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main_rob_dup_1.py
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import os
from dm_control import mjcf
from dm_control.mujoco.wrapper import util
# Make a class for constructing the cameras
class Camera:
#===================#
# C O N S T A N T #
#===================#
_com_pos = (0, 0, 0.015)
_dclass = 'wam\\viz'
_mass = 0.095
_mesh_name = 'intel_realsense_l515'
_name = '\\intel\\rgb'
_quat = (0, 0, 1, 0)
#===============================#
# I N I T I A L I Z A T I O N #
#===============================#
def __init__(self, name, fovy):
# Make a MujoCo Root
self.mjcf_model = mjcf.RootElement(model=name)
# Add a body element: No need to add position info, as that will be added based on which `site` this body is going to be attached (https://github.com/google-deepmind/dm_control/blob/main/dm_control/mjcf/README.md#attachment-frames)
self.camera_body = self.mjcf_model.worldbody.add('body',
name = name)
# Add Inertial properties
self.camera_body.add('inertial',
pos = self._com_pos,
mass = self._mass)
# Add the Geometry (https://github.com/google-deepmind/dm_control/blob/ed424509c0a0e8ddf7a43824924de483026ad9cc/dm_control/locomotion/soccer/humanoid.py#L50)
self.camera_body.add('geom',
mesh = self._mesh_name,
dclass = self._dclass)
# Add camera sensor
self.camera_body.add('camera',
name = name+self._name,
pos = (0, 0, 0),
quat = self._quat,
fovy = fovy,
dclass = 'rand')
# Make a class for constructing a link with joints
class Link:
#===================#
# C O N S T A N T #
#===================#
#===============================#
# I N I T I A L I Z A T I O N #
#===============================#
# joint axis default value [0, 0, 1]: https://mujoco.readthedocs.io/en/stable/XMLreference.html#body-joint
def __init__(self, col_meshes, com_pos, dclass_col, inertia, mass, name, viz_meshes, dclass_viz = None):
# Make a MujoCo Root
self.mjcf_model = mjcf.RootElement(model=name)
# Add a body element:
self.link_body = self.mjcf_model.worldbody.add('body',
name = name)
# Add Inertial properties
self.link_body.add('inertial',
pos = com_pos,
mass = mass,
fullinertia = inertia)
# Add the Geometry (https://github.com/google-deepmind/dm_control/blob/ed424509c0a0e8ddf7a43824924de483026ad9cc/dm_control/locomotion/soccer/humanoid.py#L50)
# For visualization
self.link_body.add('geom',
dclass = name+'\\viz' if dclass_viz is None else dclass_viz,
mesh = viz_meshes)
# For Collision
for x in range(len(col_meshes)):
self.link_body.add('geom',
dclass = dclass_col,
mesh = col_meshes[x])
# Make a class for constructing the 'forearm_link' with joints
class Forearm_link:
#===================#
# C O N S T A N T #
#===================#
_col_mesh_euler = [[0, 0, 0],
[1.57, 0, 0],
[1.57, 0, 0]]
_col_mesh_pos = [[0, 0, 0],
[-0.045, -0.073, 0],
[-0.045, -0.073, 0]]
_viz_mesh_euler = [[0, 0, 0],
[1.57, 0, 0]]
_viz_mesh_pos = [[0, 0, 0],
[-0.045, -0.073, 0]]
#===============================#
# I N I T I A L I Z A T I O N #
#===============================#
def __init__(self, col_meshes, com_pos, dclass_col, inertia, joint_damping, joint_frictionloss, joint_name, joint_range, mass, name, viz_dclass_name, viz_meshes):
# Make a MujoCo Root
self.mjcf_model = mjcf.RootElement(model=name)
# Add a body element:
self.link_body = self.mjcf_model.worldbody.add('body',
name = name)
# Add the Geometry (https://github.com/google-deepmind/dm_control/blob/ed424509c0a0e8ddf7a43824924de483026ad9cc/dm_control/locomotion/soccer/humanoid.py#L50)
# For visualization
for x in range(len(viz_meshes)):
self.link_body.add('geom',
dclass = viz_dclass_name[x]+'\\viz',
euler = self._viz_mesh_euler[x],
mesh = viz_meshes[x],
pos = self._viz_mesh_pos[x])
# For Collision
for x in range(len(col_meshes)):
self.link_body.add('geom',
dclass = dclass_col,
euler = self._col_mesh_euler[x],
mesh = col_meshes[x],
pos = self._col_mesh_pos[x])
# Make a class for constructing the BHand
class Bhand:
#===================#
# C O N S T A N T #
#===================#
_bhand_name = 'bhand'
_bhand_model_name = 'BH8-280'
_body_name = ['palm',
'prox',
'med',
'dist']
_col_mesh_name = [['bhand_palm_link_convex_decomposition_p1',
