def get_ant(name="ant1", location=[0, 0, 0.75]):
if name != "":
name = "_{}".format(name)
torso = e.Body(
name="torso" + name,
pos=location,
)
# Torso
camera = e.Camera(name="track" + name,
mode="trackcom",
pos=[0, -3, 0.3],
xyaxes=[1, 0, 0, 0, 0, 1])
torso_geom = e.Geom(name="torso_geom" + name,
pos=[0, 0, 0],
size=0.25,
type="sphere",
rgba=None)
joint = e.Joint(armature=0,
damping=0,
limited=False,
margin=0.01,
name="root" + name,
pos=[0, 0, 0],
type="free")
front_right_leg, fr_tendons, fr_actuators = get_leg("front_right_leg" +
name)
front_left_leg, fl_tendons, fl_actuators = get_leg(
"front_left_leg" + name,
hip_angle=90,
)
back_left_leg, bl_tendons, bl_actuators = get_leg(
"back_left_leg" + name,
hip_angle=180,
)
back_right_leg, br_tendons, br_actuators = get_leg(
"back_right_leg" + name,
hip_angle=270,
)
torso.add_children([
camera, torso_geom, joint, front_right_leg, front_left_leg,
back_left_leg, back_right_leg
])
tendons = fr_tendons + fl_tendons + bl_tendons + br_tendons
actuators = fr_actuators + fl_actuators + bl_actuators + br_actuators
return torso, tendons, actuators
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(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)
with open(os.path.join(handle_folder, 'info.json'), 'r') as f:
params_dict = json.load(f)
#geom parts number
door_parts_n = 1
frame_parts_n = 6
wall_parts_n = 3
knob_parts_n = params_dict['model_count']
if args.robot_type == "gripper":
robot_type = "blue_gripper"
elif args.robot_type == "hook":
robot_type = "blue_hook"
elif args.robot_type == "floatinggripper":
robot_type = "blue_floatinggripper"
elif args.robot_type == "floatinghook":
robot_type = "blue_floatinghook"
elif args.robot_type == "mobilegripper":
robot_type = "blue_mobile_gripper"
elif args.robot_type == "mobilehook":
robot_type = "blue_mobile_hook"
elif args.robot_type == "baxter-leftarm":
robot_type = "baxter_leftarm"
elif args.robot_type == "baxter-rightarm":
robot_type = "baxter_rightarm"
elif args.robot_type == "baxter-botharm":
robot_type = "baxter_botharm"
else:
raise Exception("robot type not recognized")
###################### Randomize Parameters ######################
# Lighting property
light_n=randrange(2,6)
light_property_list = []
for i in range(light_n):
light_property = dict(
light_diffuse=[randrange(9,11)/10, randrange(9,11)/10, randrange(9,11)/10],
light_pos=[randrange(0,500)/100.0, randrange(-500,500)/100.0, randrange(300,700)/100.0],
light_dir=[randrange(-50,50)/100.0, randrange(-50,50)/100.0, randrange(-50,-25)/100.0]
)
light_property_list.append(light_property)
# Camera property
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
camera_randomization = False
if camera_randomization:
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(-17,17)/1000
camera2_ori[i] += randrange(-17,17)/1000
camera_fieldview_noise = [randrange(-100,100)/100, randrange(-100,100)/100]
camera_poses = [camera1_pos, camera2_pos]
camera_ories = [camera1_ori, camera2_ori]
camera_fieldview_noise = [0, 0]
#Material list
material_name_list = ['Paint','Wood','Carpet','Metal']
paint_shininess = randrange(1,50)/100.0
paint_specular = randrange(1,50)/100.0
wood_shininess = randrange(1,20)/100.0
wood_specular = randrange(1,20)/100.0
carpet_shininess = randrange(1,5)/100.0
carpet_specular = randrange(1,5)/100.0
metal_shininess = randrange(80,100)/100.0
metal_specular = randrange(80,100)/100.0
#Floor color
floor_rgb1 = [randrange(0,50)/100.0, randrange(0,50)/100.0, randrange(0,50)/100.0]
floor_rgb2 = [randrange(0,50)/100.0, randrange(0,50)/100.0, randrange(0,50)/100.0]
# Wall property
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]
wall_material = material_name_list[randrange(0,3)]
# Frame property
frame_rgba = [randrange(70,85)/100.0, randrange(70,85)/100.0, randrange(70,85)/100.0, 1.0]
