def main():
mujoco = e.Mujoco(model="empty-world")
compiler = e.Compiler(angle="degree",
coordinate="local",
inertiafromgeom=True)
option = e.Option(integrator="RK4", timestep=0.01)
size = e.Size(
njmax=1000,
nconmax=500,
)
default = e.Default()
asset = e.Asset()
worldbody = e.Worldbody()
mujoco.add_children([
compiler,
option,
size,
default,
asset,
worldbody,
])
# 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)
model_xml = mujoco.xml()
filename = "empty-world.xml"
utils.save_model(model_xml, filename)
def main():
mujoco = e.Mujoco(model="humanoidstandup", )
compiler = e.Compiler(
angle="degree",
inertiafromgeom="true",
)
default = e.Default()
option = e.Option(
integrator="RK4",
iterations="50",
solver="PGS",
timestep="0.003",
)
size = e.Size(
nkey="5",
nuser_geom="1",
)
visual = e.Visual()
asset = e.Asset()
worldbody = e.Worldbody()
tendon = e.Tendon()
actuator = e.Actuator()
mujoco.add_children([
compiler,
default,
option,
size,
visual,
asset,
worldbody,
tendon,
actuator,
])
joint = e.Joint(
armature="1",
damping="1",
limited="true",
)
geom = e.Geom(
conaffinity="1",
condim="1",
contype="1",
margin="0.001",
material="geom",
rgba="0.8 0.6 .4 1",
)
motor = e.Motor(
ctrllimited="true",
ctrlrange="-.4 .4",
)
default.add_children([
joint,
geom,
motor,
])
map = e.Map(
fogend="5",
fogstart="3",
)
visual.add_children([
map,
])
texture = e.Texture(
builtin="gradient",
height="100",
rgb1=".4 .5 .6",
rgb2="0 0 0",
type="skybox",
width="100",
)
texgeom = e.Texture(
builtin="flat",
height="1278",
mark="cross",
markrgb="1 1 1",
name="texgeom",
random="0.01",
rgb1="0.8 0.6 0.4",
rgb2="0.8 0.6 0.4",
type="cube",
width="127",
)
texplane = e.Texture(
builtin="checker",
height="100",
name="texplane",
rgb1="0 0 0",
rgb2="0.8 0.8 0.8",
type="2d",
width="100",
)
MatPlane = e.Material(
name="MatPlane",
reflectance="0.5",
shininess="1",
specular="1",
texrepeat="60 60",
texture="texplane",
)
geom_1 = e.Material(
name="geom",
texture="texgeom",
texuniform="true",
)
asset.add_children([
texture,
texgeom,
texplane,
MatPlane,
geom_1,
])
light = e.Light(
cutoff="100",
diffuse="1 1 1",
dir="-0 0 -1.3",
directional="true",
exponent="1",
pos="0 0 1.3",
specular=".1 .1 .1",
)
floor = e.Geom(
condim="3",
friction="1 .1 .1",
material="MatPlane",
name="floor",
pos="0 0 0",
rgba="0.8 0.9 0.8 1",
size="20 20 0.125",
type="plane",
)
torso = e.Body(
name="torso",
pos="0 0 .105",
)
worldbody.add_children([
light,
floor,
torso,
])
left_hipknee = e.Fixed(name="left_hipknee", )
right_hipknee = e.Fixed(name="right_hipknee", )
tendon.add_children([
left_hipknee,
right_hipknee,
])
abdomen_y = e.Motor(
gear="100",
joint="abdomen_y",
name="abdomen_y",
)
abdomen_z = e.Motor(
gear="100",
joint="abdomen_z",
name="abdomen_z",
)
abdomen_x = e.Motor(
gear="100",
joint="abdomen_x",
name="abdomen_x",
)
right_hip_x = e.Motor(
gear="100",
joint="right_hip_x",
name="right_hip_x",
)
right_hip_z = e.Motor(
gear="100",
joint="right_hip_z",
name="right_hip_z",
)
right_hip_y = e.Motor(
gear="300",
joint="right_hip_y",
name="right_hip_y",
)
right_knee = e.Motor(
gear="200",
joint="right_knee",
name="right_knee",
)
left_hip_x = e.Motor(
gear="100",
