merging with main mujoco repo
This commit is contained in:
Abhishek Joshi
+49
-37
@@ -2129,12 +2129,6 @@ from its default.
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When this flag is enabled, :ref:`mj_inverse` will interpret ``qacc`` as having been computed from the difference of
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When this flag is enabled, :ref:`mj_inverse` will interpret ``qacc`` as having been computed from the difference of
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two sequential velocities, and undo the above modification.
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two sequential velocities, and undo the above modification.
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.. _option-flag-sensornoise:
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:at:`sensornoise`: :at-val:`[disable, enable], "disable"`
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This flag enables the simulation of sensor noise. When disabled (which is the default) noise is not added to
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sensordata, even if the sensors specify non-zero noise amplitudes. When enabled, zero-mean Gaussian noise is added to
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the underlying deterministic sensor data. Its standard deviation is determined by the noise parameter of each sensor.
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.. _option-flag-multiccd:
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.. _option-flag-multiccd:
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@@ -2354,24 +2348,6 @@ rotations as unit quaternions.
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joint inertia in the model reference configuration. Note that the format is the same as the solref parameter of the
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joint inertia in the model reference configuration. Note that the format is the same as the solref parameter of the
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constraint solver.
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constraint solver.
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.. _body-joint-limited:
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:at:`limited`: :at-val:`[false, true, auto], "auto"`
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This attribute specifies if the joint has limits. It interacts with the range attribute below. If this attribute
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is "false", joint limits are disabled. If this attribute is "true", joint limits are enabled. If this
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attribute is "auto", and :at:`autolimits` is set in :ref:`compiler <compiler>`, joint limits will be enabled
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if range is defined.
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.. _body-joint-actuatorfrclimited:
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:at:`actuatorfrclimited`: :at-val:`[false, true, auto], "auto"`
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This attribute specifies whether actuator forces acting on the joint should be clamped. See :ref:`CForceRange` for
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details. It is available only for scalar joints (hinge and slider) and ignored for ball and free joints. |br| This
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attribute interacts with the actuatorfrcrange attribute below. If this attribute is "false", actuator force
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clamping is disabled. If it is "true", actuator force clamping is enabled. If this attribute is "auto", and
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:at:`autolimits` is set in :ref:`compiler <compiler>`, actuator force clamping will be enabled if actuatorfrcrange
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is defined.
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.. _body-joint-solreflimit:
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.. _body-joint-solreflimit:
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.. _body-joint-solimplimit:
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.. _body-joint-solimplimit:
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@@ -2400,16 +2376,44 @@ rotations as unit quaternions.
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joints, the limit is imposed on the angle of rotation (relative to the reference configuration) regardless of the
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joints, the limit is imposed on the angle of rotation (relative to the reference configuration) regardless of the
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axis of rotation. Only the second range parameter is used for ball joints; the first range parameter should be set to
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axis of rotation. Only the second range parameter is used for ball joints; the first range parameter should be set to
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0. See the :ref:`Limit <coLimit>` section in the Computation chapter for more information.
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0. See the :ref:`Limit <coLimit>` section in the Computation chapter for more information.
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|br| Setting this attribute without specifying :at:`limited` is an error, unless :at:`autolimits` is set in
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|br| Setting this attribute without specifying :at:`limited` is an error if :at:`autolimits` is "false" in
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:ref:`compiler <compiler>`.
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:ref:`compiler <compiler>`.
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.. _body-joint-limited:
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:at:`limited`: :at-val:`[false, true, auto], "auto"`
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This attribute specifies if the joint has limits. It interacts with the range attribute below. If this attribute
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is "false", joint limits are disabled. If this attribute is "true", joint limits are enabled. If this
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attribute is "auto", and :at:`autolimits` is set in :ref:`compiler <compiler>`, joint limits will be enabled
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if range is defined.
