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="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="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="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():
#########################
# 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 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():
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="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(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():
#########################
# Level 1
mujoco = e.Mujoco(model="ant-army")
#########################
# Level 2
compiler = e.Compiler(angle="degree",
coordinate="local",
inertiafromgeom=True)
option = e.Option(integrator="RK4", timestep=0.01)
size = e.Size(
njmax=1000,
nconmax=500,
)
custom = e.Custom()
default = e.Default()
asset = e.Asset()
worldbody = e.Worldbody()
tendon = e.Tendon()
actuator = e.Actuator()
mujoco.add_children([
compiler, option, size, custom, default, asset, worldbody, tendon,
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")
worldbody.add_children([light, floor_geom])
ant_bodies = []
ant_tendons = []
ant_actuators = []
square_side = 3
for i in range(square_side):
for j in range(square_side):
name = "ant_{}_{}".format(i, j)
y_offset = 2.5 * i
x_offset = 2.5 * j
body, tendons, actuators = get_ant(
name=name, location=[x_offset, y_offset, 0.75])
ant_bodies.append(body)
ant_tendons.extend(tendons)
ant_actuators.extend(actuators)
worldbody.add_children(ant_bodies)
# Tendon
tendon.add_children(ant_tendons)
# Actuator
actuator.add_children(ant_actuators)
model_xml = mujoco.xml()
# Output
out_path = os.path.join("..", "muscledagents", "envs", "mujoco", "assets",
"muscled-ants.xml")
with open(out_path, '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
)
size = e.Size(
njmax=1000,
nconmax=500,
)
custom = e.Custom()
default = e.Default()
asset = e.Asset()
worldbody = e.Worldbody()
tendon = e.Tendon()
actuator = e.Actuator()
mujoco.add_children([
compiler,
option,
size,
custom,
default,
asset,
worldbody,
tendon,
actuator
])
# 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])
# Standard assets
utils.populated_ma_asset(asset)
# Standard floor and lighting
utils.populate_ma_worldbody(worldbody)
# Add axes. Useful for debugging
# utils.add_axes(worldbody)
ant_bodies = []
ant_tendons = []
ant_actuators = []
body, tendons, actuators = get_ant(name="")
ant_bodies.append(body)
ant_tendons.extend(tendons)
ant_actuators.extend(actuators)
worldbody.add_children(ant_bodies)
# Tendon
tendon.add_children(ant_tendons)
# Actuator
actuator.add_children(ant_actuators)
model_xml = mujoco.xml()
filename = "muscled-ant.xml"
utils.save_model(model_xml, filename)
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="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="reacher", )
compiler = e.Compiler(
angle="degree",
inertiafromgeom=True,
)
default = e.Default()
option = e.Option(
gravity="0 0 -9.81",
integrator="RK4",
timestep="0.01",
)
worldbody = e.Worldbody()
tendon = e.Tendon()
actuator = e.Actuator()
asset = e.Asset()
mujoco.add_children(
[compiler, default, option, worldbody, tendon, actuator, asset])
# Standard assets
utils.populated_ma_asset(asset)
# Standard floor and lighting
utils.populate_ma_worldbody(worldbody)
default_joint = e.Joint(
armature=1,
damping=1,
limited=True,
)
default_geom = e.Geom(
contype="0",
friction="1 0.1 0.1",
rgba="0.7 0.7 0 1",
)
default.add_children([
default_joint,
default_geom,
])
sideS, sideE, sideN, sideW = get_sides()
shoulder_body = e.Body(name="shoulder_body", pos=[0, 0, 0])
target_body = e.Body(
