def billiards_model(num_cats, particle_size, cmap_name='Set1'):
model = MJCModel('billiards')
root = model.root
# Setup
root.compiler(angle='radian', inertiafromgeom='true', coordinate='local')
root.option(timestep=0.01,
gravity='0 0 0',
iterations='20',
integrator='Euler')
default = root.default()
default.joint(damping=1, limited='false')
default.geom(contype=2,
conaffinity=1,
condim=1,
friction='.5 .1 .1',
density='1000',
margin='0.002')
worldbody = model.root.worldbody()
# Camera, looking from the top
worldbody.camera(name='camera', mode='fixed', pos=[0.5, 0.5, 2])
# Particle controlled by the agent
particle = worldbody.body(name='particle', pos=[0, 0, 0])
particle.geom(name='particle_geom',
type='sphere',
contype=1,
conaffinity=1,
size=particle_size,
rgba='1.0 1.0 1.0 1')
particle.joint(name='ball_x', type='slide', pos=[0, 0, 0], axis=[1, 0, 0])
particle.joint(name='ball_y', type='slide', pos=[0, 0, 0], axis=[0, 1, 0])
# Targets the agent can hit
cmap = cm.get_cmap(cmap_name)
for i in range(num_cats):
prefix = 'target{}'.format(i)
target = worldbody.body(name=prefix, pos=[0, 0, 0])
target.geom(name=prefix + '_geom',
type='sphere',
contype=1,
conaffinity=1,
size=particle_size,
rgba=list(cmap(i)))
target.joint(name='ball{}_x'.format(i),
type='slide',
pos=[0, 0, 0],
axis=[1, 0, 0])
target.joint(name='ball{}_y'.format(i),
type='slide',
pos=[0, 0, 0],
axis=[0, 1, 0])
# Borders of the world
corners = [(0, 0), (1, 0), (1, 1), (0, 1)]
def pad(z):
if z <= 0:
return z - particle_size
else:
return z + particle_size
for i in range(4):
xs, ys = corners[i]
xe, ye = corners[(i + 1) % 4]
fromto = [
pad(xs),
pad(ys), particle_size / 2,
pad(xe),
pad(ye), particle_size / 2
]
worldbody.geom(conaffinity=1,
fromto=fromto,
name='side{}'.format(i),
rgba='0.5 0.5 0.5 1',
size=particle_size,
type='capsule')
actuator = model.root.actuator()
actuator.motor(joint="ball_x", ctrlrange=[-1.0, 1.0], ctrllimited=True)
actuator.motor(joint="ball_y", ctrlrange=[-1.0, 1.0], ctrllimited=True)
return model
def ant_maze_corridor(direction=RIGHT, height=6.0, width=10.0):
mjcmodel = MJCModel('ant_maze_corridor')
mjcmodel.root.compiler(inertiafromgeom="true",
angle="degree",
coordinate="local")
mjcmodel.root.option(timestep="0.01",
gravity="0 0 -9.8",
iterations="20",
integrator="Euler")
assets = mjcmodel.root.asset()
assets.texture(builtin="gradient",
height="100",
rgb1="1 1 1",
rgb2="0 0 0",
type="skybox",
width="100")
assets.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")
assets.texture(builtin="checker",
height="100",
name="texplane",
rgb1="0 0 0",
rgb2="0.8 0.8 0.8",
type="2d",
width="100")
assets.material(name="MatPlane",
reflectance="0.5",
shininess="1",
specular="1",
texrepeat="60 60",
texture="texplane")
assets.material(name="geom", texture="texgeom", texuniform="true")
default = mjcmodel.root.default()
default.joint(armature="1", damping=1, limited='true')
default.geom(friction="1 0.5 0.5",
density="5.0",
margin="0.01",
condim="3",
conaffinity="0")
worldbody = mjcmodel.root.worldbody()
ant = worldbody.body(name='ant', pos=[height / 2, 1.0, 0.05])
ant.geom(name='torso_geom', pos=[0, 0, 0], size="0.25", type="sphere")
ant.joint(armature="0",
damping="0",
limited="false",
margin="0.01",
name="root",
pos=[0, 0, 0],
type="free")
front_left_leg = ant.body(name="front_left_leg", pos=[0, 0, 0])
front_left_leg.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 = front_left_leg.body(name="aux_1", pos=[0.2, 0.2, 0])
aux_1.joint(axis=[0, 0, 1],
name="hip_1",
pos=[0.0, 0.0, 0.0],
range=[-30, 30],
type="hinge")
aux_1.geom(fromto=[0.0, 0.0, 0.0, 0.2, 0.2, 0.0],
name="left_leg_geom",
size="0.08",