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.. _body-joint-actuatorfrcrange:
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.. _body-joint-actuatorfrcrange:
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:at:`actuatorfrcrange`: :at-val:`real(2), "0 0"`
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:at:`actuatorfrcrange`: :at-val:`real(2), "0 0"`
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Range for clamping total actuator forces acting on this joint. See :ref:`CForceRange` for details. It is available
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Range for clamping total actuator forces acting on this joint. See :ref:`CForceRange` for details. It is available
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only for scalar joints (hinge and slider) and ignored for ball and free joints. |br| The compiler expects the first
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only for scalar joints (hinge and slider) and ignored for ball and free joints. |br| The compiler expects the first
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value to be smaller than the second value. |br| Setting this attribute without specifying :at:`actuatorfrclimited`
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value to be smaller than the second value. |br| Setting this attribute without specifying :at:`actuatorfrclimited`
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is an error, unless :at:`compiler-autolimits` is set.
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is an error if :at:`compiler-autolimits` is "false".
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.. _body-joint-actuatorfrclimited:
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:at:`actuatorfrclimited`: :at-val:`[false, true, auto], "auto"`
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This attribute specifies whether actuator forces acting on the joint should be clamped. See :ref:`CForceRange` for
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details. It is available only for scalar joints (hinge and slider) and ignored for ball and free joints. |br| This
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attribute interacts with the actuatorfrcrange attribute below. If this attribute is "false", actuator force
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clamping is disabled. If it is "true", actuator force clamping is enabled. If this attribute is "auto", and
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:at:`autolimits` is set in :ref:`compiler <compiler>`, actuator force clamping will be enabled if
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:at:`actuatorfrcrange` is defined.
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.. _body-joint-actuatorgravcomp:
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:at:`actuatorgravcomp`: :at-val:`[false, true], "false"`
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If this flag is enabled, gravity compensation applied to this joint is added to actuator forces
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(``mjData.qfrc_actuator``) rather than passive forces (``mjData.qfrc_passive``). Notionally, this means that gravity
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compensation is the result of a control system rather than natural buoyancy. In practice, enabling this flag is
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useful when joint-level actuator force clamping is used. In this case, the total actuation force applied on a joint,
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including gravity compensation, is guaranteed to not exceeed the specified limits. See :ref:`CForceRange` and
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:ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` for more details on this type of force limit.
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.. _body-joint-margin:
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.. _body-joint-margin:
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@@ -3808,8 +3812,12 @@ saving the XML:
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in MuJoCo can be used as a rigid geom attached to a single body. In contrast, the flex generated here corresponds to
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in MuJoCo can be used as a rigid geom attached to a single body. In contrast, the flex generated here corresponds to
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a soft mesh with the same initial shape, where each vertex is a separate moving body (unless pinned).
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a soft mesh with the same initial shape, where each vertex is a separate moving body (unless pinned).
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**gmsh** is similar to mesh, but it loads a `GMSH file <https://gmsh.info//doc/texinfo/gmsh.html#MSH-file-format>`__
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.. _gmsh-file-docs:
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in format 4.1 (ascii or binary). The file extension can be anything; the parser recognizes the format by examining
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**gmsh** is similar to mesh, but it loads a GMSH file in
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`format 4.1 <https://gmsh.info//doc/texinfo/gmsh.html#MSH-file-format>`__
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and `format 2.2 <https://gmsh.info//doc/texinfo/gmsh.html#MSH-file-format-version-2-_0028Legacy_0029>`__
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(ascii or binary). The file extension can be anything; the parser recognizes the format by examining
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the file header. This is a very rich file format, allowing all kinds of elements with different dimensionality and
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the file header. This is a very rich file format, allowing all kinds of elements with different dimensionality and
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topology. MuJoCo only supports GMSH element types 1, 2, 4 which happen to correspond to our 1D, 2D and 3D flexes and
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topology. MuJoCo only supports GMSH element types 1, 2, 4 which happen to correspond to our 1D, 2D and 3D flexes and
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assumes that the nodes are specified in a single block. Only the Nodes and Elements sections of the GMHS file are
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assumes that the nodes are specified in a single block. Only the Nodes and Elements sections of the GMHS file are
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@@ -3817,7 +3825,7 @@ saving the XML:
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GMSH file contains meshes that are not supported by MuJoCo. :at:`dim` is automatically set to the dimensionality
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GMSH file contains meshes that are not supported by MuJoCo. :at:`dim` is automatically set to the dimensionality
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specified in the GMSH file. Presently this is the only mechanism to load a large tetrahedral mesh in MuJoCo and
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specified in the GMSH file. Presently this is the only mechanism to load a large tetrahedral mesh in MuJoCo and
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generate a corresponding soft entity. If such a mesh is available in a different file format, use the freely
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generate a corresponding soft entity. If such a mesh is available in a different file format, use the freely
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available `GMSH software <https://gmsh.info/>`__ to convert it to GMSH 4.1.