name="target_body",
pos=[0, 0, .1],
)
worldbody.add_children([
sideS,
sideE,
sideN,
sideW,
shoulder_body,
target_body,
])
# ARM
# Shoulder (central pole)
pole_radius = 0.18
pole_height = 0.2
shoulder_geom = e.Geom(
conaffinity="0",
contype="0",
fromto=[0, 0, 0, 0, 0, pole_height],
name="shoulder_geom",
rgba="0.9 0.4 0.6 1",
size=pole_radius,
type="cylinder",
)
upper_arm_radius = 0.05
side_site_radius = 0.005
pole_site_offset = pole_radius * 1.2
left_flex_shoulder_insertion = e.Site(
name="left_flex_shoulder_insertion",
pos=[-pole_radius, pole_site_offset, pole_height / 2],
size=upper_arm_radius / 2)
right_flex_shoulder_insertion = e.Site(
name="right_flex_shoulder_insertion",
pos=[-pole_radius, -pole_site_offset, pole_height / 2],
size=upper_arm_radius / 2)
left_flex_shoulder_side = e.Site(
name="left_flex_shoulder_side",
pos=[0.0, pole_site_offset, pole_height / 2],
size=side_site_radius)
right_flex_shoulder_side = e.Site(
name="right_flex_shoulder_side",
pos=[0.0, -pole_site_offset, pole_height / 2],
size=side_site_radius)
upper_arm_body = e.Body(
name="upper_arm_body",
pos="0 0 .1",
)
shoulder_body.add_children([
shoulder_geom, left_flex_shoulder_insertion, left_flex_shoulder_side,
right_flex_shoulder_insertion, right_flex_shoulder_side, upper_arm_body
])
upper_arm_len = 1.0
upper_arm_geom = e.Geom(
fromto=[0, 0, 0, upper_arm_len, 0, 0],
name="upper_arm_geom",
rgba="0.0 0.2 0.4 1",
size=upper_arm_radius,
type="capsule",
)
shoulder_joint = e.Joint(
axis=[0, 0, 1],
limited=True,
range=[-100, 100],
name="shoulder_joint",
pos=[0, 0, 0],
type="hinge",
)
left_flex_ua_insertion = e.Site(
name="left_flex_ua_insertion",
pos=[upper_arm_len / 4, upper_arm_radius, 0.0],
size=upper_arm_radius / 2)
right_flex_ua_insertion = e.Site(
name="right_flex_ua_insertion",
pos=[upper_arm_len / 4, -upper_arm_radius, 0.0],
size=upper_arm_radius / 2)
left_curl_ua_insertion = e.Site(
name="left_curl_ua_insertion",
pos=[upper_arm_len / 2, upper_arm_radius, 0.0],
size=upper_arm_radius / 2)
right_curl_ua_insertion = e.Site(
name="right_curl_ua_insertion",
pos=[upper_arm_len / 2, -upper_arm_radius, 0.0],
size=upper_arm_radius / 2)
elbow_body = e.Body(name="elbow_body", pos=[upper_arm_len, 0, 0])
lower_arm_radius = 0.05
lower_arm = e.Body(
name="lower_arm",
pos="1 0 0",
)
upper_arm_body.add_children([
upper_arm_geom,
shoulder_joint,
left_flex_ua_insertion,
right_flex_ua_insertion,
left_curl_ua_insertion,
right_curl_ua_insertion,
elbow_body,
lower_arm,
])
joint_geom_radius = upper_arm_radius * 1.1
joint_geom_color = [0.3, 0.9, 0.3, 0.4] # Translucent green
elbow_geom = e.Geom(
conaffinity="0",
contype="0",
fromto=[0, 0, -upper_arm_radius, 0, 0, upper_arm_radius],
name="elbow_geom",
rgba=joint_geom_color,
size=joint_geom_radius,
type="cylinder",
)
elbow_left_side = e.Site(name="elbow_left_side",
pos=[0, joint_geom_radius * 1.1, 0.0],
size=side_site_radius)
elbow_right_side = e.Site(name="elbow_right_side",
pos=[0, -joint_geom_radius * 1.1, 0.0],
size=side_site_radius)
elbow_body.add_children([
elbow_geom,
elbow_left_side,
elbow_right_side,
])
elbow_joint = e.Joint(
axis="0 0 1",
limited="true",
name="elbow_joint",
pos="0 0 0",
range=[-172, 172],
type="hinge",
)
lower_arm_len = 1.0
lower_arm_geom = e.Geom(
fromto=[0, 0, 0, lower_arm_len, 0, 0],
name="lower_arm_geom",
rgba="0.0 0.4 0.6 1",
size=lower_arm_radius,
type="capsule",
)
left_curl_la_insertion = e.Site(
name="left_curl_la_insertion",
pos=[lower_arm_len / 4, lower_arm_radius, 0.0],
size=lower_arm_radius / 2)
right_curl_la_insertion = e.Site(
name="right_curl_la_insertion",
pos=[lower_arm_len / 4, -lower_arm_radius, 0.0],
