,
geom,
])
texture = e.Texture(
builtin="gradient",
height="100",
rgb1="1 1 1",
rgb2="0 0 0",
type="skybox",
width="100",
)
texgeom = e.Texture(
builtin="flat",
height="1278",
mark="cross",
markrgb="1 1 1",
name="texgeom",
random="0.01",
rgb1="0.8 0.6 0.4",
rgb2="0.8 0.6 0.4",
type="cube",
width="127",
)
texplane = e.Texture(
builtin="checker",
height="100",
name="texplane",
rgb1="0 0 0",
rgb2="0.8 0.8 0.8",
type="2d",
width="100",
)
MatPlane = e.Material(
name="MatPlane",
reflectance="0.5",
shininess="1",
specular="1",
texrepeat="30 30",
texture="texplane",
)
geom_1 = e.Material(
name="geom",
texture="texgeom",
texuniform="true",
)
asset.add_children([
texture,
texgeom,
texplane,
MatPlane,
geom_1,
])
light = e.Light(
cutoff="100",
diffuse="1 1 1",
dir="-0 0 -1.3",
directional="true",
exponent="1",
pos="0 0 1.3",
specular=".1 .1 .1",
)
floor = e.Geom(
conaffinity="1",
condim="3",
material="MatPlane",
name="floor",
pos="0 0 0",
rgba="0.8 0.9 0.8 1",
size="40 40 40",
type="plane",
)
torso = e.Body(
name="torso",
pos="0 0 0",
)
worldbody.add_children([
light,
floor,
torso,
])
motor = e.Motor(
ctrllimited="true",
ctrlrange="-1 1",
joint="ballx",
)
motor_1 = e.Motor(
ctrllimited="true",
ctrlrange="-0.25 0.25",
joint="rot",
)
actuator.add_children([
motor,
motor_1,
])
pointbody = e.Geom(
name="pointbody",
pos="0 0 0.5",
size="0.5",
type="sphere",
)
pointarrow = e.Geom(
name="pointarrow",
pos="0.6 0 0.5",
size="0.5 0.1 0.1",
type="box",
)
ballx = e.Joint(
axis="1 0 0",
name="ballx",
pos="0 0 0",
type="slide",
)
bally = e.Joint(
axis="0 1 0",
name="bally",
pos="0 0 0",
type="slide",
)
rot = e.Joint(
axis="0 0 1",
limited="false",
name="rot",
pos="0 0 0",
type="hinge",
)
torso.add_children([
pointbody,
pointarrow,
ballx,
bally,
rot,
])
model_xml = mujoco.xml()
# Output
with open('point_gen.xml', 'w') as fh:
fh.write(model_xml)
def main():
mujoco = e.Mujoco(model="hopper", )
compiler = e.Compiler(
angle="degree",
coordinate="global",
inertiafromgeom="true",
)
default = e.Default()
option = e.Option(
integrator="RK4",
timestep="0.002",
)
visual = e.Visual()
worldbody = e.Worldbody()
actuator = e.Actuator()
asset = e.Asset()
mujoco.add_children([
compiler,
default,
option,
visual,
worldbody,
actuator,
asset,
])
joint = e.Joint(
armature="1",
damping="1",
limited="true",
)
geom = e.Geom(
conaffinity="1",
condim="1",
contype="1",
margin="0.001",
material="geom",
rgba="0.8 0.6 .4 1",
solimp=".8 .8 .01",
solref=".02 1",
)
motor = e.Motor(
ctrllimited="true",
ctrlrange="-.4 .4",
)
default.add_children([
joint,
geom,
motor,
])
map = e.Map(znear="0.02", )
visual.add_children([
map,
])
light = e.Light(
cutoff="100",
diffuse="1 1 1",
dir="-0 0 -1.3",
directional="true",
exponent="1",
pos="0 0 1.3",
specular=".1 .1 .1",
)
floor = e.Geom(
conaffinity="1",
condim="3",
name="floor",
pos="0 0 0",
rgba="0.8 0.9 0.8 1",
size="20 20 .125",
type="plane",
material="MatPlane",
)
torso = e.Body(
name="torso",
pos="0 0 1.25",
)
worldbody.add_children([
light,
floor,
torso,
])
motor_1 = e.Motor(
ctrllimited="true",