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available `GMSH software <https://gmsh.info/>`__ to convert it to GMSH in one of the supported versions.
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**direct** allows the user to specify the point and element data of the flexcomp directly in the XML. Note that
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**direct** allows the user to specify the point and element data of the flexcomp directly in the XML. Note that
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flexcomp will still generate moving bodies automatically, as well as automate other settings; so it still provides
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flexcomp will still generate moving bodies automatically, as well as automate other settings; so it still provides
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@@ -3873,7 +3881,7 @@ saving the XML:
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:at:`file`: :at-val:`string, optional`
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:at:`file`: :at-val:`string, optional`
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The name of the file from which a **mesh** or a **gmsh** is loaded. For mesh, the file extentsion is used to
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The name of the file from which a **mesh** or a **gmsh** is loaded. For mesh, the file extentsion is used to
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determine the file format. Supported formats are the same as in :ref:`mesh assets<asset-mesh>`. For gmsh, the file is
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determine the file format. Supported formats are the same as in :ref:`mesh assets<asset-mesh>`. For gmsh, the file is
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expected to be in GMSH format 4.1, ascii or binary.
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expected to be in GMSH format 4.1 or 2.2, ascii or binary, see :ref:`here<gmsh-file-docs>`.
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.. _body-flexcomp-rigid:
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.. _body-flexcomp-rigid:
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@@ -5092,14 +5100,14 @@ specify them independently.
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:at:`ctrlrange`: :at-val:`real(2), "0 0"`
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:at:`ctrlrange`: :at-val:`real(2), "0 0"`
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Range for clamping the control input. The first value must be smaller than the second value.
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Range for clamping the control input. The first value must be smaller than the second value.
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|br| Setting this attribute without specifying :at:`ctrllimited` is an error, unless :at:`autolimits` is set in
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|br| Setting this attribute without specifying :at:`ctrllimited` is an error if :at:`autolimits` is "false" in
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:ref:`compiler <compiler>`.
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:ref:`compiler <compiler>`.
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.. _actuator-general-forcerange:
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.. _actuator-general-forcerange:
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:at:`forcerange`: :at-val:`real(2), "0 0"`
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:at:`forcerange`: :at-val:`real(2), "0 0"`
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Range for clamping the force output. The first value must be no greater than the second value.
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Range for clamping the force output. The first value must be no greater than the second value.
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|br| Setting this attribute without specifying :at:`forcelimited` is an error, unless :at:`autolimits` is set in
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|br| Setting this attribute without specifying :at:`forcelimited` is an error if :at:`autolimits` is "false" in
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:ref:`compiler <compiler>`.
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:ref:`compiler <compiler>`.
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.. _actuator-general-actrange:
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.. _actuator-general-actrange:
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@@ -5107,7 +5115,7 @@ specify them independently.
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:at:`actrange`: :at-val:`real(2), "0 0"`
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:at:`actrange`: :at-val:`real(2), "0 0"`
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Range for clamping the activation state. The first value must be no greater than the second value.