type="capsule")
ankle_1 = aux_1.body(pos=[0.2, 0.2, 0])
ankle_1.joint(axis=[-1, 1, 0],
name="ankle_1",
pos=[0.0, 0.0, 0.0],
range=[30, 70],
type="hinge")
ankle_1.geom(fromto=[0.0, 0.0, 0.0, 0.4, 0.4, 0.0],
name="left_ankle_geom",
size="0.08",
type="capsule")
front_right_leg = ant.body(name="front_right_leg", pos=[0, 0, 0])
front_right_leg.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 = front_right_leg.body(name="aux_2", pos=[-0.2, 0.2, 0])
aux_2.joint(axis=[0, 0, 1],
name="hip_2",
pos=[0.0, 0.0, 0.0],
range=[-30, 30],
type="hinge")
aux_2.geom(fromto=[0.0, 0.0, 0.0, -0.2, 0.2, 0.0],
name="right_leg_geom",
size="0.08",
type="capsule")
ankle_2 = aux_2.body(pos=[-0.2, 0.2, 0])
ankle_2.joint(axis=[1, 1, 0],
name="ankle_2",
pos=[0.0, 0.0, 0.0],
range=[-70, -30],
type="hinge")
ankle_2.geom(fromto=[0.0, 0.0, 0.0, -0.4, 0.4, 0.0],
name="right_ankle_geom",
size="0.08",
type="capsule")
back_left_leg = ant.body(name="back_left_leg", pos=[0, 0, 0])
back_left_leg.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 = back_left_leg.body(name="aux_3", pos=[-0.2, -0.2, 0])
aux_3.joint(axis=[0, 0, 1],
name="hip_3",
pos=[0.0, 0.0, 0.0],
range=[-30, 30],
type="hinge")
aux_3.geom(fromto=[0.0, 0.0, 0.0, -0.2, -0.2, 0.0],
name="backleft_leg_geom",
size="0.08",
type="capsule")
ankle_3 = aux_3.body(pos=[-0.2, -0.2, 0])
ankle_3.joint(axis=[-1, 1, 0],
name="ankle_3",
pos=[0.0, 0.0, 0.0],
range=[-70, -30],
type="hinge")
ankle_3.geom(fromto=[0.0, 0.0, 0.0, -0.4, -0.4, 0.0],
name="backleft_ankle_geom",
size="0.08",
type="capsule")
back_right_leg = ant.body(name="back_right_leg", pos=[0, 0, 0])
back_right_leg.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 = back_right_leg.body(name="aux_4", pos=[0.2, -0.2, 0])
aux_4.joint(axis=[0, 0, 1],
name="hip_4",
pos=[0.0, 0.0, 0.0],
range=[-30, 30],
type="hinge")
aux_4.geom(fromto=[0.0, 0.0, 0.0, 0.2, -0.2, 0.0],
name="backright_leg_geom",
size="0.08",
type="capsule")
ankle_4 = aux_4.body(pos=[0.2, -0.2, 0])
ankle_4.joint(axis=[1, 1, 0],
name="ankle_4",
pos=[0.0, 0.0, 0.0],
range=[30, 70],
type="hinge")
ankle_4.geom(fromto=[0.0, 0.0, 0.0, 0.4, -0.4, 0.0],
name="backright_ankle_geom",
size="0.08",
type="capsule")
target = worldbody.body(name='target', pos=[height / 2, width - 1.0, -0.5])
target.geom(name='target_geom',
conaffinity=2,
type='sphere',
size=0.2,
rgba=[0, 0.9, 0.1, 1])
l = height / 2
h = 0.75
w = 0.05
worldbody.geom(conaffinity=1,
name="sideS",
rgba="0.9 0.4 0.6 1",
size=[l, w, h],
pos=[height / 2, 0, 0],
type="box")
worldbody.geom(conaffinity=1,
name="sideE",
rgba="0.9 0.4 0.6 1",
size=[w, width / 2, h],
pos=[height, width / 2, 0],
type="box")
worldbody.geom(conaffinity=1,
name="sideN",
rgba="0.9 0.4 0.6 1",
size=[l, w, h],
pos=[height / 2, width, 0],
type="box")
worldbody.geom(conaffinity=1,
name="sideW",
rgba="0.9 0.4 0.6 1",
size=[w, width / 2, h],
pos=[0, width / 2, 0],
type="box")
# arena
wall_ratio = .55 #2.0/3
if direction == LEFT:
bx, by, bz = (height * (wall_ratio / 2), width / 2, 0)
#bx, by, bz = (height/4, width/2, 0)
# bx, by, bz = length * 5/3, length * 5/6 + w, 0
# bx1, by1, bz1 = bx - length/12, by-l/6, bz
else:
bx, by, bz = (height * (1 - wall_ratio / 2), width / 2, 0)
#bx, by, bz = (height*(3/4), width/2, 0)
# bx, by, bz = length / 3, length * 5/6 + w, 0
# bx1, by1, bz1 = bx + length/12, by-l/6, bz
worldbody.geom(conaffinity=1,
name="barrier",
rgba="0.9 0.4 0.6 1",
size=[l * (wall_ratio), w, h],
pos=[bx, by, bz],
type="box")