ctrlrange="-1.0 1.0",
gear="200.0",
joint="thigh_joint",
)
motor_2 = e.Motor(
ctrllimited="true",
ctrlrange="-1.0 1.0",
gear="200.0",
joint="leg_joint",
)
motor_3 = e.Motor(
ctrllimited="true",
ctrlrange="-1.0 1.0",
gear="200.0",
joint="foot_joint",
)
actuator.add_children([
motor_1,
motor_2,
motor_3,
])
texture = e.Texture(
type="skybox",
builtin="gradient",
rgb1=".4 .5 .6",
rgb2="0 0 0",
width="100",
height="100",
)
texgeom = e.Texture(
builtin="flat",
height="1278",
mark="cross",
markrgb="1 1 1",
name="texgeom",
random="0.01",
rgb1="0.8 0.6 0.4",
rgb2="0.8 0.6 0.4",
type="cube",
width="127",
)
texplane = e.Texture(
builtin="checker",
height="100",
name="texplane",
rgb1="0 0 0",
rgb2="0.8 0.8 0.8",
type="2d",
width="100",
)
MatPlane = e.Material(
name="MatPlane",
reflectance="0.5",
shininess="1",
specular="1",
texrepeat="60 60",
texture="texplane",
)
geom_1 = e.Material(
name="geom",
texture="texgeom",
texuniform="true",
)
asset.add_children([
texture,
texgeom,
texplane,
MatPlane,
geom_1,
])
track = e.Camera(
name="track",
mode="trackcom",
pos="0 -3 1",
xyaxes="1 0 0 0 0 1",
)
rootx = e.Joint(
armature="0",
axis="1 0 0",
damping="0",
limited="false",
name="rootx",
pos="0 0 0",
stiffness="0",
type="slide",
)
rootz = e.Joint(
armature="0",
axis="0 0 1",
damping="0",
limited="false",
name="rootz",
pos="0 0 0",
ref="1.25",
stiffness="0",
type="slide",
)
rooty = e.Joint(
armature="0",
axis="0 1 0",
damping="0",
limited="false",
name="rooty",
pos="0 0 1.25",
stiffness="0",
type="hinge",
)
torso_geom = e.Geom(
friction="0.9",
fromto="0 0 1.45 0 0 1.05",
name="torso_geom",
size="0.05",
type="capsule",
)
thigh = e.Body(
name="thigh",
pos="0 0 1.05",
)
torso.add_children([
track,
rootx,
rootz,
rooty,
torso_geom,
thigh,
])
thigh_joint = e.Joint(
axis="0 -1 0",
name="thigh_joint",
pos="0 0 1.05",
range="-150 0",
type="hinge",
)
thigh_geom = e.Geom(
friction="0.9",
fromto="0 0 1.05 0 0 0.6",
name="thigh_geom",
size="0.05",
type="capsule",
)
leg = e.Body(
name="leg",
pos="0 0 0.35",
)
thigh.add_children([
thigh_joint,
thigh_geom,
leg,
])
leg_joint = e.Joint(
axis="0 -1 0",
name="leg_joint",
pos="0 0 0.6",
range="-150 0",
type="hinge",
)
leg_geom = e.Geom(
friction="0.9",
fromto="0 0 0.6 0 0 0.1",
name="leg_geom",
size="0.04",
type="capsule",
)
foot = e.Body(
name="foot",
pos="0.13/2 0 0.1",
)
leg.add_children([
leg_joint,
leg_geom,
foot,
])
foot_joint = e.Joint(
axis="0 -1 0",
name="foot_joint",
pos="0 0 0.1",
range="-45 45",
type="hinge",
)
foot_geom = e.Geom(
friction="2.0",
fromto="-0.13 0 0.1 0.26 0 0.1",
name="foot_geom",
size="0.06",
type="capsule",
)
foot.add_children([
foot_joint,
foot_geom,
])
model_xml = mujoco.xml()
# Output
with open('hopper_gen.xml', 'w') as fh:
fh.write(model_xml)
def main():
mujoco = e.Mujoco(model="humanoid", )
compiler = e.Compiler(
angle="degree",
inertiafromgeom="true",
)
default = e.Default()
worldbody = e.Worldbody()
mujoco.add_children([
compiler,
default,
worldbody,
])
joint = e.Joint(
armature="1",
damping="1",
limited="true",
)
geom = e.Geom(