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Range for clamping the activation state. The first value must be no greater than the second value.
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See the :ref:`Activation clamping <CActRange>` section for more details.
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See the :ref:`Activation clamping <CActRange>` section for more details.
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|br| Setting this attribute without specifying :at:`actlimited` is an error, unless :at:`autolimits` is set in
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|br| Setting this attribute without specifying :at:`actlimited` is an error if :at:`autolimits` is "false" in
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:ref:`compiler <compiler>`.
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:ref:`compiler <compiler>`.
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.. _actuator-general-lengthrange:
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.. _actuator-general-lengthrange:
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@@ -6485,10 +6493,12 @@ arms determined by the transmission). This sensor can be attached to any actuato
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:el-prefix:`sensor/` |-| **jointactuatorfrc** (*)
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:el-prefix:`sensor/` |-| **jointactuatorfrc** (*)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element creates an actuator force sensor, measured at a joint. The quantity being sensed is the
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This element creates an actuator force sensor, measured at a joint. The quantity being sensed is the generalized force
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generalized force contributed by all actuators to a single scalar joint (hinge or slider). This type of sensor is
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contributed by all actuators to a single scalar joint (hinge or slider). If the joint's
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important when multiple actuators act on a single joint or when a single actuator act on multiple joints. See
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:ref:`actuatorgravcomp<body-joint-actuatorgravcomp>` attribute is "true", this sensor will also measure contributions by
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:ref:`CForceRange` for details.
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gravity compensation forces (which are added directly to the joint and would *not* register in the
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:ref:`actuatorfrc<sensor-actuatorfrc>`) sensor. This type of sensor is important when multiple actuators act on a single
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joint or when a single actuator act on multiple joints. See :ref:`CForceRange` for details.
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.. _sensor-jointactuatorfrc-name:
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.. _sensor-jointactuatorfrc-name:
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@@ -7382,6 +7392,8 @@ if omitted.
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.. _default-joint-actuatorfrclimited:
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.. _default-joint-actuatorfrclimited:
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.. _default-joint-actuatorgravcomp:
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.. _default-joint-solreflimit:
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.. _default-joint-solreflimit:
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.. _default-joint-solimplimit:
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.. _default-joint-solimplimit:
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+7
-7
@@ -247,9 +247,9 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`sensor<option-flag-sensor>` | :ref:`midphase<option-flag-midphase>` | :ref:`eulerdamp<option-flag-eulerdamp>` | :ref:`override<option-flag-override>` | |
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| | | | :ref:`sensor<option-flag-sensor>` | :ref:`midphase<option-flag-midphase>` | :ref:`eulerdamp<option-flag-eulerdamp>` | :ref:`override<option-flag-override>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`energy<option-flag-energy>` | :ref:`fwdinv<option-flag-fwdinv>` | :ref:`invdiscrete<option-flag-invdiscrete>` | :ref:`sensornoise<option-flag-sensornoise>` | |
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| | | | :ref:`energy<option-flag-energy>` | :ref:`fwdinv<option-flag-fwdinv>` | :ref:`invdiscrete<option-flag-invdiscrete>` | :ref:`multiccd<option-flag-multiccd>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`multiccd<option-flag-multiccd>` | :ref:`island<option-flag-island>` | | | |
