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="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 get_leg(
name,
hip_width=0.2,
hip_angle=0.0,
thigh_length=0.4,
shin_length=0.6,
leg_radius=0.08
):
joint_geom_radius = leg_radius * 1.1 # For tendons
joint_geom_color = [0.3, 0.9, 0.3, 0.4] # Translucent green
hip = e.Body(
name=name,
pos=[0, 0, 0],
euler=[0, 0, hip_angle]
)
hip_geom = e.Geom(
fromto=[0, 0, 0, hip_width, 0, 0],
name="hip_geom_"+name,
size=leg_radius,
type="capsule"
)
hip_insertion_x = hip_width * 0.1
left_flex_hip_insertion = e.Site(
name="left_flex_hip_insertion_"+name,
pos=[hip_insertion_x, leg_radius, 0.0],
size=leg_radius / 2
)
right_flex_hip_insertion = e.Site(
name="right_flex_hip_insertion_"+name,
pos=[hip_insertion_x, -leg_radius, 0.0],
size=leg_radius / 2
)
hip_joint_geom = e.Geom(
name="hip_joint_geom_"+name,
fromto=[hip_width, 0.0, leg_radius, hip_width, 0.0, -leg_radius],
type="cylinder",
size=joint_geom_radius,
rgba=joint_geom_color
)
thigh_body = e.Body(
name="thigh_body_"+name,
pos=[hip_width, 0, 0]
)
hip.add_children([
hip_geom,
left_flex_hip_insertion,
right_flex_hip_insertion,
hip_joint_geom,
thigh_body
])
# thigh_body
hip_joint = e.Joint(
axis=[0, 0, 1],
name="hip_joint_"+name,
pos=[0.0, 0.0, 0.0],
range=[-30, 30],
type="hinge"
)
thigh_geom = e.Geom(
fromto=[0.0, 0.0, 0.0, thigh_length, 0.0, 0.0],
name="thigh_geom_"+name,
size=leg_radius,
type="capsule"
)
upper_insertion_x = thigh_length * 0.3
flex_thigh_insert_x = thigh_length * 0.8
quad_u_insertion = e.Site(
name="quad_u_insertion_"+name,
pos=[upper_insertion_x, 0.0, leg_radius],
size=leg_radius / 2
)
hamstring_u_insertion = e.Site(
name="hamstring_u_insertion_"+name,
pos=[upper_insertion_x, 0.0, -leg_radius],
size=leg_radius / 2
)
left_flex_thigh_insertion = e.Site(
name="left_flex_thigh_insertion_"+name,
pos=[flex_thigh_insert_x, leg_radius, 0.0],
size=leg_radius / 2
)
right_flex_thigh_insertion = e.Site(
name="right_flex_thigh_insertion_"+name,
pos=[flex_thigh_insert_x, -leg_radius, 0.0],
size=leg_radius / 2
)
knee_geom = e.Geom(
name="knee_geom_"+name,
fromto=[thigh_length, leg_radius, 0.0, thigh_length, -leg_radius, 0.0],
type="cylinder",
size=joint_geom_radius,
rgba=joint_geom_color
)
knee_top_side = e.Site(
name="knee_top_side_"+name,
pos=[thigh_length, 0.0, leg_radius * 2],
rgba=[0, 0, 0, 0],
size=leg_radius / 8
)
shin_body = e.Body(
name="shin_body_"+name,
pos=[thigh_length, 0.0, 0]
)
thigh_body.add_children([
hip_joint,
thigh_geom,
left_flex_thigh_insertion,
right_flex_thigh_insertion,
quad_u_insertion,
hamstring_u_insertion,
knee_geom,
knee_top_side,
shin_body
])
# shin_body
knee_joint = e.Joint(
axis=[0, 1, 0],
name="knee_joint_"+name,
pos=[0.0, 0.0, 0.0],
range=[30, 70],
type="hinge"
)
shin_geom = e.Geom(
fromto=[0.0, 0.0, 0.0, shin_length, 0.0, 0.0],
name="shin_geom_"+name,