conaffinity="1",
condim="1",
contype="1",
margin="0.001",
material="geom",
rgba="0.8 0.6 .4 1",
)
motor = e.Motor(
ctrllimited="true",
ctrlrange="-.4 .4",
)
default.add_children([
joint,
geom,
motor,
])
light = e.Light(
cutoff="100",
diffuse="1 1 1",
dir="-0 0 -1.3",
directional="true",
exponent="1",
pos="0 0 1.3",
specular=".1 .1 .1",
)
floor = e.Geom(
condim="3",
friction="1 .1 .1",
material="MatPlane",
name="floor",
pos="0 0 0",
rgba="0.8 0.9 0.8 1",
size="20 20 0.125",
type="plane",
)
worldbody.add_children([
light,
floor,
])
model_xml = mujoco.xml()
# Output
with open('minimal_gen.xml', 'w') as fh:
fh.write(model_xml)
def main():
mujoco = e.Mujoco(model="arm3d", )
compiler = e.Compiler(
inertiafromgeom="true",
angle="radian",
coordinate="local",
)
option = e.Option(
timestep="0.01",
gravity="0 0 -9.81",
iterations="20",
integrator="Euler",
)
default = e.Default()
worldbody = e.Worldbody()
actuator = e.Actuator()
mujoco.add_children([
compiler,
option,
default,
worldbody,
actuator,
])
joint = e.Joint(
armature="0.75",
damping="1",
limited="true",
)
geom = e.Geom(
friction=".8 .1 .1",
density="300",
margin="0.002",
condim="1",
contype="0",
conaffinity="0",
)
default.add_children([
joint,
geom,
])
light = e.Light(
diffuse=".5 .5 .5",
pos="0 0 3",
dir="0 0 -1",
)
geom_1 = e.Geom(
type="plane",
pos="0 0.5 -0.325",
size="1 1 0.1",
contype="1",
conaffinity="1",
)
r_shoulder_pan_link = e.Body(
name="r_shoulder_pan_link",
pos="0 -0.6 0",
)
goal = e.Body(
name="goal",
pos="0.575 0.5 -0.328",
)
ball = e.Body(
name="ball",
pos="0.5 -0.8 0.275",
)
worldbody.add_children([
light,
geom_1,
r_shoulder_pan_link,
goal,
ball,
])
motor = e.Motor(
joint="r_shoulder_pan_joint",
ctrlrange="-10.0 10.0",
ctrllimited="true",
)
motor_1 = e.Motor(
joint="r_shoulder_lift_joint",
ctrlrange="-10.0 10.0",
ctrllimited="true",
)
motor_2 = e.Motor(
joint="r_upper_arm_roll_joint",
ctrlrange="-10.0 10.0",
ctrllimited="true",
)
motor_3 = e.Motor(
joint="r_elbow_flex_joint",
ctrlrange="-10.0 10.0",
ctrllimited="true",
)
motor_4 = e.Motor(
joint="r_forearm_roll_joint",
ctrlrange="-15.0 15.0",
ctrllimited="true",
)
motor_5 = e.Motor(
joint="r_wrist_flex_joint",
ctrlrange="-15.0 15.0",
ctrllimited="true",
)
motor_6 = e.Motor(
joint="r_wrist_roll_joint",
ctrlrange="-15.0 15.0",
ctrllimited="true",
)
actuator.add_children([
motor,
motor_1,
motor_2,
motor_3,
motor_4,
motor_5,
motor_6,
])
e1 = e.Geom(
name="e1",
type="sphere",
rgba="0.6 0.6 0.6 1",
pos="-0.06 0.05 0.2",
size="0.05",
density="0.0001",
)
e2 = e.Geom(
name="e2",
type="sphere",
rgba="0.6 0.6 0.6 1",
pos=" 0.06 0.05 0.2",
size="0.05",
density="0.0001",
)
e1p = e.Geom(
name="e1p",
type="sphere",
rgba="0.1 0.1 0.1 1",
pos="-0.06 0.09 0.2",
size="0.03",
density="0.0001",
)
e2p = e.Geom(
name="e2p",
type="sphere",
rgba="0.1 0.1 0.1 1",
pos=" 0.06 0.09 0.2",
size="0.03",
density="0.0001",
)
sp = e.Geom(
name="sp",
type="capsule",
fromto="0 0 -0.4 0 0 0.2",
size="0.1",
density="1",
)
r_shoulder_pan_joint = e.Joint(
name="r_shoulder_pan_joint",
type="hinge",
pos="0 0 0",