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| | | | :ref:`island<option-flag-island>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| mujoco |br| |L| | | .. table:: |
|
| mujoco |br| |L| | | .. table:: |
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@@ -286,9 +286,9 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`solimpfriction<body-joint-solimpfriction>` | :ref:`stiffness<body-joint-stiffness>` | :ref:`range<body-joint-range>` | :ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` | |
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| | | | :ref:`solimpfriction<body-joint-solimpfriction>` | :ref:`stiffness<body-joint-stiffness>` | :ref:`range<body-joint-range>` | :ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
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| | | | :ref:`margin<body-joint-margin>` | :ref:`ref<body-joint-ref>` | :ref:`springref<body-joint-springref>` | :ref:`armature<body-joint-armature>` | |
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| | | | :ref:`actuatorgravcomp<body-joint-actuatorgravcomp>` | :ref:`margin<body-joint-margin>` | :ref:`ref<body-joint-ref>` | :ref:`springref<body-joint-springref>` | |
|
||||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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||||||
| | | | :ref:`damping<body-joint-damping>` | :ref:`frictionloss<body-joint-frictionloss>` | :ref:`user<body-joint-user>` | | |
|
| | | | :ref:`armature<body-joint-armature>` | :ref:`damping<body-joint-damping>` | :ref:`frictionloss<body-joint-frictionloss>` | :ref:`user<body-joint-user>` | |
|
||||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||||
| |_| body |br| |_| |L| | | .. table:: |
|
| |_| body |br| |_| |L| | | .. table:: |
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@@ -1320,11 +1320,11 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||||
| | | | :ref:`solimplimit<default-joint-solimplimit>` | :ref:`solreffriction<default-joint-solreffriction>` | :ref:`solimpfriction<default-joint-solimpfriction>` | :ref:`stiffness<default-joint-stiffness>` | |
|
| | | | :ref:`solimplimit<default-joint-solimplimit>` | :ref:`solreffriction<default-joint-solreffriction>` | :ref:`solimpfriction<default-joint-solimpfriction>` | :ref:`stiffness<default-joint-stiffness>` | |
|
||||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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||||||
| | | | :ref:`range<default-joint-range>` | :ref:`actuatorfrcrange<default-joint-actuatorfrcrange>` | :ref:`margin<default-joint-margin>` | :ref:`ref<default-joint-ref>` | |
|
| | | | :ref:`range<default-joint-range>` | :ref:`actuatorfrcrange<default-joint-actuatorfrcrange>` | :ref:`actuatorgravcomp<default-joint-actuatorgravcomp>` | :ref:`margin<default-joint-margin>` | |
|
||||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||||
| | | | :ref:`springref<default-joint-springref>` | :ref:`armature<default-joint-armature>` | :ref:`damping<default-joint-damping>` | :ref:`frictionloss<default-joint-frictionloss>` | |
|
| | | | :ref:`ref<default-joint-ref>` | :ref:`springref<default-joint-springref>` | :ref:`armature<default-joint-armature>` | :ref:`damping<default-joint-damping>` | |
|
||||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||||
| | | | :ref:`user<default-joint-user>` | | | | |
|
| | | | :ref:`frictionloss<default-joint-frictionloss>` | :ref:`user<default-joint-user>` | | | |
|
||||||
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
|
||||||
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
|
||||||
| |_| default |br| |_| |L| | | .. table:: |
|
| |_| default |br| |_| |L| | | .. table:: |
|
||||||
|
|||||||
+52
-12
@@ -5,14 +5,62 @@ Changelog
|
|||||||
Upcoming version (not yet released)
|
Upcoming version (not yet released)
|
||||||
-----------------------------------
|
-----------------------------------
|
||||||
|
|
||||||
|
General
|
||||||
|
^^^^^^^
|
||||||
|
.. admonition:: Breaking API changes
|
||||||
|
:class: attention
|
||||||
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|
||||||
|
1. Removed the ability to natively add noise to sensors. Note that the ``mjModel.sensor_noise`` field and
|
||||||
|
:ref:`corresponding attribute<CSensor>` are kept and now function as a convenient location for the user to save
|
||||||
|
standard-deviation information for their own use. This feature was removed because:
|
||||||
|
|
||||||
|
- There was no mechanism to seed the randon noise generator.
|
||||||
|
- It was not thread-safe, even if seeding would have been provided, sampling on multiple threads would lead to
|
||||||
|
non-reproducible results.
|
||||||
|
- This feature was seen as overreach by the engine. Adding noise should be the user's responsibility.
|
||||||
|
- We are not aware of anyone who was actually using the feature.