'bhand_palm_link_convex_decomposition_p2',
'bhand_palm_link_convex_decomposition_p3',
'bhand_palm_link_convex_decomposition_p4'],
['bhand_finger_prox_link_convex_decomposition_p1',
'bhand_finger_prox_link_convex_decomposition_p2',
'bhand_finger_prox_link_convex_decomposition_p3'],
['bhand_finger_med_link_convex'],
['bhand_finger_dist_link_convex']]
_com_pos = [[5.0019e-005, 0.0044561, 0.037268],
[0.030616, 7.3219e-005, 0.011201],
[0.023133, 0.00078642, 0.00052792],
[0.02295, 0.0010739, 0.00041752]]
_euler_dist = [0, 0, -0.84]
_finger_name = ['finger_1',
'finger_2',
'finger_3']
_finger_name_short = ['f1',
'f2',
'f3']
_inertial = [[0.0006986, 0.00050354, 0.00062253, 2.7577e-007, -7.8138e-007, -6.44e-005],
[2.0672e-005, 7.4105e-005, 6.8207e-005, 2.6024e-007, 6.3481e-006, 1.7118e-008],
[4.8162e-006, 4.3317e-005, 4.4441e-005, 5.7981e-007, -7.2483e-007, -2.6653e-009],
[3.1199e-006, 1.6948e-005, 1.5809e-005, 4.5115e-007, -2.9813e-007, -1.8635e-008]]
_joint_axis = [[0, 0, -1],
[0, 0, 1],
[0, 0, 1]]
_joint_damping = 0.1
_joint_frictionloss = 0.1
_joint_range = [[-0.1, 3.2],
[-0.1, 2.5],
[-0.1, 0.9]]
_joint_type = 'hinge'
_mass = [0.60858,
0.14109,
0.062139,
0.04166]
_pos = [[0, 0, 0],
[-0.025, 0, 0.0415],
[0.025, 0, 0.0415],
[0, 0.05, 0.0754],
[0.05, 0, 0.0339],
[0.06994, 0.003, 0]]
_quat = [[1, 0, 0, 0], # quant=w x y z
[0.707107, 0, 0, -0.707107],
[0.707107, 0, 0, -0.707107],
[0.5, 0.5, 0.5, 0.5],
[0.707107, 0.707107, 0, 0],
[0.92388, 0, 0, 0.382683]]
_site_name = 'site'
_viz_mesh_name = ['bhand_palm_fine',
'bhand_finger_prox_link_fine',
'bhand_finger_med_link_fine',
'bhand_finger_dist_link_fine']
_wam_name = 'wam'
#===============================#
# I N I T I A L I Z A T I O N #
#===============================#
def __init__(self, name):
# Make a MujoCo Root
self.mjcf_model = mjcf.RootElement(model=name)
# Add 'base_link' element:
self.base_link = self.mjcf_model.worldbody.add('body',
name = self._bhand_model_name)
# Attach site for 'palm link'
self.palm_link_site = self.base_link.add('site',
pos = self._pos[0],
quat = self._quat[0],
dclass = self._site_name)
# Create 'palm link'
self.palm_link = Link(col_meshes = self._col_mesh_name[0],
com_pos = self._com_pos[0],
dclass_col = 'wam\\bhand\\col',
inertia = self._inertial[0],
mass = self._mass[0],
name = self._wam_name+'\\'+self._bhand_name+'\\'+self._bhand_name+'_'+self._body_name[0]+'_link',
viz_meshes = self._viz_mesh_name[0])
# Attach 'palm link'
self.palm_link_site.attach(self.palm_link.mjcf_model)
# Empty arrays
self.finger_index_prox_link_site = []
self.finger_index_prox_link = []
self.finger_index_med_link_site = []
self.finger_index_med_link = []
self.finger_index_dist_link_site = []
self.finger_index_dist_link = []
for finger_index in range(3):
# Finger i
# Attach site for 'finger 1 prox link'
if finger_index in range(2):
self.finger_index_prox_link_site.append(self.palm_link.mjcf_model.worldbody.add('site',
pos = self._pos[1+finger_index],
quat = self._quat[1+finger_index],
dclass = self._site_name))
# Create 'finger 1 prox link'
self.finger_index_prox_link.append(Link(col_meshes = self._col_mesh_name[1],
com_pos = self._com_pos[1],
dclass_col = self._wam_name+'\\'+self._bhand_name+'\\col',
dclass_viz = self._wam_name+'\\'+self._bhand_name+'\\'+self._bhand_name+'_finger_'+self._body_name[1]+'_link\\viz',
inertia = self._inertial[1],
mass = self._mass[1],
name = self._wam_name+'\\'+self._bhand_name+'\\'+self._finger_name[0+finger_index]+'\\'+self._body_name[1]+'_link',
viz_meshes = self._viz_mesh_name[1]))
# Attach 'finger 1 prox link'
self.finger_index_prox_link_site[finger_index].attach(self.finger_index_prox_link[finger_index].mjcf_model)
# Add joint to the attachment frame
self.finger_index_prox_link_site[finger_index].add('joint',
name = self._bhand_name+'\\'+self._finger_name_short[0+finger_index]+'\\'+self._body_name[1],
range = self._joint_range[0],
damping = self._joint_damping,
type = self._joint_type,
axis = self._joint_axis[0],
frictionloss = self._joint_frictionloss,
dclass = 'rand')
# Attach site for 'finger 1 med link'
self.finger_index_med_link_site.append(self.finger_index_prox_link[finger_index].mjcf_model.worldbody.add('site',
pos = self._pos[4],