axis="0 0 1",
range="-0.4854 1.214602",
damping="1.0",
)
r_shoulder_lift_link = e.Body(
name="r_shoulder_lift_link",
pos="0.1 0 0",
)
r_shoulder_pan_link.add_children([
e1,
e2,
e1p,
e2p,
sp,
r_shoulder_pan_joint,
r_shoulder_lift_link,
])
geom_2 = e.Geom(
rgba="1 1 1 1",
type="box",
pos="0 0 0.005",
size="0.075 0.075 0.001",
contype="1",
conaffinity="1",
density="1000",
)
geom_3 = e.Geom(
rgba="1 1 1 1",
type="box",
pos="0.0 0.075 0.034",
size="0.075 0.001 0.03",
contype="1",
conaffinity="0",
)
geom_4 = e.Geom(
rgba="1 1 1 1",
type="box",
pos="0.0 -0.075 0.034",
size="0.075 0.001 0.03",
contype="1",
conaffinity="0",
)
geom_5 = e.Geom(
rgba="1 1 1 1",
type="box",
pos="0.075 0 0.034",
size="0.001 0.075 0.03",
contype="1",
conaffinity="0",
)
geom_6 = e.Geom(
rgba="1 1 1 1",
type="box",
pos="-0.076 0 0.034",
size="0.001 0.075 0.03",
contype="1",
conaffinity="0",
)
geom_7 = e.Geom(
rgba="1 1 1 1",
type="capsule",
fromto="0.073 0.073 0.0075 0.073 0.073 0.06",
size="0.005",
contype="1",
conaffinity="0",
)
geom_8 = e.Geom(
rgba="1 1 1 1",
type="capsule",
fromto="0.073 -0.073 0.0075 0.073 -0.073 0.06",
size="0.005",
contype="1",
conaffinity="0",
)
geom_9 = e.Geom(
rgba="1 1 1 1",
type="capsule",
fromto="-0.073 0.073 0.0075 -0.073 0.073 0.06",
size="0.005",
contype="1",
conaffinity="0",
)
geom_10 = e.Geom(
rgba="1 1 1 1",
type="capsule",
fromto="-0.073 -0.073 0.0075 -0.073 -0.073 0.06",
size="0.005",
contype="1",
conaffinity="0",
)
goal_slidey = e.Joint(
name="goal_slidey",
type="slide",
pos="0 0 0",
axis="0 1 0",
range="-10.3213 10.3",
damping="1.0",
)
goal_slidex = e.Joint(
name="goal_slidex",
type="slide",
pos="0 0 0",
axis="1 0 0",
range="-10.3213 10.3",
damping="1.0",
)
goal.add_children([
geom_2,
geom_3,
geom_4,
geom_5,
geom_6,
geom_7,
geom_8,
geom_9,
geom_10,
goal_slidey,
goal_slidex,
])
geom_11 = e.Geom(
rgba="1. 1. 1. 1",
type="sphere",
size="0.03 0.03 0.1",
density="25",
contype="1",
conaffinity="1",
)
ball_free = e.Joint(
name="ball_free",
type="free",
armature="0",
damping="0",
limited="false",
)
ball.add_children([
geom_11,
ball_free,
])
sl = e.Geom(
name="sl",
type="capsule",
fromto="0 -0.1 0 0 0.1 0",
size="0.1",
density="0.0001",
)
r_shoulder_lift_joint = e.Joint(
name="r_shoulder_lift_joint",
type="hinge",
pos="0 0 0",
axis="0 1 0",
range="-0.5236 0.7963",
damping="1.0",
)
r_upper_arm_roll_link = e.Body(
name="r_upper_arm_roll_link",
pos="0 0 0",
)
r_shoulder_lift_link.add_children([
sl,
r_shoulder_lift_joint,
r_upper_arm_roll_link,
])
uar = e.Geom(
name="uar",
type="capsule",
fromto="-0.1 0 0 0.1 0 0",
size="0.02",
density="0.0001",
)
r_upper_arm_roll_joint = e.Joint(
name="r_upper_arm_roll_joint",
type="hinge",
pos="0 0 0",
axis="1 0 0",
range="-1.5 1.7",
damping="1.0",
)
r_upper_arm_link = e.Body(
name="r_upper_arm_link",
pos="0 0 0",
)
r_upper_arm_roll_link.add_children([
uar,
r_upper_arm_roll_joint,
r_upper_arm_link,
])
ua = e.Geom(
name="ua",
type="capsule",
fromto="0 0 0 0.4 0 0",
size="0.06",
density="0.0001",
)
r_elbow_flex_link = e.Body(
name="r_elbow_flex_link",