size=leg_radius,
type="capsule"
)
lower_insertion_x = shin_length * 0.2
quad_l_insertion = e.Site(
name="quad_l_insertion_"+name,
pos=[lower_insertion_x, 0.0, leg_radius],
size=leg_radius / 2
)
hamstring_l_insertion = e.Site(
name="hamstring_l_insertion_"+name,
pos=[lower_insertion_x, 0.0, -leg_radius],
size=leg_radius / 2
)
shin_body.add_children([
knee_joint,
shin_geom,
quad_l_insertion,
hamstring_l_insertion
])
# Tendons
tendons = []
tendon_width = 0.04
tendon_color = [0.95, 0.3, 0.3, 1]
tendon_stiffness = 100
left_hip_flex = e.Spatial(
name="left_hip_flex_"+name,
width=tendon_width,
rgba=tendon_color,
stiffness=tendon_stiffness
)
lhs1 = e.spatial.Site(site=left_flex_hip_insertion.name)
lh_geom = e.spatial.Geom(geom=hip_joint_geom.name)
lhs2 = e.spatial.Site(site=left_flex_thigh_insertion.name)
left_hip_flex.add_children([
lhs1,
lh_geom,
lhs2
])
right_hip_flex = e.Spatial(
name="right_hip_flex_"+name,
width=tendon_width,
rgba=tendon_color,
stiffness=tendon_stiffness
)
rhs1 = e.spatial.Site(site=right_flex_hip_insertion.name)
rh_geom = e.spatial.Geom(geom=hip_joint_geom.name)
rhs2 = e.spatial.Site(site=right_flex_thigh_insertion.name)
right_hip_flex.add_children([
rhs1,
rh_geom,
rhs2
])
quad = e.Spatial(
name="quad_"+name,
width=tendon_width,
rgba=tendon_color,
stiffness=tendon_stiffness
)
qs1 = e.spatial.Site(site=quad_u_insertion.name)
q_geom = e.spatial.Geom(
geom=knee_geom.name,
sidesite=knee_top_side.name
)
qs2 = e.spatial.Site(site=quad_l_insertion.name)
quad.add_children([
qs1,
q_geom,
qs2
])
hamstring = e.Spatial(
name="hamstring_"+name,
width=tendon_width,
rgba=tendon_color,
stiffness=tendon_stiffness
)
hs1 = e.spatial.Site(site=hamstring_u_insertion.name)
h_geom = e.spatial.Geom(geom=knee_geom.name)
hs2 = e.spatial.Site(site=hamstring_l_insertion.name)
hamstring.add_children([
hs1,
h_geom,
hs2
])
tendons.extend([
left_hip_flex,
right_hip_flex,
quad,
hamstring
])
# Actuators
# TODO: Replace with Muscles once 2.0 is released
actuators = []
act_gain = 50 # Max 100N output
act_ctrl_range = [-1.0, 0.0]
ctrllimited = "true"
quad_act = e.General(
name="quad_act_"+name,
tendon=quad.name,
ctrllimited=ctrllimited,
gainprm=act_gain,
ctrlrange=act_ctrl_range
)
hamstring_act = e.General(
name="hamstring_act_"+name,
tendon=hamstring.name,
ctrllimited=ctrllimited,
gainprm=act_gain,
ctrlrange=act_ctrl_range
)
right_hip_flex_act = e.General(
name="right_hip_flex_act_"+name,
tendon=right_hip_flex.name,
ctrllimited=ctrllimited,
gainprm=act_gain,
ctrlrange=act_ctrl_range
)
left_hip_flex_act = e.General(
name="left_hip_flex_act_"+name,
tendon=left_hip_flex.name,
ctrllimited=ctrllimited,
gainprm=act_gain,
ctrlrange=act_ctrl_range
)
actuators.extend([
quad_act,
hamstring_act,
right_hip_flex_act,
left_hip_flex_act
])
return hip, tendons, actuators
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)