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="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="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="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)
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():
#########################
# Level 1
mujoco = e.Mujoco(model="tendon")
#########################
# Level 2
compiler = e.Compiler(coordinate="global", )
default = e.Default()
visual = e.Visual()
worldbody = e.Worldbody()
tendon = e.Tendon()
mujoco.add_children([compiler, default, visual, worldbody, tendon])
######################
# Level 3
# Default
d_geom = e.Geom(rgba=[0.9, 0.7, 0.1, 1], size=0.01)
d_site = e.Site(type="sphere", rgba=[0.9, 0.9, 0.9, 1], size=0.005)
d_joint = e.Joint(type="hinge",
axis=[0, 1, 0],
limited=True,
range=[0, 60],
solimplimit=[0.95, 0.95, 0.1])
default.add_children([d_geom, d_site, d_joint])
# Visual
headlight = e.visual.Headlight(diffuse=[0.7, 0.7, 0.7])
visual.add_child(headlight)
# Worldbody
b1 = e.Body()
s2 = e.Site(name="s2", pos=[-0.03, 0, 0.32])
b2 = e.Body()
worldbody.add_children([b1, s2, b2])
# Tendon
spatial_tendon = e.Spatial(width=0.002,
rgba=[.95, .3, .3, 1],
limited=True,
range=[0, 0.33])
tendon.add_child(spatial_tendon)
######################
# Level 4
# b1
b1_geom = e.Geom(type="cylinder",
fromto=[-0.03, 0, 0.2, -0.03, 0, 0.15],
size=0.03,
rgba=[.2, .2, .5, 1],
density=5000)
b1_joint = e.Joint(
type="slide",
pos=[-0.03, 0, 0.2],
axis=[0, 0, 1],
limited=False,
)
s1 = e.Site(name="s1", pos=[-0.03, 0, 0.2])
b1.add_children([b1_geom, b1_joint, s1])
# b2
b2_geom_1 = e.Geom(type="capsule", fromto=[0, 0, 0.3, 0.1, 0, 0.3])
g1 = e.Geom(name="g1",
type="cylinder",
fromto=[0.0, 0.015, 0.3, 0.0, -0.015, 0.3],
size=0.02,
rgba=[.3, .9, .3, .4])
b2_joint = e.Joint(pos=[0, 0, 0.3])
s3 = e.Site(name="s3", pos=[0.02, 0, 0.32], size=None)
b3 = e.Body()
b2.add_children([b2_geom_1, g1, b2_joint, s3, b3])
# spatial_tendon
ss1 = e.spatial.Site(site="s1")
ss2 = e.spatial.Site(site="s2")
sg1 = e.spatial.Geom(geom="g1")
ss3 = e.spatial.Site(site="s3")
sp1 = e.spatial.Pulley(divisor=2)
sg2 = e.spatial.Geom(geom="g2", sidesite="side2")
ss4 = e.spatial.Site(site="s4")
sp2 = e.spatial.Pulley(divisor=2)
ss5 = e.spatial.Site(site="s5")
sg3 = e.spatial.Geom(geom="g3", sidesite="side3")
ss6 = e.spatial.Site(site="s6")
spatial_tendon.add_children(
[ss1, ss2, sg1, ss3, sp1, ss3, sg2, ss4, sp2, ss3, sg2, ss5, sg3, ss6])
######################
# Level 5
# b3
b3_geom_1 = e.Geom(type="capsule", fromto=[0.1, 0, 0.3, 0.2, 0, 0.3])
g2 = e.Geom(name="g2",
type="cylinder",
fromto=[0.1, 0.015, 0.3, 0.1, -0.015, 0.3],
size=0.02,
rgba=[.3, .9, .3, .4])
b3_joint = e.Joint(pos=[0.1, 0, 0.3])
s4 = e.Site(name="s4", pos=[0.13, 0, 0.31], size=None)
s5 = e.Site(name="s5", pos=[0.15, 0, 0.32])
side2 = e.Site(name="side2", pos=[0.1, 0, 0.33])
b4 = e.Body()
b3.add_children([b3_geom_1, g2, b3_joint, s4, s5, side2, b4])
######################
# Level 6
# b4
b4_geom_1 = e.Geom(type="capsule", fromto=[0.2, 0, 0.3, 0.27, 0, 0.3])
g3 = e.Geom(name="g3",
type="cylinder",
fromto=[0.2, 0.015, 0.3, 0.2, -0.015, 0.3],
size=0.02,
rgba=[.3, .9, .3, .4])
b4_joint = e.Joint(pos=[0.2, 0, 0.3])
s6 = e.Site(name="s6", pos=[0.23, 0, 0.31])
side3 = e.Site(name="side3", pos=[0.2, 0, 0.33])
b4.add_children([b4_geom_1, g3, b4_joint, s6, side3])
model_xml = mujoco.xml()
# Output
with open('tendon-gen.xml', 'w') as fh:
fh.write(model_xml)