pos="0.4 0 0",
)
r_upper_arm_link.add_children([
ua,
r_elbow_flex_link,
])
ef = e.Geom(
name="ef",
type="capsule",
fromto="0 -0.02 0 0.0 0.02 0",
size="0.06",
density="0.0001",
)
r_elbow_flex_joint = e.Joint(
name="r_elbow_flex_joint",
type="hinge",
pos="0 0 0",
axis="0 1 0",
range="-0.7 0.7",
damping="1.0",
)
r_forearm_roll_link = e.Body(
name="r_forearm_roll_link",
pos="0 0 0",
)
r_elbow_flex_link.add_children([
ef,
r_elbow_flex_joint,
r_forearm_roll_link,
])
fr = e.Geom(
name="fr",
type="capsule",
fromto="-0.1 0 0 0.1 0 0",
size="0.02",
density="0.0001",
)
r_forearm_roll_joint = e.Joint(
name="r_forearm_roll_joint",
type="hinge",
limited="true",
pos="0 0 0",
axis="1 0 0",
damping="1.0",
range="-1.5 1.5",
)
r_forearm_link = e.Body(
name="r_forearm_link",
pos="0 0 0",
axisangle="1 0 0 0.392",
)
r_forearm_roll_link.add_children([
fr,
r_forearm_roll_joint,
r_forearm_link,
])
fa = e.Geom(
name="fa",
type="capsule",
fromto="0 0 0 0 0 0.291",
size="0.05",
density="0.0001",
)
r_wrist_flex_link = e.Body(
name="r_wrist_flex_link",
pos="0 0 0.321",
axisangle="0 0 1 1.57",
)
r_forearm_link.add_children([
fa,
r_wrist_flex_link,
])
wf = e.Geom(
name="wf",
type="capsule",
fromto="0 -0.02 0 0 0.02 0",
size="0.01",
density="0.0001",
)
r_wrist_flex_joint = e.Joint(
name="r_wrist_flex_joint",
type="hinge",
pos="0 0 0",
axis="0 0 1",
range="-1.0 1.0",
damping="1.0",
)
r_wrist_roll_link = e.Body(
name="r_wrist_roll_link",
pos="0 0 0",
axisangle="0 1 0 -1.178",
)
r_wrist_flex_link.add_children([
wf,
r_wrist_flex_joint,
r_wrist_roll_link,
])
r_wrist_roll_joint = e.Joint(
name="r_wrist_roll_joint",
type="hinge",
pos="0 0 0",
limited="true",
axis="0 1 0",
damping="1.0",
range="0 2.25",
)
geom_12 = e.Geom(
type="capsule",
fromto="0 -0.05 0 0 0.05 0",
size="0.01",
contype="1",
conaffinity="1",
density="0.0001",
)
body = e.Body(
pos="0 0 0",
axisangle="0 0 1 0.392",
)
body_1 = e.Body(
pos="0 0 0",
axisangle="0 0 1 1.57",
)
body_2 = e.Body(
pos="0 0 0",
axisangle="0 0 1 1.178",
)
body_3 = e.Body(
pos="0 0 0",
axisangle="0 0 1 0.785",
)
body_4 = e.Body(
pos="0 0 0",
axisangle="0 0 1 1.96",
)
body_5 = e.Body(
pos="0 0 0",
axisangle="0 0 1 2.355",
)
body_6 = e.Body(
pos="0 0 0",
axisangle="0 0 1 2.74",
)
r_wrist_roll_link.add_children([
r_wrist_roll_joint,
geom_12,
body,
body_1,
body_2,
body_3,
body_4,
body_5,
body_6,
])
geom_13 = e.Geom(
type="capsule",
fromto="0 0.025 0 0 0.075 0.075",
size="0.005",
contype="1",
conaffinity="1",
density="0.0001",
)
geom_14 = e.Geom(
type="capsule",
fromto="0 0.075 0.075 0 0.075 0.15",
size="0.005",
contype="1",
conaffinity="1",
density=".0001",
)
geom_15 = e.Geom(
type="capsule",
fromto="0 0.075 0.15 0 0 0.225",
size="0.005",
contype="1",
conaffinity="1",
density="0.0001",
)
body.add_children([
geom_13,
geom_14,
geom_15,
])
geom_16 = e.Geom(
type="capsule",
fromto="0 0.025 0 0 0.075 0.075",
size="0.005",
contype="1",
conaffinity="1",
density="0.0001",
)
geom_17 = e.Geom(
type="capsule",
fromto="0 0.075 0.075 0 0.075 0.15",
size="0.005",
contype="1",
conaffinity="1",