quat = self._quat[4],
dclass = self._site_name))
else:
# Attach site for 'finger 1 med link' at 'palm link'
self.finger_index_med_link_site.append(self.palm_link.mjcf_model.worldbody.add('site',
pos = self._pos[1+finger_index],
quat = self._quat[1+finger_index],
dclass = self._site_name))
# Create 'finger 1 med link'
self.finger_index_med_link.append(Link(col_meshes = self._col_mesh_name[2],
com_pos = self._com_pos[2],
dclass_col = self._wam_name+'\\'+self._bhand_name+'\\col',
dclass_viz = self._wam_name+'\\'+self._bhand_name+'\\'+self._bhand_name+'_finger_'+self._body_name[2]+'_link\\viz',
inertia = self._inertial[2],
mass = self._mass[2],
name = self._wam_name+'\\'+self._bhand_name+'\\'+self._finger_name[0+finger_index]+'\\'+self._body_name[2]+'_link',
viz_meshes = self._viz_mesh_name[2]))
# Attach 'finger 1 med link'
self.finger_index_med_link_site[finger_index].attach(self.finger_index_med_link[finger_index].mjcf_model)
# Add joint to the attachment frame
self.finger_index_med_link_site[finger_index].add('joint',
name = self._bhand_name+'\\'+self._finger_name_short[0+finger_index]+'\\'+self._body_name[2],
range = self._joint_range[1],
damping = self._joint_damping,
type = self._joint_type,
axis = self._joint_axis[1],
frictionloss = self._joint_frictionloss,
dclass = 'rand')
# Attach site for 'finger 1 dist link'
self.finger_index_dist_link_site.append(self.finger_index_med_link[finger_index].mjcf_model.worldbody.add('site',
pos = self._pos[5],
quat = self._quat[5],
dclass = self._site_name))
# Create 'finger 1 dist link'
self.finger_index_dist_link.append(Link(col_meshes = self._col_mesh_name[3],
com_pos = self._com_pos[3],
dclass_col = self._wam_name+'\\'+self._bhand_name+'\\col',
dclass_viz = self._wam_name+'\\'+self._bhand_name+'\\'+self._bhand_name+'_finger_'+self._body_name[3]+'_link\\viz',
inertia = self._inertial[3],
mass = self._mass[3],
name = self._wam_name+'\\'+self._bhand_name+'\\'+self._finger_name[0+finger_index]+'\\'+self._body_name[3]+'_link',
viz_meshes = self._viz_mesh_name[3]))
# Attach 'finger 1 dist link'
self.finger_index_dist_link_site[finger_index].attach(self.finger_index_dist_link[finger_index].mjcf_model)
# Add joint to the attachment frame
self.finger_index_med_link_site[finger_index].add('joint',
name = self._bhand_name+'\\'+self._finger_name_short[0+finger_index]+'\\'+self._body_name[3],
range = self._joint_range[2],
damping = self._joint_damping,
type = self._joint_type,
axis = self._joint_axis[2],
frictionloss = self._joint_frictionloss,
dclass = 'rand')
# Delete attachment frames. The element `site` is being read by MuJoCo and, since it does not recongnize this element, it throws an error.
self.base_link.site.clear()
self.palm_link.mjcf_model.worldbody.site.clear()
for finger_prox_link in self.finger_index_prox_link:
finger_prox_link.mjcf_model.worldbody.site.clear()
for finger_med_link in self.finger_index_med_link:
finger_med_link.mjcf_model.worldbody.site.clear()
# Make a class for constructing the WAM
class WAM:
#===================#
# C O N S T A N T #
#===================#
_body_name = ['base_link',
'base',
'shoulder_yaw_link',
'shoulder_pitch_link',
'upper_arm_link',
'forearm_link',
'wrist_yaw_link',
'wrist_pitch_link',
'wrist_palm_link',
'torque_sensor_link']
_bhand_name = 'bhand'
_dclass_col = 'wam\\col'
_camera_pos = [0, 0.085, 0.02]
_camera_name = "camera"
_camera_fovy = 55
_col_mesh_names = [['base_link_convex'],
['shoulder_link_convex_decomposition_p1',
'shoulder_link_convex_decomposition_p2',
'shoulder_link_convex_decomposition_p3'],
['shoulder_pitch_link_convex'],
['upper_arm_link_convex_decomposition_p1',
'upper_arm_link_convex_decomposition_p2'],
['elbow_link_convex',
'forearm_link_convex_decomposition_p1',
'forearm_link_convex_decomposition_p2'],
['wrist_yaw_link_convex_decomposition_p1',
'wrist_yaw_link_convex_decomposition_p2'],
['wrist_pitch_link_convex_decomposition_p1',
'wrist_pitch_link_convex_decomposition_p2',
'wrist_pitch_link_convex_decomposition_p3'],
['wrist_palm_link_convex']]
_com_pos = [[-0.14071720, -0.02017671, 0.07995294],
[-0.00443422, -0.00066489, -0.12189039],
[-0.00236983, -0.01542114, 0.03105614],
[0.00674142, -0.00003309, 0.3424923],