# worldbody.geom(conaffinity=1, name="barrier1", rgba="0.9 0.4 0.6 1", size=[w, l/2 - 2*w, h], pos=[length/2, length/2, bz], type="box")
# worldbody.geom(conaffinity=1, name="barrier2", rgba="0.9 0.4 0.6 1", size=[l/6, w, h], pos=[bx1, by1, bz1], type="box")
# worldbody.geom(conaffinity=1, name="barrier3", rgba="0.9 0.4 0.6 1", size=[w, l/6, h], pos=[bx, by, bz], type="box")
# worldbody.geom(conaffinity=1, condim=3, name="floor", rgba="0.4 0.4 0.4 1", size=[l, l, w], pos=[length/2, length/2, -h],
# type="box")
worldbody.geom(conaffinity="1",
condim="3",
material="MatPlane",
name="floor",
pos=[height / 2, height / 2, -h + w],
rgba="0.8 0.9 0.8 1",
size="40 40 40",
type="plane")
actuator = mjcmodel.root.actuator()
actuator.motor(ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="hip_4",
gear="30")
actuator.motor(ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="ankle_4",
gear="30")
actuator.motor(ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="hip_1",
gear="30")
actuator.motor(ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="ankle_1",
gear="30")
actuator.motor(ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="hip_2",
gear="30")
actuator.motor(ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="ankle_2",
gear="30")
actuator.motor(ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="hip_3",
gear="30")
actuator.motor(ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="ankle_3",
gear="30")
return mjcmodel
def pusher(goal_pos=np.array([0.45, -0.05, -0.323])):
mjcmodel = MJCModel('pusher')
mjcmodel.root.compiler(inertiafromgeom="true",
angle="radian",
coordinate="local")
mjcmodel.root.option(timestep="0.01",
gravity="0 0 0",
iterations="20",
integrator="Euler")
default = mjcmodel.root.default()
default.joint(armature=0.04, damping=1, limited=False)
default.geom(friction=[.8, .1, .1],
density=300,
margin=0.002,
condim=1,
contype=0,
conaffinity=0)
worldbody = mjcmodel.root.worldbody()
worldbody.light(diffuse=[.5, .5, .5], pos=[0, 0, 3], dir=[0, 0, -1])
worldbody.geom(name='table',
type='plane',
pos=[0, .5, -.325],
size=[1, 1, 0.1],
contype=1,
conaffinity=1)
r_shoulder_pan_link = worldbody.body(name='r_shoulder_pan_link',
pos=[0, -.6, 0])
r_shoulder_pan_link.geom(name='e1',
type='sphere',
rgba=[.6, .6, .6, 1],
pos=[-0.06, 0.05, 0.2],
size=0.05)
r_shoulder_pan_link.geom(name='e2',
type='sphere',
rgba=[.6, .6, .6, 1],
pos=[0.06, 0.05, 0.2],
size=0.05)
r_shoulder_pan_link.geom(name='e1p',
type='sphere',
rgba=[.1, .1, .1, 1],
pos=[-0.06, 0.09, 0.2],
size=0.03)
r_shoulder_pan_link.geom(name='e2p',
type='sphere',
rgba=[.1, .1, .1, 1],
pos=[0.06, 0.09, 0.2],
size=0.03)
r_shoulder_pan_link.geom(name='sp',
type='capsule',
fromto=[0, 0, -0.4, 0, 0, 0.2],
size=0.1)
r_shoulder_pan_link.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 = r_shoulder_pan_link.body(
name='r_shoulder_lift_link', pos=[0.1, 0, 0])
r_shoulder_lift_link.geom(name='s1',
type='capsule',
fromto="0 -0.1 0 0 0.1 0",
size="0.1")
r_shoulder_lift_link.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 = r_shoulder_lift_link.body(
name='r_upper_arm_roll_link', pos=[0, 0, 0])
r_upper_arm_roll_link.geom(name="uar",
type="capsule",
fromto="-0.1 0 0 0.1 0 0",
size="0.02")
r_upper_arm_roll_link.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 = r_upper_arm_roll_link.body(name='r_upper_arm_link',
pos=[0, 0, 0])
r_upper_arm_link.geom(name="ua",
type="capsule",
fromto="0 0 0 0.4 0 0",
size="0.06")
r_elbow_flex_link = r_upper_arm_link.body(name='r_elbow_flex_link',
pos=[0.4, 0, 0])
r_elbow_flex_link.geom(name="ef",
type="capsule",
fromto="0 -0.02 0 0.0 0.02 0",
size="0.06")
r_elbow_flex_link.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 = r_elbow_flex_link.body(name='r_forearm_roll_link',
pos=[0, 0, 0])
r_forearm_roll_link.geom(name="fr",
