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="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():
#########################
# 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(
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)