[-0.04001488, -0.1327162, -0.00022942],
[0.00008921, 0.00435824, -0.00511217],
[-0.00012262, -0.02468336, -0.01703194],
[-0.00007974, 0.0001613, 0.05176448],
[0, 0.0085, 0]]
_inertial = [[0.11760385, 0.10916849, 0.18294303, 0.02557874, 0.00161433, 0.00640270],
[0.13488033, 0.09046330, 0.11328369, -0.00012485, 0.00213041, -0.00068555],
[0.02140958, 0.01558906, 0.01377875, -0.00002461, 0.00027172, 0.00181920],
[0.05911077, 0.05927043, 0.00324550, -0.00000738, 0.00249612, -0.00001767],
[0.01491672, 0.00294463, 0.01482922, 0.00150604, 0.00001741, 0.00002109],
[0.00005029, 0.00006270, 0.00007582, -0.00000005, -0.00000020, 0.00000359],
[0.00055516, 0.00045358, 0.00024367, 0.00000074, 0.00000061, 0.00004590],
[0.00003773, 0.00003806, 0.00007408, -0.00000019, 0.00000000, 0.00000000],
[0.00007551, 0.0001462, 0.00007508, -7.002e-8, -1.199e-7, -5.37e-8]]
_joint_axis = [0, 0, 1]
_joint_damping = [1000,
1000,
500,
100,
50,
50,
10]
_joint_frictionloss = 1000
_joint_name = ['wam\\J1',
'wam\\J2',
'wam\\J3',
'wam\\J4',
'wam\\J5',
'wam\\J6',
'wam\\J7']
_joint_range = [[-2.6, 2.6],
[-2.0, 2.0],
[-2.8, 2.8],
[-0.9, 3.1],
[-4.8, 1.3],
[-1.6, 1.6],
[-2.2, 2.2]]
_joint_type = 'hinge'
_mass = [9.97059584,
10.76768767,
3.8749,
1.8028141,
2.40016804,
0.12376019,
0.41797364,
0.06864753,
0.133278]
_pos = [[0, 0, 0],
[0, 0, 0.346],
[0, 0, 0],
[0, 0, 0],
[0.045, 0, 0.55],
[-0.045, -0.3, 0],
[0, 0, 0],
[0, 0, 0],
[0, 0, 0.06],
[0, 0.01, 0]]
# quant=w x y z
_quat = [[1, 0, 0, 0],
[1, 0, 0, 0],
[0.707107, -0.707107, 0, 0],
[0.707107, 0.707107, 0, 0],
[0.707107, -0.707107, 0, 0],
[0.707107, 0.707107, 0, 0],
[0.707107, -0.707107, 0, 0],
[0.707107, 0.707107, 0, 0],
[0.707107, 0.707107, 0, 0],
[0, 0, 0.707107, 0.707107]]
_site_name = 'site'
_viz_mesh_names = ['base_link_fine',
'shoulder_link_fine',
'shoulder_pitch_link_fine',
'upper_arm_link_fine',
'elbow_link_fine',
'forearm_link_fine',
'wrist_yaw_link_fine',
'wrist_pitch_link_fine',
'wrist_palm_link_fine',
'torque_sensor_plate']
_wam_name = 'wam'
#===============================#
# I N I T I A L I Z A T I O N #
#===============================#
def __init__(self, name):
# Make a MujoCo Root
self.mjcf_model = mjcf.RootElement(model=name)
# Add 'base_link' element:
self.base_link = self.mjcf_model.worldbody.add('body',
name = self._wam_name+'\\'+self._body_name[0],
pos = (0, 0, 0))
# Attach site for 'base'
self.base_site = self.base_link.add('site',
pos = self._pos[0],
quat = self._quat[0],
dclass = self._site_name)
# Create link 'base'
self.base = Link(col_meshes = self._col_mesh_names[0],
com_pos = self._com_pos[0],
dclass_col = 'wam\\col',
mass = self._mass[0],
inertia = self._inertial[0],
name = self._wam_name+'\\'+self._body_name[1],
viz_meshes = self._viz_mesh_names[0])
# Attach 'base'
self.base_site.attach(self.base.mjcf_model)
# Attach site for 'shoulder_yaw_link'
self.shoulder_yaw_link_site = self.base_link.add('site',
pos = self._pos[1],
quat = self._quat[1],
dclass = self._site_name)
# Create link 'shoulder_yaw_link'
self.shoulder_yaw_link = Link(col_meshes = self._col_mesh_names[1],
com_pos = self._com_pos[1],
dclass_col = 'wam\\col',
inertia = self._inertial[1],
mass = self._mass[1],
name = self._wam_name+'\\'+self._body_name[2],
viz_meshes = self._viz_mesh_names[1])
# Attach 'shoulder_yaw_link'
self.shoulder_yaw_link_site.attach(self.shoulder_yaw_link.mjcf_model)
# Find attachment-frame
frame_1 = self.shoulder_yaw_link_site.find('attachment_frame',self._wam_name+'\\'+self._body_name[2])
# Add joint to the attachment frame
frame_1.add('joint',
name = self._joint_name[0],
range = self._joint_range[0],
damping = self._joint_damping[0],
axis = self._joint_axis,
type = self._joint_type,
frictionloss = self._joint_frictionloss,
dclass = 'rand')
# Attach site for 'shoulder_pitch_link'
self.shoulder_pitch_link_site = self.shoulder_yaw_link.mjcf_model.worldbody.add('site',
pos = self._pos[2],
quat = self._quat[2],
dclass = self._site_name)
# Create link 'shoulder_pitch_link'
self.shoulder_pitch_link = Link(col_meshes = self._col_mesh_names[2],
com_pos = self._com_pos[2],
dclass_col = 'wam\\col',
inertia = self._inertial[2],
mass = self._mass[2],