density="0.0001",
)
geom_18 = e.Geom(
type="capsule",
fromto="0 0.075 0.15 0 0 0.225",
size="0.005",
contype="1",
conaffinity="1",
density="0.0001",
)
body_1.add_children([
geom_16,
geom_17,
geom_18,
])
geom_19 = e.Geom(
type="capsule",
fromto="0 0.025 0 0 0.075 0.075",
size="0.005",
contype="1",
conaffinity="1",
density="0.0001",
)
geom_20 = e.Geom(
type="capsule",
fromto="0 0.075 0.075 0 0.075 0.15",
size="0.005",
contype="1",
conaffinity="1",
density="0.0001",
)
geom_21 = e.Geom(
type="capsule",
fromto="0 0.075 0.15 0 0 0.225",
size="0.005",
contype="1",
conaffinity="1",
density="0.0001",
)
body_2.add_children([
geom_19,
geom_20,
geom_21,
])
geom_22 = e.Geom(
type="capsule",
fromto="0 0.025 0 0 0.075 0.075",
size="0.005",
contype="1",
conaffinity="1",
density="0.0001",
)
geom_23 = e.Geom(
type="capsule",
fromto="0 0.075 0.075 0 0.075 0.15",
size="0.005",
contype="1",
conaffinity="1",
density="0.0001",
)
geom_24 = e.Geom(
type="capsule",
fromto="0 0.075 0.15 0 0 0.225",
size="0.005",
contype="1",
conaffinity="1",
density="0.0001",
)
body_3.add_children([
geom_22,
geom_23,
geom_24,
])
geom_25 = e.Geom(
type="capsule",
fromto="0 0.025 0 0 0.075 0.075",
size="0.005",
contype="1",
conaffinity="1",
density="0.0001",
)
geom_26 = e.Geom(
type="capsule",
fromto="0 0.075 0.075 0 0.075 0.15",
size="0.005",
contype="1",
conaffinity="1",
density="0.0001",
)
geom_27 = e.Geom(
type="capsule",
fromto="0 0.075 0.15 0 0 0.225",
size="0.005",
contype="1",
conaffinity="1",
density="0.0001",
)
body_4.add_children([
geom_25,
geom_26,
geom_27,
])
geom_28 = e.Geom(
type="capsule",
fromto="0 0.025 0 0 0.075 0.075",
size="0.005",
contype="1",
conaffinity="1",
density="0.0001",
)
geom_29 = e.Geom(
type="capsule",
fromto="0 0.075 0.075 0 0.075 0.15",
size="0.005",
contype="1",
conaffinity="1",
density="0.0001",
)
geom_30 = e.Geom(
type="capsule",
fromto="0 0.075 0.15 0 0 0.225",
size="0.005",
contype="1",
conaffinity="1",
density="0.0001",
)
body_5.add_children([
geom_28,
geom_29,
geom_30,
])
geom_31 = e.Geom(
type="capsule",
fromto="0 0.025 0 0 0.075 0.075",
size="0.005",
contype="1",
conaffinity="1",
density="0.0001",
)
geom_32 = e.Geom(
type="capsule",
fromto="0 0.075 0.075 0 0.075 0.15",
size="0.005",
contype="1",
conaffinity="1",
density="0.0001",
)
geom_33 = e.Geom(
type="capsule",
fromto="0 0.075 0.15 0 0 0.225",
size="0.005",
contype="1",
conaffinity="1",
density="0.0001",
)
body_6.add_children([
geom_31,
geom_32,
geom_33,
])
model_xml = mujoco.xml()
# Output
with open('thrower_gen.xml', 'w') as fh:
fh.write(model_xml)
def main():
mujoco = e.Mujoco(
model="ant",
)
compiler = e.Compiler(
angle="degree",
coordinate="local",
inertiafromgeom="true",
)
option = e.Option(
integrator="RK4",
timestep="0.01",
)
custom = e.Custom(
)
default = e.Default(
)
asset = e.Asset(
)
worldbody = e.Worldbody(
)
actuator = e.Actuator(
)
mujoco.add_children([
compiler,
option,
custom,
default,
asset,
worldbody,
actuator,
])
init_qpos = e.Numeric(
data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0",
name="init_qpos",
