def build(cls, n_substeps: int = 10):
"""Construct a ShadowHandReachSimulation object.
:param n_substeps: (int) sim.nsubsteps, num of substeps
:return: a ShadowHandReachSimulation object with properly constructed sim.
"""
xml = MujocoXML()
xml.add_default_compiler_directive()
xml.append(
MujocoXML.parse(cls.FLOOR_XML).set_named_objects_attr(
"floor", tag="body", pos=[1, 1, 0]))
target = MujocoXML.parse(cls.TARGET_XML)
colors = [
[1.0, 0.0, 0.0, 1.0],
[0.0, 1.0, 0.0, 1.0],
[0.0, 0.0, 1.0, 1.0],
[1.0, 1.0, 0.0, 1.0],
[1.0, 0.0, 1.0, 1.0],
]
for site, color in zip(FINGERTIP_SITE_NAMES, colors):
target.set_named_objects_attr(
f"target_{site}",
pos=[0.5, 0.5, 0.0],
type="sphere",
rgba=color,
size=0.005,
)
xml.append(target)
xml.append(
MujocoXML.parse(cls.HAND_XML).add_name_prefix(
"robot0:").set_named_objects_attr(
"robot0:hand_mount",
tag="body",
pos=[1.0, 1.25, 0.15],
euler=[np.pi / 2, 0, np.pi],
).remove_objects_by_name("robot0:annotation:outer_bound")
# Remove hand base free joint so that hand is immovable
.remove_objects_by_name("robot0:hand_base"))
xml.append(MujocoXML.parse(cls.LIGHT_XML))
simulation = cls(xml.build(nsubsteps=n_substeps))
# Move fingers out of the way.
simulation.shadow_hand.set_position_control(
simulation.shadow_hand.denormalize_position_control(
simulation.shadow_hand.zero_control()))
for _ in range(20):
simulation.step()
return simulation
def build(
cls,
n_substeps: int = 10,
simulation_params: CubeSimulationParameters = CubeSimulationParameters(),
):
"""
Construct a CubeSimulationInterface object with perpendicular cube.
"""
cube_xml_path, size_params = cls._get_model_xml_path_and_params(
simulation_params.cube_appearance
)
xml = MujocoXML()
xml.add_default_compiler_directive()
cls._build_mujoco_cube_xml(xml, cube_xml_path)
xml.append(
MujocoXML.parse(cls.FLOOR_XML).set_named_objects_attr(
"floor", tag="body", pos=[1, 1, 0]
)
)
xml.append(
MujocoXML.parse(cls.HAND_XML)
.add_name_prefix("robot0:")
.set_objects_attr(tag="size", **size_params)
.set_named_objects_attr(
"robot0:hand_mount",
tag="body",
pos=[1.0, 1.25, 0.15],
euler=[np.pi / 2, 0, np.pi],
)
.remove_objects_by_name("robot0:annotation:outer_bound")
# Remove hand base free joint so that hand is immovable
.remove_objects_by_name("robot0:hand_base")
)
xml.append(MujocoXML.parse(cls.LIGHT_XML))
simulation = cls(xml.build(nsubsteps=n_substeps))
if simulation_params.hide_target:
simulation.hide_target()
return simulation
def build(
cls, n_substeps: int = 10, timestep: float = 0.008, name_prefix: str = "robot0:"
):
"""
Construct MjSim object for this simulation
:param name_prefix - to append to names of all objects in the MuJoCo model of the hand;
by default no prefix is appended.
"""
xml = MujocoXML()
xml.add_default_compiler_directive()
max_contacts_params = dict(njmax=2000, nconmax=200)
xml.append(
MujocoXML.parse(cls.FLOOR_XML).set_named_objects_attr(
"floor", tag="body", pos=[1, 1, 0]
)
)
xml.append(
MujocoXML.parse(cls.HAND_XML)
.add_name_prefix(name_prefix)
.set_objects_attr(tag="size", **max_contacts_params)
.set_objects_attr(tag="option", timestep=timestep)
.set_named_objects_attr(
f"{name_prefix}hand_mount",
tag="body",
pos=[1.0, 1.25, 0.15],
euler=[np.pi / 2, 0, np.pi],
)
.remove_objects_by_name(f"{name_prefix}annotation:outer_bound")
# Remove hand base free joint so that hand is immovable
.remove_objects_by_name(f"{name_prefix}hand_base")
)
xml.append(MujocoXML.parse(cls.LIGHT_XML))
return cls(sim=xml.build(nsubsteps=n_substeps), hand_prefix=name_prefix)