name = self._wam_name+'\\'+self._body_name[3],
viz_meshes = self._viz_mesh_names[2])
# Attach 'shoulder_pitch_link'
self.shoulder_pitch_link_site.attach(self.shoulder_pitch_link.mjcf_model)
# Add joint to the attachment frame
self.shoulder_pitch_link_site.add('joint',
name = self._joint_name[1],
range = self._joint_range[1],
damping = self._joint_damping[1],
axis = self._joint_axis,
type = self._joint_type,
frictionloss = self._joint_frictionloss,
dclass = 'rand')
# Attach site for 'upper_arm_link'
self.upper_arm_link_site = self.shoulder_pitch_link.mjcf_model.worldbody.add('site',
pos = self._pos[3],
quat = self._quat[3],
dclass = self._site_name)
# Create link 'upper_arm_link'
self.upper_arm_link = Link(col_meshes = self._col_mesh_names[3],
com_pos = self._com_pos[3],
dclass_col = 'wam\\col',
inertia = self._inertial[3],
mass = self._mass[3],
name = self._wam_name+'\\'+self._body_name[4],
viz_meshes = self._viz_mesh_names[3])
# Attach 'upper_arm_link'
self.upper_arm_link_site.attach(self.upper_arm_link.mjcf_model)
# Add joint to the attachment frame
self.upper_arm_link_site.add('joint',
name = self._joint_name[2],
range = self._joint_range[2],
damping = self._joint_damping[2],
axis = self._joint_axis,
type = self._joint_type,
frictionloss = self._joint_frictionloss,
dclass = 'rand')
# Attach site for 'forearm_link'
self.forearm_link_site = self.upper_arm_link.mjcf_model.worldbody.add('site',
pos = self._pos[4],
quat = self._quat[4],
dclass = self._site_name)
# Create link 'forearm_link'
self.forearm_link = Forearm_link(col_meshes = self._col_mesh_names[4],
com_pos = self._com_pos[4],
dclass_col = 'wam\\col',
inertia = self._inertial[4],
mass = self._mass[4],
name = self._wam_name+'\\'+self._body_name[5],
viz_dclass_name = [self._wam_name+'\\elbow_link',
self._wam_name+'\\fore_arm_link'],
viz_meshes = self._viz_mesh_names[4:6])
# Attach 'forearm_link'
self.forearm_link_site.attach(self.forearm_link.mjcf_model)
# Add joint to the attachment frame
self.forearm_link_site.add('joint',
name = self._joint_name[3],
range = self._joint_range[3],
damping = self._joint_damping[3],
axis = self._joint_axis,
type = self._joint_type,
frictionloss = self._joint_frictionloss,
dclass = 'rand')
# Attach site for 'wrist_yaw_link'
self.wrist_yaw_link_site = self.forearm_link.mjcf_model.worldbody.add('site',
pos = self._pos[5],
quat = self._quat[5],
dclass = self._site_name)
# Create link 'wrist_yaw_link'
self.wrist_yaw_link = Link(col_meshes = self._col_mesh_names[5],
com_pos = self._com_pos[5],
dclass_col = 'wam\\col',
inertia = self._inertial[5],
mass = self._mass[5],
name = self._wam_name+'\\'+self._body_name[6],
viz_meshes = self._viz_mesh_names[6])
# Attach 'wrist_yaw_link'
self.wrist_yaw_link_site.attach(self.wrist_yaw_link.mjcf_model)
# Add joint to the attachment frame
self.wrist_yaw_link_site.add('joint',
name = self._joint_name[4],
range = self._joint_range[4],
damping = self._joint_damping[4],
axis = self._joint_axis,
type = self._joint_type,
frictionloss = self._joint_frictionloss,
dclass = 'rand')
# Attach site for 'wrist_pitch_link'
self.wrist_pitch_link_site = self.wrist_yaw_link.mjcf_model.worldbody.add('site',
pos = self._pos[6],
quat = self._quat[6],
dclass = self._site_name)
# Create link 'wrist_pitch_link'
self.wrist_pitch_link = Link(col_meshes = self._col_mesh_names[6],
com_pos = self._com_pos[6],
dclass_col = 'wam\\col',
inertia = self._inertial[6],
mass = self._mass[6],
name = self._wam_name+'\\'+self._body_name[7],
viz_meshes = self._viz_mesh_names[7])
# Attach 'wrist_pitch_link'
self.wrist_pitch_link_site.attach(self.wrist_pitch_link.mjcf_model)
# Add joint to the attachment frame
self.wrist_pitch_link_site.add('joint',
name = self._joint_name[5],
range = self._joint_range[5],
damping = self._joint_damping[5],
axis = self._joint_axis,
type = self._joint_type,
frictionloss = self._joint_frictionloss,
dclass = 'rand')
# Attach site for 'wrist_palm_link'
self.wrist_palm_link_site = self.wrist_pitch_link.mjcf_model.worldbody.add('site',
pos = self._pos[7],
quat = self._quat[7],
dclass = self._site_name)
# Create link 'wrist_palm_link'
self.wrist_palm_link = Link(col_meshes = self._col_mesh_names[7],
com_pos = self._com_pos[7],