joint="left_hip_x",
name="left_hip_x",
)
left_hip_z = e.Motor(
gear="100",
joint="left_hip_z",
name="left_hip_z",
)
left_hip_y = e.Motor(
gear="300",
joint="left_hip_y",
name="left_hip_y",
)
left_knee = e.Motor(
gear="200",
joint="left_knee",
name="left_knee",
)
right_shoulder1 = e.Motor(
gear="25",
joint="right_shoulder1",
name="right_shoulder1",
)
right_shoulder2 = e.Motor(
gear="25",
joint="right_shoulder2",
name="right_shoulder2",
)
right_elbow = e.Motor(
gear="25",
joint="right_elbow",
name="right_elbow",
)
left_shoulder1 = e.Motor(
gear="25",
joint="left_shoulder1",
name="left_shoulder1",
)
left_shoulder2 = e.Motor(
gear="25",
joint="left_shoulder2",
name="left_shoulder2",
)
left_elbow = e.Motor(
gear="25",
joint="left_elbow",
name="left_elbow",
)
actuator.add_children([
abdomen_y,
abdomen_z,
abdomen_x,
right_hip_x,
right_hip_z,
right_hip_y,
right_knee,
left_hip_x,
left_hip_z,
left_hip_y,
left_knee,
right_shoulder1,
right_shoulder2,
right_elbow,
left_shoulder1,
left_shoulder2,
left_elbow,
])
track = e.Camera(
name="track",
mode="trackcom",
pos="0 -3 .5",
xyaxes="1 0 0 0 0 1",
)
root = e.Joint(
armature="0",
damping="0",
limited="false",
name="root",
pos="0 0 0",
stiffness="0",
type="free",
)
torso1 = e.Geom(
fromto="0 -.07 0 0 .07 0",
name="torso1",
size="0.07",
type="capsule",
)
head = e.Geom(
name="head",
pos="-.15 0 0",
size=".09",
type="sphere",
user="******",
)
uwaist = e.Geom(
fromto=".11 -.06 0 .11 .06 0",
name="uwaist",
size="0.06",
type="capsule",
)
lwaist = e.Body(
name="lwaist",
pos=".21 0 0",
quat="1.000 0 -0.002 0",
)
right_upper_arm = e.Body(
name="right_upper_arm",
pos="0 -0.17 0.06",
)
left_upper_arm = e.Body(
name="left_upper_arm",
pos="0 0.17 0.06",
)
torso.add_children([
track,
root,
torso1,
head,
uwaist,
lwaist,
right_upper_arm,
left_upper_arm,
])
joint_1 = e.Joint(
coef="-1",
joint="left_hip_y",
)
joint_2 = e.Joint(
coef="1",
joint="left_knee",
)
left_hipknee.add_children([
joint_1,
joint_2,
])
joint_3 = e.Joint(
coef="-1",
joint="right_hip_y",
)
joint_4 = e.Joint(
coef="1",
joint="right_knee",
)
right_hipknee.add_children([
joint_3,
joint_4,
])
lwaist_1 = e.Geom(
fromto="0 -.06 0 0 .06 0",
name="lwaist",
size="0.06",
type="capsule",
)
abdomen_z_1 = e.Joint(
armature="0.02",
axis="0 0 1",
damping="5",
name="abdomen_z",
pos="0 0 0.065",
range="-45 45",
stiffness="20",
type="hinge",
)
abdomen_y_1 = e.Joint(
armature="0.02",
axis="0 1 0",
damping="5",
name="abdomen_y",
pos="0 0 0.065",
range="-75 30",
stiffness="10",
type="hinge",
)
pelvis = e.Body(
name="pelvis",
pos="0.165 0 0",
quat="1.000 0 -0.002 0",
)
lwaist.add_children([
lwaist_1,
abdomen_z_1,
abdomen_y_1,
pelvis,
])
right_shoulder1_1 = e.Joint(
armature="0.0068",
axis="2 1 1",
name="right_shoulder1",
pos="0 0 0",
range="-85 60",
stiffness="1",
type="hinge",
)
right_shoulder2_1 = e.Joint(
armature="0.0051",
axis="0 -1 1",
name="right_shoulder2",
pos="0 0 0",
range="-85 60",
stiffness="1",
type="hinge",
)
right_uarm1 = e.Geom(
fromto="0 0 0 .16 -.16 -.16",
name="right_uarm1",
size="0.04 0.16",
type="capsule",
)
right_lower_arm = e.Body(
name="right_lower_arm",
pos=".18 -.18 -.18",
)
right_upper_arm.add_children([