frame_material = material_name_list[randrange(0,3)]
# Door Frame Joint Property
door_frame_damper = randrange(10, 20)/10.0
door_frame_spring = randrange(10, 20)/100.0
door_frame_frictionloss = randrange(0,1)
# Door hinge direction
if args.righthinge_ratio > randrange(0,100)/100.0:
hinge_loc = "righthinge"
else:
hinge_loc = "lefthinge"
# Swtich Camera1 position depending on the hinge location
if hinge_loc == "lefthinge":
camera_poses[0] = [0.99, 0.5, 1.0] #1m x 1m
# Opening direction
if args.pulldoor_ratio > randrange(0,100)/100.0:
opendir = "pull"
else:
opendir = "push"
# Door property
door_height = randrange(2000, 2500)/1000.0
door_width = randrange(750, 1200)/1000.0
door_thickness = randrange(20, 30)/1000.0
knob_height = randrange(900, 1100)/1000.0 # legal height of the door knob is 864mm to 1219mm
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) # Density of MDF is in range of 500-1000kg/m^3
door_rgba = [randrange(1,100)/100.0, randrange(1,100)/100.0, randrange(1,100)/100.0, 1.0]
door_material = material_name_list[randrange(0,3)]
# 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]
elif hinge_loc == "lefthinge":
doorknob_pos = [0, (0.5-knob_horizontal_location_ratio)*door_width*2, 0]
knob_euler = [1.57,1.57,0]
else:
raise Exception("door direction undefinded")
knob_mass = randrange(1,2)
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]
doorknob_material = material_name_list[randrange(0,3)]
high_variance = False
if high_variance:
door_frame_damper = randrange(20, 60)/100.0
door_frame_spring = randrange(20, 60)/100.0
door_mass = door_height*door_width*door_thickness*randrange(200,600) # (700,850) Density of MDF
knob_surface_friction = [randrange(0,100)/100.0, randrange(1,10)/1000.0, randrange(1,10)/1000.0]
knob_color_overfit = False
if knob_color_overfit:
material_name_list = ['Paint','Wood','Carpet','Metal']
wall_rgba = [randrange(90,95)/100.0, randrange(90,95)/100.0, randrange(90,95)/100.0, 1.0]
wall_material = material_name_list[randrange(0,2)]
frame_rgba = [randrange(90,100)/100.0, randrange(80,100)/100.0, randrange(80,100)/100.0, 1.0]
frame_material = material_name_list[randrange(0,2)]
door_rgba = [randrange(90,95)/100.0, randrange(90,95)/100.0, randrange(90,95)/100.0, 1.0]
door_material = material_name_list[randrange(0,2)]
knob_color = randrange(0,100)
if knob_color < 34:
# Brass
knob_rgba = [randrange(71,72)/100.0, randrange(66,67)/100.0, randrange(25,26)/100.0, 1.0]
elif 34 <= knob_color < 67:
# Silver
knob_rgba = [randrange(95,100)/100.0, randrange(95,100)/100.0, randrange(95,100)/100.0, 1.0]
else:
# Black
knob_rgba = [randrange(1,10)/100.0, randrange(1,10)/100.0, randrange(1,10)/100.0, 1.0]
doorknob_material = material_name_list[3]
light_n=randrange(6,8)
light_property_list = []
for i in range(light_n):
light_property = dict(
light_diffuse=[randrange(9,11)/10, randrange(9,11)/10, randrange(9,11)/10],
light_pos=[randrange(0,500)/100.0, randrange(-500,500)/100.0, randrange(300,700)/100.0],
light_dir=[randrange(-50,50)/100.0, randrange(-50,50)/100.0, randrange(-100,-80)/100.0]
)
light_property_list.append(light_property)
# Robot property
robot_damping = randrange(9, 11)/100
# robot_damping = randrange(5, 10)/10
###################### Constant Parameters ######################
# gravity
if args.robot_type.find("floating")>-1 or args.robot_type.find("baxter")>-1:
gravity_vector = [0,0,0]
else:
gravity_vector = [0,0,-9.81]
# Stationaly Camera
camera_n = 2
# World Wall Joint Property
wall_world_armature = 0.0001
wall_world_damper = 100000000
wall_world_spring = 1000
wall_world_frictionloss = 0
wall_world_joint_pos = [0,0,0]
# 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]
# Door stopper property
doorstopper_size = [door_thickness, 0.10, 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*1.8, -door_width*knob_horizontal_location_ratio+0.15, door_height-knob_height-0.05]