type="capsule",
fromto="-0.1 0 0 0.1 0 0",
size="0.02")
r_forearm_roll_link.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 = r_forearm_roll_link.body(name='r_forearm_link',
pos=[0, 0, 0])
r_forearm_link.geom(name="fa",
type="capsule",
fromto="0 0 0 0.291 0 0",
size="0.05")
r_wrist_flex_link = r_forearm_link.body(name='r_wrist_flex_link',
pos=[0.321, 0, 0])
r_wrist_flex_link.geom(name="wf",
type="capsule",
fromto="0 -0.02 0 0 0.02 0",
size="0.01")
r_wrist_flex_link.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 = r_wrist_flex_link.body(name='r_wrist_roll_link',
pos=[0, 0, 0])
r_wrist_roll_link.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")
r_wrist_roll_link.geom(type="capsule",
fromto="0 -0.1 0. 0.0 +0.1 0",
size="0.02",
contype="1",
conaffinity="1")
r_wrist_roll_link.geom(type="capsule",
fromto="0 -0.1 0. 0.1 -0.1 0",
size="0.02",
contype="1",
conaffinity="1")
r_wrist_roll_link.geom(type="capsule",
fromto="0 +0.1 0. 0.1 +0.1 0",
size="0.02",
contype="1",
conaffinity="1")
tips_arm = r_wrist_roll_link.body(name='tips_arm', pos=[0, 0, 0])
tips_arm.geom(name="tip_arml",
type="sphere",
pos="0.1 -0.1 0.",
size="0.01")
tips_arm.geom(name="tip_armr",
type="sphere",
pos="0.1 0.1 0.",
size="0.01")
#object_ = worldbody.body(name="object", pos=[0.45, -0.05, -0.275])
object_ = worldbody.body(name="object", pos=[0.0, 0.0, -0.275])
#object_.geom(rgba="1 1 1 0",type="sphere",size="0.05 0.05 0.05",density="0.00001",conaffinity="0")
object_.geom(rgba="1 1 1 1",
type="cylinder",
size="0.05 0.05 0.05",
density="0.00001",
conaffinity="0",
contype=1)
object_.joint(name="obj_slidey",
type="slide",
pos="0 0 0",
axis="0 1 0",
range="-10.3213 10.3",
damping="0.5")
object_.joint(name="obj_slidex",
type="slide",
pos="0 0 0",
axis="1 0 0",
range="-10.3213 10.3",
damping="0.5")
goal = worldbody.body(name='goal', pos=goal_pos)
goal.geom(rgba="1 0 0 1",
type="cylinder",
size="0.08 0.001 0.1",
density='0.00001',
contype="0",
conaffinity="0")
goal.joint(name="goal_slidey",
type="slide",
pos="0 0 0",
axis="0 1 0",
range="-10.3213 10.3",
damping="0.5")
goal.joint(name="goal_slidex",
type="slide",
pos="0 0 0",
axis="1 0 0",
range="-10.3213 10.3",
damping="0.5")
actuator = mjcmodel.root.actuator()
actuator.motor(joint="r_shoulder_pan_joint",
ctrlrange=[-2.0, 2.0],
ctrllimited=True)
actuator.motor(joint="r_shoulder_lift_joint",
ctrlrange=[-2.0, 2.0],
ctrllimited=True)
actuator.motor(joint="r_upper_arm_roll_joint",
ctrlrange=[-2.0, 2.0],
ctrllimited=True)
actuator.motor(joint="r_elbow_flex_joint",
ctrlrange=[-2.0, 2.0],
ctrllimited=True)
actuator.motor(joint="r_forearm_roll_joint",
ctrlrange=[-2.0, 2.0],
ctrllimited=True)
actuator.motor(joint="r_wrist_flex_joint",
ctrlrange=[-2.0, 2.0],
ctrllimited=True)
actuator.motor(joint="r_wrist_roll_joint",
ctrlrange=[-2.0, 2.0],
ctrllimited=True)
return mjcmodel
def block_push(object_pos=(0, 0, 0), goal_pos=(0, 0, 0)):
mjcmodel = MJCModel('block_push')
mjcmodel.root.compiler(inertiafromgeom="true",
angle="radian",
coordinate="local")
mjcmodel.root.option(timestep="0.01",
gravity="0 0 0",
iterations="20",
integrator="Euler")
default = mjcmodel.root.default()
default.joint(armature='0.04', damping=1, limited='true')
default.geom(friction=".8 .1 .1",
density="300",
margin="0.002",
condim="1",
contype="1",
conaffinity="1")
worldbody = mjcmodel.root.worldbody()
palm = worldbody.body(name='palm', pos=[0, 0, 0])
palm.geom(name='palm_geom',
type='capsule',
fromto=[0, -0.1, 0, 0, 0.1, 0],
size=.12)
proximal1 = palm.body(name='proximal_1', pos=[0, 0, 0])
proximal1.joint(name='proximal_j_1',
type='hinge',
pos=[0, 0, 0],
axis=[0, 1, 0],
range=[-2.5, 2.3])