right_shoulder1_1,
right_shoulder2_1,
right_uarm1,
right_lower_arm,
])
left_shoulder1_1 = e.Joint(
armature="0.0068",
axis="2 -1 1",
name="left_shoulder1",
pos="0 0 0",
range="-60 85",
stiffness="1",
type="hinge",
)
left_shoulder2_1 = e.Joint(
armature="0.0051",
axis="0 1 1",
name="left_shoulder2",
pos="0 0 0",
range="-60 85",
stiffness="1",
type="hinge",
)
left_uarm1 = e.Geom(
fromto="0 0 0 .16 .16 -.16",
name="left_uarm1",
size="0.04 0.16",
type="capsule",
)
left_lower_arm = e.Body(
name="left_lower_arm",
pos=".18 .18 -.18",
)
left_upper_arm.add_children([
left_shoulder1_1,
left_shoulder2_1,
left_uarm1,
left_lower_arm,
])
abdomen_x_1 = e.Joint(
armature="0.02",
axis="1 0 0",
damping="5",
name="abdomen_x",
pos="0 0 0.1",
range="-35 35",
stiffness="10",
type="hinge",
)
butt = e.Geom(
fromto="-.02 -.07 0 -.02 .07 0",
name="butt",
size="0.09",
type="capsule",
)
right_thigh = e.Body(
name="right_thigh",
pos="0 -0.1 0",
)
left_thigh = e.Body(
name="left_thigh",
pos="0 0.1 0",
)
pelvis.add_children([
abdomen_x_1,
butt,
right_thigh,
left_thigh,
])
right_elbow_1 = e.Joint(
armature="0.0028",
axis="0 -1 1",
name="right_elbow",
pos="0 0 0",
range="-90 50",
stiffness="0",
type="hinge",
)
right_larm = e.Geom(
fromto="0.01 0.01 0.01 .17 .17 .17",
name="right_larm",
size="0.031",
type="capsule",
)
right_hand = e.Geom(
name="right_hand",
pos=".18 .18 .18",
size="0.04",
type="sphere",
)
camera = e.Camera(pos="0 0 0", )
right_lower_arm.add_children([
right_elbow_1,
right_larm,
right_hand,
camera,
])
left_elbow_1 = e.Joint(
armature="0.0028",
axis="0 -1 -1",
name="left_elbow",
pos="0 0 0",
range="-90 50",
stiffness="0",
type="hinge",
)
left_larm = e.Geom(
fromto="0.01 -0.01 0.01 .17 -.17 .17",
name="left_larm",
size="0.031",
type="capsule",
)
left_hand = e.Geom(
name="left_hand",
pos=".18 -.18 .18",
size="0.04",
type="sphere",
)
left_lower_arm.add_children([
left_elbow_1,
left_larm,
left_hand,
])
right_hip_x_1 = e.Joint(
armature="0.01",
axis="1 0 0",
damping="5",
name="right_hip_x",
pos="0 0 0",
range="-25 5",
stiffness="10",
type="hinge",
)
right_hip_z_1 = e.Joint(
armature="0.01",
axis="0 0 1",
damping="5",
name="right_hip_z",
pos="0 0 0",
range="-60 35",
stiffness="10",
type="hinge",
)
right_hip_y_1 = e.Joint(
armature="0.0080",
axis="0 1 0",
damping="5",
name="right_hip_y",
pos="0 0 0",
range="-110 20",
stiffness="20",
type="hinge",
)
right_thigh1 = e.Geom(
fromto="0 0 0 0.34 0.01 0",
name="right_thigh1",
size="0.06",
type="capsule",
)
right_shin = e.Body(
name="right_shin",
pos="0.403 0.01 0",
)
right_thigh.add_children([
right_hip_x_1,
right_hip_z_1,
right_hip_y_1,
right_thigh1,
right_shin,
])
left_hip_x_1 = e.Joint(
armature="0.01",
axis="-1 0 0",
damping="5",
name="left_hip_x",
pos="0 0 0",
range="-25 5",
stiffness="10",
type="hinge",
)
left_hip_z_1 = e.Joint(
armature="0.01",
axis="0 0 -1",
damping="5",
name="left_hip_z",
pos="0 0 0",
range="-60 35",
stiffness="10",
type="hinge",
)
left_hip_y_1 = e.Joint(
armature="0.01",
axis="0 1 0",
damping="5",
name="left_hip_y",
pos="0 0 0",
range="-120 20",
stiffness="20",
type="hinge",
)
left_thigh1 = e.Geom(
fromto="0 0 0 0.34 -0.01 0",
name="left_thigh1",
size="0.06",