dclass_col = 'wam\\col',
inertia = self._inertial[7],
mass = self._mass[7],
name = self._wam_name+'\\'+self._body_name[8],
viz_meshes = self._viz_mesh_names[8])
# Attach 'wrist_palm_link'
self.wrist_palm_link_site.attach(self.wrist_palm_link.mjcf_model)
# Add joint to the attachment frame
self.wrist_palm_link_site.add('joint',
name = self._joint_name[6],
range = self._joint_range[6],
damping = self._joint_damping[6],
axis = self._joint_axis,
type = self._joint_type,
frictionloss = self._joint_frictionloss,
dclass = 'rand')
# Attach site for 'camera'
self.wrist_camera_site = self.wrist_palm_link.mjcf_model.worldbody.add('site',
pos = self._camera_pos,
dclass = self._site_name)
# Create camera 'camera'
self.wrist_camera = Camera(name = self._wam_name+'\\'+self._camera_name,
fovy = self._camera_fovy)
# Attach 'camera'
self.wrist_camera_site.attach(self.wrist_camera.mjcf_model)
# Attach site for 'torque_sensor_link'
self.wrist_torque_link_site = self.wrist_palm_link.mjcf_model.worldbody.add('site',
pos = self._pos[8],
quat = self._quat[8],
dclass = self._site_name)
# Create link 'torque_sensor_link'
self.wrist_torque_link = Link(dclass_col = 'wam\\col',
com_pos = self._com_pos[8],
inertia = self._inertial[8],
mass = self._mass[8],
name = self._wam_name+'\\'+self._body_name[9],
viz_meshes = self._viz_mesh_names[9])
# Attach 'torque_sensor_link'
self.wrist_torque_link_site.attach(self.wrist_torque_link.mjcf_model)
# Attach site for 'bhand'
self.bhand_site = self.wrist_torque_link.mjcf_model.worldbody.add('site',
pos = self._pos[9],
quat = self._quat[9],
dclass = self._site_name)
# Create link 'torque_sensor_link'
self.bhand_link = Bhand(name = self._wam_name+'\\'+self._bhand_name)
# Attach 'torque_sensor_link'
self.bhand_site.attach(self.bhand_link.mjcf_model)
# Delete attachment frames. The element `site` is being read by MuJoCo and, since it does not recongnize this element, it throws an error.
self.base_link.site.clear()
self.shoulder_yaw_link.mjcf_model.worldbody.site.clear()
self.shoulder_pitch_link.mjcf_model.worldbody.site.clear()
self.upper_arm_link.mjcf_model.worldbody.site.clear()
self.forearm_link.mjcf_model.worldbody.site.clear()
self.wrist_yaw_link.mjcf_model.worldbody.site.clear()
self.wrist_pitch_link.mjcf_model.worldbody.site.clear()
self.wrist_palm_link.mjcf_model.worldbody.site.clear()
self.wrist_torque_link.mjcf_model.worldbody.site.clear()
# Make a class for constructing the cameras
class Wheel:
#===================#
# C O N S T A N T #
#===================#
_dclass_col = 'summit\\col'
_dclass_joint = 'summit\\whl'
_dclass_vis = 'summit\\wheel\\viz'
_friction = (0.0001, 0.001, 0.001)
_inertia = (0.04411, 0.02467, 0.02467)
_mass = 10
_size = (0.13, 0.05)
#===============================#
# I N I T I A L I Z A T I O N #
#===============================#
def __init__(self, mesh, orientation, position, prefix, wheel_name):
# Make a MujoCo Root
self.mjcf_model = mjcf.RootElement(model=prefix+'\\'+wheel_name+'_link')
# Add a body element:
self.summit_body = self.mjcf_model.worldbody.add('body',
name = prefix+'\\'+wheel_name+'_link')
# Add the Geometry (https://github.com/google-deepmind/dm_control/blob/ed424509c0a0e8ddf7a43824924de483026ad9cc/dm_control/locomotion/soccer/humanoid.py#L50)
self.summit_body.add('geom',
name = prefix+'\\viz\\'+wheel_name,
mesh = mesh,
dclass = self._dclass_vis)
# Add the Geometry (https://github.com/google-deepmind/dm_control/blob/ed424509c0a0e8ddf7a43824924de483026ad9cc/dm_control/locomotion/soccer/humanoid.py#L50)
self.summit_body.add('geom',
name = prefix+'\\viz\\'+wheel_name+'_cylinder',
dclass = self._dclass_col,
pos = position,
quat = orientation,
size = self._size,
type = 'cylinder',
friction = self._friction)
# Add Inertial properties
self.summit_body.add('inertial',
pos = position,
mass = self._mass,
diaginertia = self._inertia)
# Add Joint
self.summit_body.add('joint',
name = prefix+'\\'+wheel_name.replace("\\","_"),
dclass = self._dclass_joint,
pos = position)
# Make a class for constructing the Summit body
class Summit:
#===================#
# C O N S T A N T #
#===================#
_body_mesh = 'base_link_summit'
_camera_fovy = [55,
55,