size=lower_arm_radius / 2)
fingertip_body = e.Body(
name="fingertip_body",
pos="1.1 0 0",
)
lower_arm.add_children([
elbow_joint,
lower_arm_geom,
left_curl_la_insertion,
right_curl_la_insertion,
fingertip_body,
])
fingertip_geom = e.Geom(
contype="0",
name="fingertip_geom",
pos="0 0 0",
rgba="0.0 0.8 0.6 1",
size=".1",
type="sphere",
)
fingertip_body.add_children([
fingertip_geom,
])
# Tendons
tendon_width = 0.02
tendon_color = [0.95, 0.3, 0.3, 1]
tendon_stiffness = 100
left_flex_tendon = e.Spatial(name="left_flex_tendon",
width=tendon_width,
rgba=tendon_color,
stiffness=tendon_stiffness)
lfs1 = e.spatial.Site(site=left_flex_shoulder_insertion.name)
lf_geom = e.spatial.Geom(geom=shoulder_geom.name,
sidesite=left_flex_shoulder_side.name)
lfs2 = e.spatial.Site(site=left_flex_ua_insertion.name)
left_flex_tendon.add_children([lfs1, lf_geom, lfs2])
right_flex_tendon = e.Spatial(name="right_flex_tendon",
width=tendon_width,
rgba=tendon_color,
stiffness=tendon_stiffness)
rfs1 = e.spatial.Site(site=right_flex_shoulder_insertion.name)
rf_geom = e.spatial.Geom(geom=shoulder_geom.name,
sidesite=right_flex_shoulder_side.name)
rfs2 = e.spatial.Site(site=right_flex_ua_insertion.name)
right_flex_tendon.add_children([rfs1, rf_geom, rfs2])
left_curl_tendon = e.Spatial(name="left_curl_tendon",
width=tendon_width,
rgba=tendon_color,
stiffness=tendon_stiffness)
lcs1 = e.spatial.Site(site=left_curl_ua_insertion.name)
lc_geom = e.spatial.Geom(geom=elbow_geom.name,
sidesite=elbow_left_side.name)
lcs2 = e.spatial.Site(site=left_curl_la_insertion.name)
left_curl_tendon.add_children([lcs1, lc_geom, lcs2])
right_curl_tendon = e.Spatial(name="right_curl_tendon",
width=tendon_width,
rgba=tendon_color,
stiffness=tendon_stiffness)
rcs1 = e.spatial.Site(site=right_curl_ua_insertion.name)
rc_geom = e.spatial.Geom(geom=elbow_geom.name,
sidesite=elbow_right_side.name)
rcs2 = e.spatial.Site(site=right_curl_la_insertion.name)
right_curl_tendon.add_children([rcs1, rc_geom, rcs2])
tendon.add_children([
left_flex_tendon,
right_flex_tendon,
left_curl_tendon,
right_curl_tendon,
])
# Target Puck / Ball
# How is the ball/puck allowed to move?
target_joint_x = e.Joint(
armature="0",
axis="1 0 0",
damping="0",
limited=False,
name="target_joint_x",
pos="0 0 0",
stiffness="0",
type="slide",
)
target_joint_y = e.Joint(
armature="0",
axis="0 1 0",
damping="0",
limited=False,
name="target_joint_y",
pos="0 0 0",
stiffness="0",
type="slide",
)
target_geom = e.Geom(
conaffinity="0",
contype="0",
name="target_geom",
pos="0 0 0",
rgba="0.9 0.2 0.2 1",
size=".09",
type="sphere",
)
target_body.add_children([
target_joint_x,
target_joint_y,
target_geom,
])
# Actuators
# TODO: Replace with Muscles once 2.0 is released
act_gain = 100 # Max 100N output
act_ctrl_range = [-1.0, 0.0]
ctrllimited = "true"
left_flex_act = e.General(name="left_flex_act",
tendon=left_flex_tendon.name,
ctrllimited=ctrllimited,
gainprm=act_gain,
ctrlrange=act_ctrl_range)
right_flex_act = e.General(name="right_flex_act",
tendon=right_flex_tendon.name,
ctrllimited=ctrllimited,
gainprm=act_gain,
ctrlrange=act_ctrl_range)
left_curl_act = e.General(name="left_curl_act",
tendon=left_curl_tendon.name,
ctrllimited=ctrllimited,
gainprm=act_gain,
ctrlrange=act_ctrl_range)
right_curl_act = e.General(name="right_curl_act",
tendon=right_curl_tendon.name,
ctrllimited=ctrllimited,
gainprm=act_gain,
ctrlrange=act_ctrl_range)
actuator.add_children([
left_flex_act,
right_flex_act,
left_curl_act,
right_curl_act,
])
model_xml = mujoco.xml()
# Output
filename = "muscled-reacher.xml"
utils.save_model(model_xml, filename)
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)