type="capsule",
)
left_shin = e.Body(
name="left_shin",
pos="0.403 -0.01 0",
)
left_thigh.add_children([
left_hip_x_1,
left_hip_z_1,
left_hip_y_1,
left_thigh1,
left_shin,
])
right_knee_1 = e.Joint(
armature="0.0060",
axis="0 -1 0",
name="right_knee",
pos="0 0 .02",
range="-160 -2",
type="hinge",
)
right_shin1 = e.Geom(
fromto="0 0 0 0.3 0 0",
name="right_shin1",
size="0.049",
type="capsule",
)
right_foot = e.Body(
name="right_foot",
pos="0.35 0 -.10",
)
right_shin.add_children([
right_knee_1,
right_shin1,
right_foot,
])
left_knee_1 = e.Joint(
armature="0.0060",
axis="0 -1 0",
name="left_knee",
pos="0 0 .02",
range="-160 -2",
stiffness="1",
type="hinge",
)
left_shin1 = e.Geom(
fromto="0 0 0 0.3 0 0",
name="left_shin1",
size="0.049",
type="capsule",
)
left_foot = e.Body(
name="left_foot",
pos="0.35 0 -.1",
)
left_shin.add_children([
left_knee_1,
left_shin1,
left_foot,
])
right_foot_1 = e.Geom(
name="right_foot",
pos="0 0 0.1",
size="0.075",
type="sphere",
user="******",
)
right_foot.add_children([
right_foot_1,
])
left_foot_1 = e.Geom(
name="left_foot",
type="sphere",
size="0.075",
pos="0 0 0.1",
user="******",
)
left_foot.add_children([
left_foot_1,
])
model_xml = mujoco.xml()
# Output
with open('humanoidstandup_gen.xml', 'w') as fh:
fh.write(model_xml)
def main():
mujoco = e.Mujoco(model="cheetah", )
compiler = e.Compiler(
angle="radian",
coordinate="local",
inertiafromgeom="true",
settotalmass="14",
)
default = e.Default()
size = e.Size(
nstack="300000",
nuser_geom="1",
)
option = e.Option(
gravity="0 0 -9.81",
timestep="0.01",
)
asset = e.Asset()
worldbody = e.Worldbody()
actuator = e.Actuator()
mujoco.add_children([
compiler,
default,
size,
option,
asset,
worldbody,
actuator,
])
joint = e.Joint(
armature=".1",
damping=".01",
limited="true",
solimplimit="0 .8 .03",
solreflimit=".02 1",
stiffness="8",
)
geom = e.Geom(
conaffinity="0",
condim="3",
contype="1",
friction=".4 .1 .1",
rgba="0.8 0.6 .4 1",
solimp="0.0 0.8 0.01",
solref="0.02 1",
)
motor = e.Motor(
ctrllimited="true",
ctrlrange="-1 1",
)
default.add_children([
joint,
geom,
motor,
])
texture = e.Texture(
builtin="gradient",
height="100",
rgb1="1 1 1",
rgb2="0 0 0",
type="skybox",
width="100",
)
texgeom = e.Texture(
builtin="flat",
height="1278",
mark="cross",
markrgb="1 1 1",
name="texgeom",
random="0.01",
rgb1="0.8 0.6 0.4",
rgb2="0.8 0.6 0.4",
type="cube",
width="127",
)
texplane = e.Texture(
builtin="checker",
height="100",
name="texplane",
rgb1="0 0 0",
rgb2="0.8 0.8 0.8",
type="2d",
width="100",
)
MatPlane = e.Material(
name="MatPlane",
reflectance="0.5",
shininess="1",
specular="1",
texrepeat="60 60",
texture="texplane",
)
geom_1 = e.Material(
name="geom",
texture="texgeom",
texuniform="true",
)
asset.add_children([
texture,
texgeom,
texplane,
MatPlane,
geom_1,
])
light = e.Light(
cutoff="100",
diffuse="1 1 1",
dir="-0 0 -1.3",
directional="true",
exponent="1",
pos="0 0 1.3",
specular=".1 .1 .1",
)
floor = e.Geom(
conaffinity="1",
condim="3",
material="MatPlane",
name="floor",
pos="0 0 0",
rgba="0.8 0.9 0.8 1",
size="40 40 40",
type="plane",
)
torso = e.Body(
name="torso",
pos="0 0 .7",
)
worldbody.add_children([
light,
floor,