90]
_camera_name = ['\\front\\camera',
'\\rear\\camera',
'\\pole_link\\camera']
_camera_pos = [[0, 0.362, 0.373],
[0,-0.362, 0.373]]
_camera_quat = [[0, 0, 0.707107, 0.707107],
[0.707107, 0.707107, 0, 0],
[0.707107, 0.707107, 0, 0]]
_com_pos = (0, 0, 0.37)
_inertia = (1.391, 6.853, 6.125)
_mass = 125
_name_summit = 'smt'
_name_base_link = 'base_link'
_rgba = (0.8, 0.35, 0.1, 1)
_site_name = 'site'
_wam_name = 'wam_7dof_bhand'
_wam_position = (0, 0.14, 0.405)
_wam_quat = (0.707, 0, 0, 0.707)
_wheel_mesh = ['mecanum_LF_1',
'mecanum_LR_1',
'mecanum_RF_1',
'mecanum_RR_1']
_wheel_name = ['whl\\LF',
'whl\\LR',
'whl\\RF',
'whl\\RR']
_wheel_pos = [[-0.220, 0.222, 0.128],
[-0.220,-0.223, 0.128],
[ 0.220, 0.222, 0.128],
[ 0.220,-0.223, 0.128]]
_wheel_quat = (0.707107, 0, 0.707106, 0)
#===============================#
# I N I T I A L I Z A T I O N #
#===============================#
def __init__(self, prefix=''):
# Make a MujoCo Root
self.mjcf_model = mjcf.RootElement(model=self._name_summit+'_'+prefix+'\\'+self._name_base_link)
# # Add some classes
# summit_class = self.mjcf_model.default.add('default', dclass = 'summit\\body\\viz')
# summit_class.site.set_attributes('geom' ,rgba = (0.95, 0.6, 0.05, 1))
# Add a body element:
self.summit_body = self.mjcf_model.worldbody.add('body',
name = self._name_summit+'_'+prefix+'\\'+self._name_base_link,
pos = (0, 0, 0))
# Add Inertial properties
self.summit_body.add('inertial',
pos = self._com_pos,
mass = self._mass,
diaginertia = self._inertia)
# Add the Geometry (https://github.com/google-deepmind/dm_control/blob/ed424509c0a0e8ddf7a43824924de483026ad9cc/dm_control/locomotion/soccer/humanoid.py#L50)
self.summit_body.add('geom',
name = self._name_summit+'_'+prefix+'\\viz\\'+self._name_base_link,
mesh = self._body_mesh,
dclass = 'summit\\body\\viz')
# Add camera locations
# An empty array to hold camera-sites
camera_site = []
for x in range(len(self._camera_pos)):
camera_site.append(self.summit_body.add('site',
pos = self._camera_pos[x],
quat = self._camera_quat[x],
dclass = self._site_name))
# Create camera
# Initialize empty list of camera
cameras = []
for x in range(len(self._camera_pos)):
cameras.append(Camera(name = self._name_summit+'_'+prefix+self._camera_name[x],
fovy = self._camera_fovy[x]))
# Attach the cameras
for x in range(len(self._camera_pos)):
camera_site[x].attach(cameras[x].mjcf_model)
# Add a cylindrical-pole
self.pole = self.summit_body.add('body',
name = self._name_summit+'_'+prefix+'\\pole_link',
pos = (0, 0.32, 1))
self.pole.add('geom',
name = self._name_summit+'_'+prefix+'\\viz\\pole_link',
dclass = 'summit\\wheel\\viz',
type = 'cylinder',
size = (0.005, 0.42))
# Add a camera to the pole
pole_camera_site = self.pole.add('site',
pos = (0, 0, 0.44),
quat = self._camera_quat[2])
pole_camera = Camera(name = self._name_summit+'_'+prefix+self._camera_name[2],
fovy = self._camera_fovy[2])
pole_camera_site.attach(pole_camera.mjcf_model)
# Add collision bodies
self.summit_body.add('geom',
name = self._name_summit+'_'+prefix+'\\col\\'+self._name_base_link+'\\box_body',
dclass = 'summit\\col',
pos = (0, 0, 0.42),
size = (0.24, 0.32, 0.16),
type = 'box')
self.summit_body.add('geom',
name = self._name_summit+'_'+prefix+'\\col\\'+self._name_base_link+'\\arm_rest',
dclass = 'summit\\col',
pos = (0, 0.098, 0.55),
quat = (0.5, 0.5, -0.5, -0.5),
mesh = 'arm_rest')
self.summit_body.add('geom',
name = self._name_summit+'_'+prefix+'\\col\\'+self._name_base_link+'\\cylinder_lidar',
dclass = 'summit\\col',
pos = (0.246, 0.362, 0.313),
size = (0.06, 0.044),
type = 'cylinder')
# Add joints
# World placement
self.summit_body.add('joint',
name = self._name_summit+'_'+prefix+'\\world_x',
armature = 0.0001,
axis = (0, 1, 0),
damping = 1e+11,
pos = (0, 0, 0),
type = 'slide',
dclass = 'rand')
self.summit_body.add('joint',
name = self._name_summit+'_'+prefix+'\\world_y',
armature = 0.0001,
axis = (-1, 0, 0),
damping = 1e+11,
pos = (0, 0, 0),
type = 'slide',
dclass = 'rand')
self.summit_body.add('joint',
name = self._name_summit+'_'+prefix+'\\world_z',
armature = 0.0001,
axis = (0, 0, 1),
damping = 1e+0,
pos = (0, 0, 0),
type = 'slide',
dclass = 'rand')