proximal1.geom(type='capsule',
fromto=[0, 0, 0, 0.4, 0, 0],
size=0.06,
contype=1,
conaffinity=1)
distal1 = proximal1.body(name='distal_1', pos=[0.4, 0, 0])
distal1.joint(name="distal_j_1",
type="hinge",
pos="0 0 0",
axis="0 1 0",
range="-2.3213 2.3",
damping="1.0")
distal1.geom(type="capsule",
fromto="0 0 0 0.4 0 0",
size="0.06",
contype="1",
conaffinity="1")
distal2 = distal1.body(name='distal_2', pos=[0.4, 0, 0])
distal2.joint(name="distal_j_2",
type="hinge",
pos="0 0 0",
axis="0 1 0",
range="-2.3213 2.3",
damping="1.0")
distal2.geom(type="capsule",
fromto="0 0 0 0.4 0 0",
size="0.06",
contype="1",
conaffinity="1")
distal4 = distal2.body(name='distal_4', pos=[0.4, 0, 0])
distal4.site(name="tip arml", pos="0.1 0 -0.2", size="0.01")
distal4.site(name="tip armr", pos="0.1 0 0.2", size="0.01")
distal4.joint(name="distal_j_3",
type="hinge",
pos="0 0 0",
axis="1 0 0",
range="-3.3213 3.3",
damping="0.5")
distal4.geom(type="capsule",
fromto="0 0 -0.2 0 0 0.2",
size="0.04",
contype="1",
conaffinity="1")
distal4.geom(type="capsule",
fromto="0 0 -0.2 0.2 0 -0.2",
size="0.04",
contype="1",
conaffinity="1")
distal4.geom(type="capsule",
fromto="0 0 0.2 0.2 0 0.2",
size="0.04",
contype="1",
conaffinity="1")
object = worldbody.body(name='object', pos=object_pos)
object.geom(rgba="1. 1. 1. 1",
type="box",
size="0.05 0.05 0.05",
density='0.00001',
contype="1",
conaffinity="1")
object.joint(name="obj_slidez",
type="slide",
pos="0.025 0.025 0.025",
axis="0 0 1",
range="-10.3213 10.3",
damping="0.5")
object.joint(name="obj_slidex",
type="slide",
pos="0.025 0.025 0.025",
axis="1 0 0",
range="-10.3213 10.3",
damping="0.5")
distal10 = object.body(name='distal_10', pos=[0, 0, 0])
distal10.site(name='obj_pos', pos=[0.025, 0.025, 0.025], size=0.01)
goal = worldbody.body(name='goal', pos=goal_pos)
goal.geom(rgba="1. 0. 0. 1",
type="box",
size="0.1 0.1 0.1",
density='0.00001',
contype="0",
conaffinity="0")
distal11 = goal.body(name='distal_11', pos=[0, 0, 0])
distal11.site(name='goal_pos', pos=[0.05, 0.05, 0.05], size=0.01)
actuator = mjcmodel.root.actuator()
actuator.motor(joint="proximal_j_1", ctrlrange="-2 2", ctrllimited="true")
actuator.motor(joint="distal_j_1", ctrlrange="-2 2", ctrllimited="true")
actuator.motor(joint="distal_j_2", ctrlrange="-2 2", ctrllimited="true")
actuator.motor(joint="distal_j_3", ctrlrange="-2 2", ctrllimited="true")
return mjcmodel
def point_mass_maze(direction=RIGHT, length=1.2, borders=True):
mjcmodel = MJCModel('twod_maze')
mjcmodel.root.compiler(inertiafromgeom="true",
angle="radian",
coordinate="local")
mjcmodel.root.option(timestep="0.01",
gravity="0 0 0",
iterations="20",
integrator="Euler")
default = mjcmodel.root.default()
default.joint(damping=1, limited='false')
default.geom(friction=".5 .1 .1",
density="1000",
margin="0.002",
condim="1",
contype="2",
conaffinity="1")
worldbody = mjcmodel.root.worldbody()
particle = worldbody.body(name='particle', pos=[length / 2, 0, 0])
particle.geom(name='particle_geom',
type='sphere',
size='0.03',
rgba='0.0 0.0 1.0 1',
contype=1)
particle.site(name='particle_site', pos=[0, 0, 0], size=0.01)
particle.joint(name='ball_x', type='slide', pos=[0, 0, 0], axis=[1, 0, 0])
particle.joint(name='ball_y', type='slide', pos=[0, 0, 0], axis=[0, 1, 0])
target = worldbody.body(name='target', pos=[length / 2, length - 0.1, 0])
target.geom(name='target_geom',
conaffinity=2,
type='sphere',
size=0.02,
rgba=[0, 0.9, 0.1, 1])
L = -0.1
R = length
U = length
D = -0.1
if borders:
worldbody.geom(conaffinity=1,
fromto=[L, D, .01, R, D, .01],
name="sideS",
rgba="0.9 0.4 0.6 1",
size=".02",
type="capsule")
worldbody.geom(conaffinity=1,