torso,
])
bthigh = e.Motor(
gear="120",
joint="bthigh",
name="bthigh",
)
bshin = e.Motor(
gear="90",
joint="bshin",
name="bshin",
)
bfoot = e.Motor(
gear="60",
joint="bfoot",
name="bfoot",
)
fthigh = e.Motor(
gear="120",
joint="fthigh",
name="fthigh",
)
fshin = e.Motor(
gear="60",
joint="fshin",
name="fshin",
)
ffoot = e.Motor(
gear="30",
joint="ffoot",
name="ffoot",
)
actuator.add_children([
bthigh,
bshin,
bfoot,
fthigh,
fshin,
ffoot,
])
track = e.Camera(
name="track",
mode="trackcom",
pos="0 -3 0.3",
xyaxes="1 0 0 0 0 1",
)
rootx = e.Joint(
armature="0",
axis="1 0 0",
damping="0",
limited="false",
name="rootx",
pos="0 0 0",
stiffness="0",
type="slide",
)
rootz = e.Joint(
armature="0",
axis="0 0 1",
damping="0",
limited="false",
name="rootz",
pos="0 0 0",
stiffness="0",
type="slide",
)
rooty = e.Joint(
armature="0",
axis="0 1 0",
damping="0",
limited="false",
name="rooty",
pos="0 0 0",
stiffness="0",
type="hinge",
)
torso_1 = e.Geom(
fromto="-.5 0 0 .5 0 0",
name="torso",
size="0.046",
type="capsule",
)
head = e.Geom(
axisangle="0 1 0 .87",
name="head",
pos=".6 0 .1",
size="0.046 .15",
type="capsule",
)
bthigh_1 = e.Body(
name="bthigh",
pos="-.5 0 0",
)
fthigh_1 = e.Body(
name="fthigh",
pos=".5 0 0",
)
torso.add_children([
track,
rootx,
rootz,
rooty,
torso_1,
head,
bthigh_1,
fthigh_1,
])
bthigh_2 = e.Joint(
axis="0 1 0",
damping="6",
name="bthigh",
pos="0 0 0",
range="-.52 1.05",
stiffness="240",
type="hinge",
)
bthigh_3 = e.Geom(
axisangle="0 1 0 -3.8",
name="bthigh",
pos=".1 0 -.13",
size="0.046 .145",
type="capsule",
)
bshin_1 = e.Body(
name="bshin",
pos=".16 0 -.25",
)
bthigh_1.add_children([
bthigh_2,
bthigh_3,
bshin_1,
])
fthigh_2 = e.Joint(
axis="0 1 0",
damping="4.5",
name="fthigh",
pos="0 0 0",
range="-1 .7",
stiffness="180",
type="hinge",
)
fthigh_3 = e.Geom(
axisangle="0 1 0 .52",
name="fthigh",
pos="-.07 0 -.12",
size="0.046 .133",
type="capsule",
)
fshin_1 = e.Body(
name="fshin",
pos="-.14 0 -.24",
)
fthigh_1.add_children([
fthigh_2,
fthigh_3,
fshin_1,
])
bshin_2 = e.Joint(
axis="0 1 0",
damping="4.5",
name="bshin",
pos="0 0 0",
range="-.785 .785",
stiffness="180",
type="hinge",
)
bshin_3 = e.Geom(
axisangle="0 1 0 -2.03",
name="bshin",
pos="-.14 0 -.07",
rgba="0.9 0.6 0.6 1",
size="0.046 .15",
type="capsule",
)
bfoot_1 = e.Body(
name="bfoot",
pos="-.28 0 -.14",
)
bshin_1.add_children([
bshin_2,
bshin_3,
bfoot_1,
])
fshin_2 = e.Joint(
axis="0 1 0",
damping="3",
name="fshin",
pos="0 0 0",
range="-1.2 .87",
stiffness="120",
type="hinge",
)
fshin_3 = e.Geom(
axisangle="0 1 0 -.6",
name="fshin",
pos=".065 0 -.09",
rgba="0.9 0.6 0.6 1",
size="0.046 .106",
type="capsule",
)
ffoot_1 = e.Body(
name="ffoot",
pos=".13 0 -.18",
)
fshin_1.add_children([
fshin_2,
fshin_3,
ffoot_1,
])
bfoot_2 = e.Joint(
axis="0 1 0",
damping="3",
name="bfoot",
pos="0 0 0",
range="-.4 .785",
stiffness="120",
type="hinge",
)
bfoot_3 = e.Geom(
axisangle="0 1 0 -.27",
name="bfoot",
pos=".03 0 -.097",
rgba="0.9 0.6 0.6 1",
size="0.046 .094",
type="capsule",
)
bfoot_1.add_children([
bfoot_2,
bfoot_3,
])
ffoot_2 = e.Joint(
axis="0 1 0",
damping="1.5",
name="ffoot",
pos="0 0 0",
range="-.5 .5",
stiffness="60",
type="hinge",