else:
doorstopper_pos = [0-door_thickness*1.8, 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 = True
if hinge_loc == "lefthinge":
if opendir == "push":
door_frame_range = [-0.00, 1.57]
else:
door_frame_range = [-1.57, 0.00]
else:
if opendir == "push":
door_frame_range = [-1.57, 0.00]
else:
door_frame_range = [-0.00, 1.57]
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]
# 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]
# 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 = 0.015
latch_height = 0.05
latch_width = door_width * knob_horizontal_location_ratio + frame_width/3.0
latch_gap = latch_thickness*1.3
# Knob property
if knob_type == "pull":
knob_pos = [door_thickness/2-0.006,0,0]
# knob_pos = [door_thickness/2,0,0]
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)]
# Frame position
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]]
frame_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]]
# 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_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]
]
wall_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]
]
###################### XML Generator ######################
# Level 1
mujoco = e.Mujoco(model="door_knob")
#########################
# Level 2
compiler = e.Compiler(angle="radian")
include = e.Include(file="../../robot/{}.xml".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 = []
fname = '../../{0}/body_{1}.stl'
name = 'door_knob_{}'
for i in range(1,knob_parts_n+1):
mesh_knob.append(e.Mesh(
file=fname.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='gradient',
rgb1=floor_rgb1,
rgb2=floor_rgb2,
width=512,
height=512
))
material_list = []
material_shininess_list = [paint_shininess, wood_shininess, carpet_shininess, metal_shininess]
material_specular_list = [paint_specular, wood_specular, carpet_specular, metal_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 = []
# 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_default.add_children([robot_joint])
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=light_property_list[i]['light_diffuse'],
pos=light_property_list[i]['light_pos'],
dir=light_property_list[i]['light_dir']))
floor_geom = e.Geom(
name='floor',
material="Floor",
pos=[0,0,-0.05],
size=[15.0,15.0,0.05],
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_{}'
for i in range(wall_parts_n):
body0_geoms.append(e.Geom(
name=name.format(i),
material=wall_material,
pos=wall_pos_list[i],
size=wall_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_{}'
for i in range(frame_parts_n):
body1_geoms.append(e.Geom(
name=name.format(i),
material=frame_material,
pos=frame_pos_list[i],
size=frame_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
)
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 = []
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]))
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))
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_{}'
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*2.1), 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'
output_path = os.path.join(args.output_dirname, '{0}_{1}{2}'.format(knob_type, robot_type, args.output_name_extention))
try:
os.makedirs(output_path)
except OSError:
pass
output_filename = os.path.join(output_path, name.format(dataset_file, knob_type, 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="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():
#########################
# Level 1
mujoco = e.Mujoco(model="ant")
#########################
# Level 2
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])
######################
# Level 3
# Custom
numeric = e.Numeric(
name="init_qpos",
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",
)
custom.add_child(numeric)
# Default
d_joint = e.Joint(armature=1, damping=1, limited=True)