fromto=[R, D, .01, R, U, .01],
name="sideE",
rgba="0.9 0.4 0.6 1",
size=".02",
type="capsule")
worldbody.geom(conaffinity=1,
fromto=[L, U, .01, R, U, .01],
name="sideN",
rgba="0.9 0.4 0.6 1",
size=".02",
type="capsule")
worldbody.geom(conaffinity=1,
fromto=[L, D, .01, L, U, .01],
name="sideW",
rgba="0.9 0.4 0.6 1",
size=".02",
type="capsule")
# arena
if direction == LEFT:
BL = -0.1
BR = length * 2 / 3
BH = length / 2
else:
BL = length * 1 / 3
BR = length
BH = length / 2
worldbody.geom(conaffinity=1,
fromto=[BL, BH, .01, BR, BH, .01],
name="barrier",
rgba="0.9 0.4 0.6 1",
size=".02",
type="capsule")
actuator = mjcmodel.root.actuator()
actuator.motor(joint="ball_x", ctrlrange=[-1.0, 1.0], ctrllimited=True)
actuator.motor(joint="ball_y", ctrlrange=[-1.0, 1.0], ctrllimited=True)
return mjcmodel
def twod_corridor(direction=EAST, length=1.2):
mjcmodel = MJCModel('twod_corridor')
mjcmodel.root.compiler(inertiafromgeom="true",
angle="radian",
coordinate="local")
mjcmodel.root.option(timestep="0.01",
gravity="0 0 0",
iterations="20",
integrator="Euler")
default = mjcmodel.root.default()
default.joint(damping=1, limited='false')
default.geom(friction=".5 .1 .1",
density="1000",
margin="0.002",
condim="1",
contype="2",
conaffinity="1")
worldbody = mjcmodel.root.worldbody()
particle = worldbody.body(name='particle', pos=[0, 0, 0])
particle.geom(name='particle_geom',
type='sphere',
size='0.03',
rgba='0.0 0.0 1.0 1',
contype=1)
particle.site(name='particle_site', pos=[0, 0, 0], size=0.01)
particle.joint(name='ball_x', type='slide', pos=[0, 0, 0], axis=[1, 0, 0])
particle.joint(name='ball_y', type='slide', pos=[0, 0, 0], axis=[0, 1, 0])
pos = np.array([0.0, 0, 0])
if direction == EAST or direction == WEST:
pos[0] = length - 0.1
else:
pos[1] = length - 0.1
if direction == WEST or direction == SOUTH:
pos = -pos
target = worldbody.body(name='target', pos=pos)
target.geom(name='target_geom',
conaffinity=2,
type='sphere',
size=0.02,
rgba=[0, 0.9, 0.1, 1])
# arena
if direction == EAST:
L = -0.1
R = length
U = 0.1
D = -0.1
elif direction == WEST:
L = -length
R = 0.1
U = 0.1
D = -0.1
elif direction == SOUTH:
L = -0.1
R = 0.1
U = 0.1
D = -length
elif direction == NORTH:
L = -0.1
R = 0.1
U = length
D = -0.1
worldbody.geom(conaffinity=1,
fromto=[L, D, .01, R, D, .01],
name="sideS",
rgba="0.9 0.4 0.6 1",
size=.02,
type="capsule")
worldbody.geom(conaffinity=1,
fromto=[R, D, .01, R, U, .01],
name="sideE",
rgba="0.9 0.4 0.6 1",
size=".02",
type="capsule")
worldbody.geom(conaffinity=1,
fromto=[L, U, .01, R, U, .01],
name="sideN",
rgba="0.9 0.4 0.6 1",
size=".02",
type="capsule")
worldbody.geom(conaffinity=1,
fromto=[L, D, .01, L, U, .01],
name="sideW",
rgba="0.9 0.4 0.6 1",
size=".02",
type="capsule")
actuator = mjcmodel.root.actuator()
actuator.motor(joint="ball_x", ctrlrange=[-1.0, 1.0], ctrllimited=True)
actuator.motor(joint="ball_y", ctrlrange=[-1.0, 1.0], ctrllimited=True)
return mjcmodel
def swimmer_rllab():
mjcmodel = MJCModel('swimmer')
mjcmodel.root.compiler(inertiafromgeom="true",
angle="degree",
coordinate="local")
mjcmodel.root.option(timestep=0.01,
viscosity=0.1,
density=4000,
integrator="Euler",
iterations=1000,
collision="predefined")
custom = mjcmodel.root.custom()
custom.numeric(name='frame_skip', data=50)
default = mjcmodel.root.default()
#default.joint(armature=0.1)
default.geom(rgba=[0.8, .6, .1, 1],
condim=1,
contype=1,
conaffinity=1,
material='geom')
asset = mjcmodel.root.asset()
asset.texture(builtin='gradient',
height=100,
rgb1=[1, 1, 1],
rgb2=[0, 0, 0],
type='skybox',
width=100)
asset.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)