)
ffoot_3 = e.Geom(
axisangle="0 1 0 -.6",
name="ffoot",
pos=".045 0 -.07",
rgba="0.9 0.6 0.6 1",
size="0.046 .07",
type="capsule",
)
ffoot_1.add_children([
ffoot_2,
ffoot_3,
])
model_xml = mujoco.xml()
# Output
with open('half_cheetah_gen.xml', 'w') as fh:
fh.write(model_xml)
def main():
mujoco = e.Mujoco(model="cartpole", )
compiler = e.Compiler(
coordinate="local",
inertiafromgeom="true",
)
custom = e.Custom()
default = e.Default()
option = e.Option(
gravity="1e-5 0 -9.81",
integrator="RK4",
timestep="0.01",
)
size = e.Size(nstack="3000", )
worldbody = e.Worldbody()
actuator = e.Actuator()
mujoco.add_children([
compiler,
custom,
default,
option,
size,
worldbody,
actuator,
])
frame_skip = e.Numeric(
data="2",
name="frame_skip",
)
custom.add_children([
frame_skip,
])
joint = e.Joint(damping="0.05", )
geom = e.Geom(
contype="0",
friction="1 0.1 0.1",
rgba="0.7 0.7 0 1",
)
default.add_children([
joint,
geom,
])
floor = e.Geom(
name="floor",
pos="0 0 -3.0",
rgba="0.8 0.9 0.8 1",
size="40 40 40",
type="plane",
)
rail = e.Geom(
name="rail",
pos="0 0 0",
quat="0.707 0 0.707 0",
rgba="0.3 0.3 0.7 1",
size="0.02 1",
type="capsule",
)
cart = e.Body(
name="cart",
pos="0 0 0",
)
worldbody.add_children([
floor,
rail,
cart,
])
slide = e.Motor(
ctrllimited="true",
ctrlrange="-1 1",
gear="500",
joint="slider",
name="slide",
)
actuator.add_children([
slide,
])
slider = e.Joint(
axis="1 0 0",
limited="true",
margin="0.01",
name="slider",
pos="0 0 0",
range="-1 1",
type="slide",
)
cart_1 = e.Geom(
name="cart",
pos="0 0 0",
quat="0.707 0 0.707 0",
size="0.1 0.1",
type="capsule",
)
pole = e.Body(
name="pole",
pos="0 0 0",
)
cart.add_children([
slider,
cart_1,
pole,
])
hinge = e.Joint(
axis="0 1 0",
name="hinge",
pos="0 0 0",
type="hinge",
)
cpole = e.Geom(
fromto="0 0 0 0 0 0.6",
name="cpole",
rgba="0 0.7 0.7 1",
size="0.045 0.3",
type="capsule",
)
pole2 = e.Body(
name="pole2",
pos="0 0 0.6",
)
pole.add_children([
hinge,
cpole,
pole2,
])
hinge2 = e.Joint(
axis="0 1 0",
name="hinge2",
pos="0 0 0",
type="hinge",
)
cpole2 = e.Geom(
fromto="0 0 0 0 0 0.6",
name="cpole2",
rgba="0 0.7 0.7 1",
size="0.045 0.3",
type="capsule",
)
tip = e.Site(
name="tip",
pos="0 0 .6",
size="0.01 0.01",
)
pole2.add_children([
hinge2,
cpole2,
tip,
])
model_xml = mujoco.xml()
# Output
with open('inverted_double_pendulum_gen.xml', 'w') as fh:
fh.write(model_xml)
def main():
mujoco = e.Mujoco(
model="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 base_setup():
#########################
# Level 1
mujoco = e.Mujoco(model="empty")
#########################
# Level 2
option = e.Option(integrator="RK4", timestep=0.01)
asset = e.Asset()
worldbody = e.Worldbody()
size = e.Size(
njmax=4000,
nconmax=4000,
)
mujoco.add_children([option, size, asset, worldbody])
######################
# Level 3
# Asset
tex1 = e.Texture(
builtin="gradient",
height=100,
rgb1=[0.9, 0.9, 1.0], # Bipedal Walker Sky Purple
rgb2=[0.9, 0.9, 1.0],
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,
])
return mujoco, worldbody
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():
#########################
# 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)