d_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([d_joint, d_geom])
# Asset
tex1 = e.Texture(builtin="gradient",
height=100,
rgb1=[1, 1, 1],
rgb2=[0, 0, 0],
type="skybox",
width=100)
tex2 = 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)
tex3 = e.Texture(builtin="checker",
height=[100],
name="texplane",
rgb1=[0, 0, 0],
rgb2=[0.8, 0.8, 0.8],
type="2d",
width=100)
mat1 = e.Material(name="MatPlane",
reflectance=0.5,
shininess=1,
specular=1,
texrepeat=[60, 60],
texture="texplane")
mat2 = e.Material(name="geom", texture="texgeom", texuniform=True)
asset.add_children([
tex1,
tex2,
tex3,
mat1,
mat2,
])
# Worldbody
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_geom = 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_geom, torso])
# Torso
camera = 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",
rgba=None)
joint = e.Joint(armature=0,
damping=0,
limited=False,
margin=0.01,
name="root",
pos=[0, 0, 0],
type="free")
front_right_leg, fr_hip, fr_ankle = get_leg("front_right_leg")
front_left_leg, fl_hip, fl_ankle = get_leg(
"front_left_leg",
hip_angle=90,
)
back_left_leg, bl_hip, bl_ankle = get_leg(
"back_left_leg",
hip_angle=180,
)
back_right_leg, br_hip, br_ankle = get_leg(
"back_right_leg",
hip_angle=270,
)
torso.add_children([
camera, torso_geom, joint, front_right_leg, front_left_leg,
back_left_leg, back_right_leg
])
# Actuator
actuator.add_children([
fr_hip, fr_ankle, fl_hip, fl_ankle, bl_hip, bl_ankle, br_hip, br_ankle
])
model_xml = mujoco.xml()
# Output
with open('ant-gen.xml', 'w') as fh:
fh.write(model_xml)
def get_ant(name="ant1", location=[0, 0, 0.75]):
if name != "":
name = "_{}".format(name)
torso = e.Body(
name="torso"+name,
pos=location,
)
# Torso
camera = e.Camera(
name="track"+name,
mode="track",
pos=[0, -6, 0.6],
xyaxes=[1, 0, 0, 0, 0, 1]
)
torso_geom = e.Geom(
name="torso_geom"+name,
pos=[0, 0, 0],
size=0.25,
type="sphere",
rgba=None
)
joint = e.Joint(
armature=0,
damping=0,
limited=False,
margin=0.01,
name="root"+name,
pos=[0, 0, 0],
type="free"
)
front_right_leg, fr_tendons, fr_actuators = get_leg(
"front_right_leg"+name,
hip_angle=-45
)
front_left_leg, fl_tendons, fl_actuators = get_leg(
"front_left_leg"+name,
hip_angle=45,
)
back_right_leg, br_tendons, br_actuators = get_leg(
"back_right_leg"+name,
hip_angle=-135,
)
back_left_leg, bl_tendons, bl_actuators = get_leg(
"back_left_leg"+name,
hip_angle=135,
)
torso.add_children([
camera,
torso_geom,
joint,
front_right_leg,
front_left_leg,
back_right_leg,
back_left_leg,
])
# chain() is used for easy commenting out
tendons = list(chain(
fr_tendons,
fl_tendons,
br_tendons,
bl_tendons,
))
actuators = list(chain(
fr_actuators,
fl_actuators,
br_actuators,
bl_actuators,
))
return torso, tendons, actuators
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="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)
def get_ant(name="ant1", location=[0, 0, 0.75]):
torso = e.Body(
name="torso_"+name,
pos=location,
)
# Torso
camera = e.Camera(
name="track_"+name,
mode="trackcom",
pos=[0, -3, 0.3],
xyaxes=[1, 0, 0, 0, 0, 1]
)
torso_geom = e.Geom(
name="torso_geom_"+name,
pos=[0, 0, 0],
size=0.25,
type="sphere",
rgba=None
)
joint = e.Joint(
armature=0,
damping=0,
limited=False,
margin=0.01,
name="root_"+name,
pos=[0, 0, 0],
type="free"
)
front_right_leg, fr_hip, fr_ankle = get_leg(
"front_right_leg_"+name
)
front_left_leg, fl_hip, fl_ankle = get_leg(
"front_left_leg_"+name,
hip_angle=90,
)
back_left_leg, bl_hip, bl_ankle = get_leg(
"back_left_leg_"+name,
hip_angle=180,
)
back_right_leg, br_hip, br_ankle = get_leg(
"back_right_leg_"+name,
hip_angle=270,
)
torso.add_children([
camera,
torso_geom,
joint,
front_right_leg,
front_left_leg,
back_left_leg,
back_right_leg
])
actuators = [
fr_hip,
fr_ankle,
fl_hip,
fl_ankle,
bl_hip,
bl_ankle,
br_hip,
br_ankle
]
return torso, actuators