asset.texture(builtin='checker',
height=100,
name='texplane',
rgb1=[0, 0, 0],
rgb2=[0.8, 0.8, 0.8],
type='2d',
width=100)
asset.material(name='MatPlane',
reflectance=0.5,
shininess=1,
specular=1,
texrepeat=[30, 30],
texture='texplane')
asset.material(name='geom', texture='texgeom', texuniform=True)
worldbody = mjcmodel.root.worldbody()
worldbody.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])
worldbody.geom(conaffinity=1,
condim=3,
material='MatPlane',
name='floor',
pos=[0, 0, -0.1],
rgba=[0.8, 0.9, 0.9, 1],
size=[40, 40, 0.1],
type='plane')
torso = worldbody.body(name='torso', pos=[0, 0, 0])
torso.geom(density=1000,
fromto=[1.5, 0, 0, 0.5, 0, 0],
size=0.1,
type='capsule')
torso.joint(axis=[1, 0, 0], name='slider1', pos=[0, 0, 0], type='slide')
torso.joint(axis=[0, 1, 0], name='slider2', pos=[0, 0, 0], type='slide')
torso.joint(axis=[0, 0, 1], name='rot', pos=[0, 0, 0], type='hinge')
mid = torso.body(name='mid', pos=[0.5, 0, 0])
mid.geom(density=1000,
fromto=[0, 0, 0, -1, 0, 0],
size=0.1,
type='capsule')
mid.joint(axis=[0, 0, 1],
limited=True,
name='rot2',
pos=[0, 0, 0],
range=[-100, 100],
type='hinge')
back = mid.body(name='back', pos=[-1, 0, 0])
back.geom(density=1000,
fromto=[0, 0, 0, -1, 0, 0],
size=0.1,
type='capsule')
back.joint(axis=[0, 0, 1],
limited=True,
name='rot3',
pos=[0, 0, 0],
range=[-100, 100],
type='hinge')
actuator = mjcmodel.root.actuator()
actuator.motor(ctrllimited=True, ctrlrange=[-50, 50], joint='rot2')
actuator.motor(ctrllimited=True, ctrlrange=[-50, 50], joint='rot3')
return mjcmodel
def ant_env(gear=150, eyes=True):
mjcmodel = MJCModel('ant_maze')
mjcmodel.root.compiler(inertiafromgeom="true",
angle="degree",
coordinate="local")
mjcmodel.root.option(timestep="0.01", integrator="RK4")
mjcmodel.root.custom().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")
asset = mjcmodel.root.asset()
asset.texture(builtin="gradient",
height="100",
rgb1="1 1 1",
rgb2="0 0 0",
type="skybox",
width="100")
asset.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")
asset.texture(builtin="checker",
height="100",
name="texplane",
rgb1="0 0 0",
rgb2="0.8 0.8 0.8",
type="2d",
width="100")
asset.material(name="MatPlane",
reflectance="0.5",
shininess="1",
specular="1",
texrepeat="60 60",
texture="texplane")
asset.material(name="geom", texture="texgeom", texuniform="true")
default = mjcmodel.root.default()
default.joint(armature=1, damping=1, limited='true')
default.geom(friction=[1.5, 0.5, 0.5],
density=5.0,
margin=0.01,
condim=3,
conaffinity=0,
rgba="0.8 0.6 0.4 1")
worldbody = mjcmodel.root.worldbody()
worldbody.light(cutoff="100",
diffuse=[.8, .8, .8],
dir="-0 0 -1.3",
directional="true",
exponent="1",
pos="0 0 1.3",
specular=".1 .1 .1")
worldbody.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")
ant = worldbody.body(name='torso', pos=[0, 0, 0.75])
ant.geom(name='torso_geom', pos=[0, 0, 0], size="0.25", type="sphere")
ant.joint(armature="0",
damping="0",
limited="false",
margin="0.01",
name="root",
pos=[0, 0, 0],
type="free")
if eyes:
eye_z = 0.1
eye_y = -.21
eye_x_offset = 0.07
# eyes
ant.geom(fromto=[eye_x_offset, 0, eye_z, eye_x_offset, eye_y, eye_z],
name='eye1',
size='0.03',
type='capsule',
rgba=[1, 1, 1, 1])
ant.geom(
fromto=[eye_x_offset, 0, eye_z, eye_x_offset, eye_y - 0.02, eye_z],
name='eye1_',
size='0.02',
type='capsule',
rgba=[0, 0, 0, 1])
ant.geom(fromto=[-eye_x_offset, 0, eye_z, -eye_x_offset, eye_y, eye_z],
name='eye2',
size='0.03',
type='capsule',
rgba=[1, 1, 1, 1])
ant.geom(fromto=[
-eye_x_offset, 0, eye_z, -eye_x_offset, eye_y - 0.02, eye_z
],
name='eye2_',
size='0.02',
type='capsule',
rgba=[0, 0, 0, 1])
# eyebrows
ant.geom(fromto=[