)
custom.add_children([
init_qpos,
])
joint = e.Joint(
armature="1",
damping="1",
limited="true",
)
geom = e.Geom(
conaffinity="0",
condim="3",
density="5.0",
friction="1 0.5 0.5",
margin="0.01",
rgba="0.8 0.6 0.4 1",
)
default.add_children([
joint,
geom,
])
texture = e.Texture(
builtin="gradient",
height="100",
rgb1="1 1 1",
rgb2="0 0 0",
type="skybox",
width="100",
)
texgeom = e.Texture(
builtin="flat",
height="1278",
mark="cross",
markrgb="1 1 1",
name="texgeom",
random="0.01",
rgb1="0.8 0.6 0.4",
rgb2="0.8 0.6 0.4",
type="cube",
width="127",
)
texplane = e.Texture(
builtin="checker",
height="100",
name="texplane",
rgb1="0 0 0",
rgb2="0.8 0.8 0.8",
type="2d",
width="100",
)
MatPlane = e.Material(
name="MatPlane",
reflectance="0.5",
shininess="1",
specular="1",
texrepeat="60 60",
texture="texplane",
)
geom_1 = e.Material(
name="geom",
texture="texgeom",
texuniform="true",
)
asset.add_children([
texture,
texgeom,
texplane,
MatPlane,
geom_1,
])
light = e.Light(
cutoff="100",
diffuse="1 1 1",
dir="-0 0 -1.3",
directional="true",
exponent="1",
pos="0 0 1.3",
specular=".1 .1 .1",
)
floor = e.Geom(
conaffinity="1",
condim="3",
material="MatPlane",
name="floor",
pos="0 0 0",
rgba="0.8 0.9 0.8 1",
size="40 40 40",
type="plane",
)
torso = e.Body(
name="torso",
pos="0 0 0.75",
)
worldbody.add_children([
light,
floor,
torso,
])
motor = e.Motor(
ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="hip_4",
gear="150",
)
motor_1 = e.Motor(
ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="ankle_4",
gear="150",
)
motor_2 = e.Motor(
ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="hip_1",
gear="150",
)
motor_3 = e.Motor(
ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="ankle_1",
gear="150",
)
motor_4 = e.Motor(
ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="hip_2",
gear="150",
)
motor_5 = e.Motor(
ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="ankle_2",
gear="150",
)
motor_6 = e.Motor(
ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="hip_3",
gear="150",
)
motor_7 = e.Motor(
ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="ankle_3",
gear="150",
)
actuator.add_children([
motor,
motor_1,
motor_2,
motor_3,
motor_4,
motor_5,
motor_6,
motor_7,
])
track = e.Camera(
name="track",
mode="trackcom",
pos="0 -3 0.3",
xyaxes="1 0 0 0 0 1",
)
torso_geom = e.Geom(
name="torso_geom",
pos="0 0 0",
size="0.25",
type="sphere",
)
root = e.Joint(
armature="0",
damping="0",
limited="false",
margin="0.01",
name="root",
pos="0 0 0",
type="free",
)
front_left_leg = e.Body(
name="front_left_leg",
pos="0 0 0",
)
front_right_leg = e.Body(
name="front_right_leg",
pos="0 0 0",
)
back_leg = e.Body(
name="back_leg",
pos="0 0 0",
)
right_back_leg = e.Body(
name="right_back_leg",
pos="0 0 0",
)
torso.add_children([
track,
torso_geom,
root,
front_left_leg,
front_right_leg,
back_leg,
right_back_leg,
])
aux_1_geom = e.Geom(
fromto="0.0 0.0 0.0 0.2 0.2 0.0",
name="aux_1_geom",
size="0.08",
type="capsule",
)
aux_1 = e.Body(
name="aux_1",
pos="0.2 0.2 0",
)
front_left_leg.add_children([
