Add MjSpec example for procedural meshes.
PiperOrigin-RevId: 731635686 Change-Id: I310b802966755f627c4ec2cbdcd2ce7b14921c57
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
7fdee13874
commit
9c31494fa1
+120
-34
@@ -270,37 +270,6 @@
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"We'll start with an \"arena\" xml, containing only a plane and light, and define some utility functions."
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]
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},
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{
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"cell_type": "code",
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"execution_count": 0,
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"metadata": {
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"id": "AgYLwOhs1Msn"
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},
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"outputs": [],
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"source": [
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"#@title arena model\n",
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"arena_xml = \"\"\"\n",
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"<mujoco>\n",
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" <visual>\n",
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" <headlight diffuse=\".5 .5 .5\" specular=\"1 1 1\"/>\n",
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" <global elevation=\"-10\" offwidth=\"2048\" offheight=\"1536\"/>\n",
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" <quality shadowsize=\"8192\"/>\n",
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" </visual>\n",
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"\n",
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" <asset>\n",
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" <texture type=\"skybox\" builtin=\"gradient\" rgb1=\"1 1 1\" rgb2=\"1 1 1\" width=\"10\" height=\"10\"/>\n",
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" <texture type=\"2d\" name=\"groundplane\" builtin=\"checker\" mark=\"edge\" rgb1=\"1 1 1\" rgb2=\"1 1 1\" markrgb=\"0 0 0\" width=\"300\" height=\"300\"/>\n",
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" <material name=\"groundplane\" texture=\"groundplane\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0\"/>\n",
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" </asset>\n",
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"\n",
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" <worldbody>\n",
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" <geom name=\"floor\" size=\"5 5 0.01\" type=\"plane\" material=\"groundplane\"/>\n",
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" <light pos=\"0 0 3\"/>\n",
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" </worldbody>\n",
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"</mujoco>\n",
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"\"\"\""
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]
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},
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{
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"cell_type": "code",
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"execution_count": 0,
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@@ -403,7 +372,7 @@
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" spec.option.density = 1.294\n",
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"\n",
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" # Defaults for joint and geom\n",
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" main = spec.default()\n",
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" main = spec.default\n",
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" main.geom.type = mj.mjtGeom.mjGEOM_CAPSULE\n",
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" main.joint.type = mj.mjtJoint.mjJNT_BALL\n",
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" main.joint.springdamper = [0.003, 0.7]\n",
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@@ -482,6 +451,27 @@
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"outputs": [],
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"source": [
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"#@title Make video\n",
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"arena_xml = \"\"\"\n",
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"<mujoco>\n",
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" <visual>\n",
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" <headlight diffuse=\".5 .5 .5\" specular=\"1 1 1\"/>\n",
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" <global elevation=\"-10\" offwidth=\"2048\" offheight=\"1536\"/>\n",
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" <quality shadowsize=\"8192\"/>\n",
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" </visual>\n",
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"\n",
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" <asset>\n",
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" <texture type=\"skybox\" builtin=\"gradient\" rgb1=\".5 .5 .5\" rgb2=\"0 0 0\" width=\"10\" height=\"10\"/>\n",
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" <texture type=\"2d\" name=\"groundplane\" builtin=\"checker\" mark=\"edge\" rgb1=\"1 1 1\" rgb2=\"1 1 1\" markrgb=\"0 0 0\" width=\"300\" height=\"300\"/>\n",
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" <material name=\"groundplane\" texture=\"groundplane\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.3\"/>\n",
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" </asset>\n",
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"\n",
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" <worldbody>\n",
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" <geom name=\"floor\" size=\"5 5 0.01\" type=\"plane\" material=\"groundplane\"/>\n",
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" <light pos=\"0 0 3\" diffuse=\"1 1 1\" specular=\"1 1 1\"/>\n",
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" </worldbody>\n",
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"</mujoco>\n",
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"\"\"\"\n",
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"\n",
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"spec = procedural_tree(spec=mj.MjSpec.from_string(arena_xml))\n",
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"model = spec.compile()\n",
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"data = mj.MjData(model)\n",
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@@ -489,7 +479,7 @@
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"duration = 3 # (seconds)\n",
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"framerate = 60 # (Hz)\n",
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"frames = []\n",
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"with mj.Renderer(model, width=1920 // 2, height=1080 // 2) as renderer:\n",
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"with mj.Renderer(model, width=1920 // 3, height=1080 // 3) as renderer:\n",
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" while data.time < duration:\n",
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" # Add rightward wind.\n",
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" wind = 40 * unit_bump(data.time, .2 * duration, .7 * duration)\n",
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@@ -755,7 +745,103 @@
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" while data.time < duration:\n",
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" mj.mj_step(model, data)\n",
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" if len(frames) < data.time * framerate:\n",
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" cam.azimuth = 20 + 30 * (1 - np.cos(np.pi*data.time / duration))\n",
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" cam.azimuth = 20 + 20 * (1 - np.cos(np.pi*data.time / duration))\n",
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" renderer.update_scene(data, cam)\n",
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" pixels = renderer.render()\n",
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" frames.append(pixels)\n",
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"\n",
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"media.show_video(frames, fps=framerate )"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {
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"id": "92PjTlVCprxn"
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},
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"source": [
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"## Mesh\n",
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"\n",
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"Random meshes can be easily created by sampling random vertices on the unit sphere and letting MuJoCo create the corresponding convex hull."