# Control summit base
self.summit_body.add('joint',
name = self._name_summit+'_'+prefix+'\\pose\\x',
axis = (0, 1, 0),
damping = 15,
pos = (0, 0, 0.4),
type = 'slide',
dclass = 'rand')
self.summit_body.add('joint',
name = self._name_summit+'_'+prefix+'\\pose\\y',
axis = (-1, 0, 0),
damping = 15,
pos = (0, 0, 0.4),
type = 'slide',
dclass = 'rand')
self.summit_body.add('joint',
name = self._name_summit+'_'+prefix+'\\orie\\z',
axis = (0, 0, 1),
damping = 10,
pos = (0, 0, 0.4),
type = 'hinge',
dclass = 'rand')
# Add wheels
# An empty array to hold box-sites
wheel_site = []
for x in range(len(self._wheel_pos)):
wheel_site.append(self.summit_body.add('site',
pos = (0, 0, 0),
dclass = self._site_name))
# Create wheels
# Initialize empty list of wheels
wheels = []
for x in range(len(self._wheel_pos)):
wheels.append(Wheel(orientation = self._wheel_quat,
position = self._wheel_pos[x],
prefix = self._name_summit+'_'+prefix,
wheel_name = self._wheel_name[x],
mesh = self._wheel_mesh[x]))
# Attach the wheels
for x in range(len(self._wheel_pos)):
wheel_site[x].attach(wheels[x].mjcf_model)
# Add WAM
wam_site = self.summit_body.add('site',
pos = self._wam_position,
quat = self._wam_quat)
wam = WAM(name = self._wam_name+'_'+prefix)
wam_site.attach(wam.mjcf_model)
# Delete attachment frames. The element `site` is being read by MuJoCo and, since it does not recongnize this element, it throws an error.
self.summit_body.site.clear()
self.pole.site.clear()
def export_with_assets(mjcf_model, out_dir, out_file_name=None,
*,
precision=mjcf.constants.XML_DEFAULT_PRECISION, # List of keywords : (https://github.com/google-deepmind/dm_control/blob/ed424509c0a0e8ddf7a43824924de483026ad9cc/dm_control/mjcf/constants.py#L30)
zero_threshold=0):
"""Saves mjcf.model in the given directory in MJCF (XML) format.
Creates an MJCF XML file named `out_file_name` in the specified `out_dir`, and
writes all of its assets into the same directory.
Args:
mjcf_model: `mjcf.RootElement` instance to export.
out_dir: Directory to save the model and assets. Will be created if it does
not already exist.
out_file_name: (Optional) Name of the XML file to create. Defaults to the
model name (`mjcf_model.model`) suffixed with '.xml'.
precision: (optional) Number of digits to output for floating point
quantities.
zero_threshold: (optional) When outputting XML, floating point quantities
whose absolute value falls below this threshold will be treated as zero.
Raises:
ValueError: If `out_file_name` is a string that does not end with '.xml'.
"""
if out_file_name is None:
out_file_name = mjcf_model.model + '.xml'
elif not out_file_name.lower().endswith('.xml'):
raise ValueError('If `out_file_name` is specified it must end with '
'\'.xml\': got {}'.format(out_file_name))
assets = mjcf_model.get_assets()
# This should never happen because `mjcf` does not support `.xml` assets.
assert out_file_name not in assets
assets[out_file_name] = mjcf_model.to_xml_string(
precision=precision, zero_threshold=zero_threshold)
if not os.path.exists(out_dir):
os.makedirs(out_dir)
for filename, contents in assets.items():
with open(os.path.join(out_dir, filename), 'wb') as f:
f.write(util.to_binary_string(contents))
# Create a Summit
prefix = '0'
summit_body = Summit(prefix = prefix)
folder_name = '/home/arnab/UWARL_catkin_ws/src/uwarl-mujoco-summit-wam-sim/components'
export_with_assets(mjcf_model = summit_body.mjcf_model, out_dir=folder_name)
# Read the created file
filename = folder_name+'/smt_0\\base_link.xml'
mjcf_model = mjcf.from_path(filename, escape_separators=True)
bodies = mjcf_model.find_all('body')
cameras = mjcf_model.find_all('camera')
geoms = mjcf_model.find_all('geom')
joints = mjcf_model.find_all('joint')
camera_names =['smt_'+prefix+'\\front\\camera\\intel\\rgb',
'smt_'+prefix+'\\rear\\camera\\intel\\rgb',
'smt_'+prefix+'\\pole_link\\camera\\intel\\rgb',
'wam\\camera\\intel\\rgb']
class_names_bhand = ['bhand_palm_link',
'bhand_finger_prox_link',
'bhand_finger_med_link',
'bhand_finger_dist_link']
class_names_wam = ['base',
'shoulder_yaw_link',
'shoulder_pitch_link',
'upper_arm_link',
'elbow_link',
'fore_arm_link',
'wrist_yaw_link',
'wrist_pitch_link',
'wrist_palm_link',
'torque_sensor_link']