aux_1_geom,
aux_1,
])
aux_2_geom = e.Geom(
fromto="0.0 0.0 0.0 -0.2 0.2 0.0",
name="aux_2_geom",
size="0.08",
type="capsule",
)
aux_2 = e.Body(
name="aux_2",
pos="-0.2 0.2 0",
)
front_right_leg.add_children([
aux_2_geom,
aux_2,
])
aux_3_geom = e.Geom(
fromto="0.0 0.0 0.0 -0.2 -0.2 0.0",
name="aux_3_geom",
size="0.08",
type="capsule",
)
aux_3 = e.Body(
name="aux_3",
pos="-0.2 -0.2 0",
)
back_leg.add_children([
aux_3_geom,
aux_3,
])
aux_4_geom = e.Geom(
fromto="0.0 0.0 0.0 0.2 -0.2 0.0",
name="aux_4_geom",
size="0.08",
type="capsule",
)
aux_4 = e.Body(
name="aux_4",
pos="0.2 -0.2 0",
)
right_back_leg.add_children([
aux_4_geom,
aux_4,
])
hip_1 = e.Joint(
axis="0 0 1",
name="hip_1",
pos="0.0 0.0 0.0",
range="-30 30",
type="hinge",
)
left_leg_geom = e.Geom(
fromto="0.0 0.0 0.0 0.2 0.2 0.0",
name="left_leg_geom",
size="0.08",
type="capsule",
)
body = e.Body(
pos="0.2 0.2 0",
)
aux_1.add_children([
hip_1,
left_leg_geom,
body,
])
hip_2 = e.Joint(
axis="0 0 1",
name="hip_2",
pos="0.0 0.0 0.0",
range="-30 30",
type="hinge",
)
right_leg_geom = e.Geom(
fromto="0.0 0.0 0.0 -0.2 0.2 0.0",
name="right_leg_geom",
size="0.08",
type="capsule",
)
body_1 = e.Body(
pos="-0.2 0.2 0",
)
aux_2.add_children([
hip_2,
right_leg_geom,
body_1,
])
hip_3 = e.Joint(
axis="0 0 1",
name="hip_3",
pos="0.0 0.0 0.0",
range="-30 30",
type="hinge",
)
back_leg_geom = e.Geom(
fromto="0.0 0.0 0.0 -0.2 -0.2 0.0",
name="back_leg_geom",
size="0.08",
type="capsule",
)
body_2 = e.Body(
pos="-0.2 -0.2 0",
)
aux_3.add_children([
hip_3,
back_leg_geom,
body_2,
])
hip_4 = e.Joint(
axis="0 0 1",
name="hip_4",
pos="0.0 0.0 0.0",
range="-30 30",
type="hinge",
)
rightback_leg_geom = e.Geom(
fromto="0.0 0.0 0.0 0.2 -0.2 0.0",
name="rightback_leg_geom",
size="0.08",
type="capsule",
)
body_3 = e.Body(
pos="0.2 -0.2 0",
)
aux_4.add_children([
hip_4,
rightback_leg_geom,
body_3,
])
ankle_1 = e.Joint(
axis="-1 1 0",
name="ankle_1",
pos="0.0 0.0 0.0",
range="30 70",
type="hinge",
)
left_ankle_geom = e.Geom(
fromto="0.0 0.0 0.0 0.4 0.4 0.0",
name="left_ankle_geom",
size="0.08",
type="capsule",
)
body.add_children([
ankle_1,
left_ankle_geom,
])
ankle_2 = e.Joint(
axis="1 1 0",
name="ankle_2",
pos="0.0 0.0 0.0",
range="-70 -30",
type="hinge",
)
right_ankle_geom = e.Geom(
fromto="0.0 0.0 0.0 -0.4 0.4 0.0",
name="right_ankle_geom",
size="0.08",
type="capsule",
)
body_1.add_children([
ankle_2,
right_ankle_geom,
])
ankle_3 = e.Joint(
axis="-1 1 0",
name="ankle_3",
pos="0.0 0.0 0.0",
range="-70 -30",
type="hinge",
)
third_ankle_geom = e.Geom(
fromto="0.0 0.0 0.0 -0.4 -0.4 0.0",
name="third_ankle_geom",
size="0.08",
type="capsule",
)
body_2.add_children([
ankle_3,
third_ankle_geom,
])
ankle_4 = e.Joint(
axis="1 1 0",
name="ankle_4",
pos="0.0 0.0 0.0",
range="30 70",
type="hinge",
)
fourth_ankle_geom = e.Geom(
fromto="0.0 0.0 0.0 0.4 -0.4 0.0",
name="fourth_ankle_geom",
size="0.08",
type="capsule",
)
body_3.add_children([
ankle_4,
fourth_ankle_geom,
])
model_xml = mujoco.xml()
# Output
with open('ant_gen.xml', 'w') as fh:
fh.write(model_xml)
