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)