eye_x_offset - 0.03, eye_y, eye_z + 0.07, eye_x_offset + 0.03,
eye_y, eye_z + 0.1
],
name='brow1',
size='0.02',
type='capsule',
rgba=[0, 0, 0, 1])
ant.geom(fromto=[
-eye_x_offset + 0.03, eye_y, eye_z + 0.07, -eye_x_offset - 0.03,
eye_y, eye_z + 0.1
],
name='brow2',
size='0.02',
type='capsule',
rgba=[0, 0, 0, 1])
front_left_leg = ant.body(name="front_left_leg", pos=[0, 0, 0])
front_left_leg.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 = front_left_leg.body(name="aux_1", pos=[0.2, 0.2, 0])
aux_1.joint(axis=[0, 0, 1],
name="hip_1",
pos=[0.0, 0.0, 0.0],
range=[-30, 30],
type="hinge")
aux_1.geom(fromto=[0.0, 0.0, 0.0, 0.2, 0.2, 0.0],
name="left_leg_geom",
size="0.08",
type="capsule")
ankle_1 = aux_1.body(pos=[0.2, 0.2, 0])
ankle_1.joint(axis=[-1, 1, 0],
name="ankle_1",
pos=[0.0, 0.0, 0.0],
range=[30, 70],
type="hinge")
ankle_1.geom(fromto=[0.0, 0.0, 0.0, 0.4, 0.4, 0.0],
name="left_ankle_geom",
size="0.08",
type="capsule")
front_right_leg = ant.body(name="front_right_leg", pos=[0, 0, 0])
front_right_leg.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 = front_right_leg.body(name="aux_2", pos=[-0.2, 0.2, 0])
aux_2.joint(axis=[0, 0, 1],
name="hip_2",
pos=[0.0, 0.0, 0.0],
range=[-30, 30],
type="hinge")
aux_2.geom(fromto=[0.0, 0.0, 0.0, -0.2, 0.2, 0.0],
name="right_leg_geom",
size="0.08",
type="capsule")
ankle_2 = aux_2.body(pos=[-0.2, 0.2, 0])
ankle_2.joint(axis=[1, 1, 0],
name="ankle_2",
pos=[0.0, 0.0, 0.0],
range=[-70, -30],
type="hinge")
ankle_2.geom(fromto=[0.0, 0.0, 0.0, -0.4, 0.4, 0.0],
name="right_ankle_geom",
size="0.08",
type="capsule")
back_left_leg = ant.body(name="back_left_leg", pos=[0, 0, 0])
back_left_leg.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 = back_left_leg.body(name="aux_3", pos=[-0.2, -0.2, 0])
aux_3.joint(axis=[0, 0, 1],
name="hip_3",
pos=[0.0, 0.0, 0.0],
range=[-30, 30],
type="hinge")
aux_3.geom(fromto=[0.0, 0.0, 0.0, -0.2, -0.2, 0.0],
name="backleft_leg_geom",
size="0.08",
type="capsule")
ankle_3 = aux_3.body(pos=[-0.2, -0.2, 0])
ankle_3.joint(axis=[-1, 1, 0],
name="ankle_3",
pos=[0.0, 0.0, 0.0],
range=[-70, -30],
type="hinge")
ankle_3.geom(fromto=[0.0, 0.0, 0.0, -0.4, -0.4, 0.0],
name="backleft_ankle_geom",
size="0.08",
type="capsule")
back_right_leg = ant.body(name="back_right_leg", pos=[0, 0, 0])
back_right_leg.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 = back_right_leg.body(name="aux_4", pos=[0.2, -0.2, 0])
aux_4.joint(axis=[0, 0, 1],
name="hip_4",
pos=[0.0, 0.0, 0.0],
range=[-30, 30],
type="hinge")
aux_4.geom(fromto=[0.0, 0.0, 0.0, 0.2, -0.2, 0.0],
name="backright_leg_geom",
size="0.08",
type="capsule")
ankle_4 = aux_4.body(pos=[0.2, -0.2, 0])
ankle_4.joint(axis=[1, 1, 0],
name="ankle_4",
pos=[0.0, 0.0, 0.0],
range=[30, 70],
type="hinge")
ankle_4.geom(fromto=[0.0, 0.0, 0.0, 0.4, -0.4, 0.0],
name="backright_ankle_geom",
size="0.08",
type="capsule")
actuator = mjcmodel.root.actuator()
actuator.motor(ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="hip_4",
gear=gear)
actuator.motor(ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="ankle_4",
gear=gear)
actuator.motor(ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="hip_1",
gear=gear)
actuator.motor(ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="ankle_1",
gear=gear)
actuator.motor(ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="hip_2",
gear=gear)
actuator.motor(ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="ankle_2",
gear=gear)
actuator.motor(ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="hip_3",
gear=gear)
actuator.motor(ctrllimited="true",
ctrlrange="-1.0 1.0",
joint="ankle_3",
gear=gear)
return mjcmodel