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]
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},
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{
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"cell_type": "code",
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"execution_count": 0,
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"metadata": {
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"id": "702z1GBRprxq"
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},
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"outputs": [],
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"source": [
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"#@title Add \"rock\" mesh\n",
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"def add_rock(spec=None, scale=1, name=\"rock\", pos=[0, 0, 0]):\n",
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" if spec is None:\n",
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" spec = mj.MjSpec()\n",
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"\n",
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" # Defaults\n",
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" main = spec.default\n",
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" main.mesh.scale = np.array([scale]*3 , dtype = np.float64)\n",
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" main.geom.type = mj.mjtGeom.mjGEOM_MESH\n",
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"\n",
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" # Random gray-brown color\n",
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" gray = np.array([.5, .5, .5, 1])\n",
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" light_brown = np.array([200, 150, 100, 255]) / 255.0\n",
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" mix = np.random.uniform()\n",
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" rgba = light_brown*mix + gray*(1-mix)\n",
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"\n",
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" # Create mesh vertices\n",
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" mesh = np.random.normal(size = (20, 3))\n",
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" mesh /= np.linalg.norm(mesh, axis=1, keepdims=True)\n",
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"\n",
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" # Create Body and add mesh to the Geom of the Body\n",
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" spec.add_mesh(name=name, uservert=mesh.flatten())\n",
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" body = spec.worldbody.add_body(pos=pos, name=name, mass=1)\n",
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" body.add_geom(meshname=name, rgba=rgba)\n",
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" body.add_freejoint()\n",
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"\n",
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" return body"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 0,
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"metadata": {
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"id": "8BR4mlFdprxx"
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},
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"outputs": [],
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"source": [
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"#@title Video\n",
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"spec = add_hfield(mj.MjSpec.from_string(arena_xml))\n",
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"\n",
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"# Add lights\n",
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"for x in [-15, 15]:\n",
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" for y in [-15, 15]:\n",
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" spec.worldbody.add_light(pos = [x, y, 10], dir = [-x, -y, -15])\n",
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"\n",
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"# Add rocks\n",
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"for x in np.linspace(-8, 8, 8):\n",
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" for y in np.linspace(-8, 8, 8):\n",
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" pos = [x, y, np.random.uniform(4, 14)]\n",
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" rock = add_rock(spec = spec,\n",
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" scale = np.random.uniform(.3, 1),\n",
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" name = f\"rock_{x}_{y}\",\n",
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" pos = pos)\n",
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"model = spec.compile()\n",
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"data = mj.MjData(model)\n",
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"\n",
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"cam = mj.MjvCamera()\n",
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"mj.mjv_defaultCamera(cam)\n",
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"cam.lookat = [0, 0, 0]\n",
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"cam.distance = 30\n",
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"cam.elevation = -30\n",
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"\n",
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"duration = 6 # (seconds)\n",
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"framerate = 60 # (Hz)\n",
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"frames = []\n",
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"with mj.Renderer(model, width=1920 // 3, height=1080 // 3) as renderer:\n",
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" while data.time < duration:\n",
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" mj.mj_step(model, data)\n",
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" if len(frames) < data.time * framerate:\n",
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" cam.azimuth = 20 + 20 * (1 - np.cos(np.pi*data.time / duration))\n",
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" renderer.update_scene(data, cam)\n",
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" pixels = renderer.render()\n",
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" frames.append(pixels)\n",
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