|
||||||
|
|
||||||
|
**Migration:** Add noise to sensor values yourself.
|
||||||
|
|
||||||
|
2. Added the :ref:`actuatorgravcomp<body-joint-actuatorgravcomp>` joint attribute. When enabled, gravity compensation
|
||||||
|
forces on the joint are treated as applied by actuators. See attribute documentation for more details. The example
|
||||||
|
model
|
||||||
|
`refsite.xml <https://github.com/google-deepmind/mujoco/blob/main/test/engine/testdata/actuation/refsite.xml>`__,
|
||||||
|
which demostrates Cartesian actuation of an arm, has been updated to use this attribute.
|
||||||
|
3. Added support for gmsh format 2.2, as generated by e.g. `fTetwild <https://github.com/wildmeshing/fTetWild>`__.
|
||||||
|
|
||||||
|
|
||||||
MJX
|
MJX
|
||||||
^^^
|
^^^
|
||||||
|
4. Improved performance of SAT for convex collisions.
|
||||||
|
5. Fixed bug for sphere/capsule-convex deep penetration.
|
||||||
|
6. Fixed bug where ``mjx.Data`` produced by ``mjx.put_data`` had different treedef than ``mjx.make_data``.
|
||||||
|
7. Throw an error for margin/gap for convex mesh collisions, since they are not supported.
|
||||||
|
|
||||||
|
Simulate
|
||||||
|
^^^^^^^^
|
||||||
|
8. Fixed bug in order of enable flag strings. Before this change, using the simulate UI to toggle the
|
||||||
|
:ref:`invdiscrete<option-flag-invdiscrete>` or the (now removed) ``sensornoise`` flags would actually toggle the
|
||||||
|
other flag.
|
||||||
|
|
||||||
|
Python bindings
|
||||||
|
^^^^^^^^^^^^^^^
|
||||||
|
|
||||||
|
.. youtube:: xHDS0n5DpqM
|
||||||
|
:align: right
|
||||||
|
:width: 240px
|
||||||
|
|
||||||
|
9. Added the ``mujoco.minimize`` Python module for nonlinear least-squares, designed for System Identification (sysID).
|
||||||
|
The sysID tutorial is work in progress, but a pedagogical colab notebook with examples, including Inverse
|
||||||
|
Kinematics, is available here: |ls_colab|
|
||||||
|
|br| The video on the right shows example clips from the tutorial.
|
||||||
|
|
||||||
|
.. |ls_colab| image:: https://colab.research.google.com/assets/colab-badge.svg
|
||||||
|
:target: https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/least_squares.ipynb
|
||||||
|
|
||||||
1. Improved performance of SAT for convex collisions.
|
|
||||||
2. Fixed bug for sphere/capsule-convex deep penetration.
|
|
||||||
|
|
||||||
Version 3.1.3 (March 5th, 2024)
|
Version 3.1.3 (March 5th, 2024)
|
||||||
-----------------------------------
|
-------------------------------
|
||||||
|
|
||||||
General
|
General
|
||||||
^^^^^^^
|
^^^^^^^
|
||||||
@@ -31,7 +79,6 @@ General
|
|||||||
|
|
||||||
MJX
|
MJX
|
||||||
^^^
|
^^^
|
||||||
|
|
||||||
4. Improved performance of getting and putting device data.
|
4. Improved performance of getting and putting device data.
|
||||||
|
|
||||||
- Use ``tobytes()`` for numpy array serialization, which is orders of magnitude faster than converting to tuples.
|
- Use ``tobytes()`` for numpy array serialization, which is orders of magnitude faster than converting to tuples.
|
||||||
@@ -50,16 +97,9 @@ Python bindings
|
|||||||
^^^^^^^^^^^^^^^
|
^^^^^^^^^^^^^^^
|
||||||
11. Fixed incorrect data types in the bindings for the ``geom``, ``vert``, ``elem``, and ``flex`` array members
|
11. Fixed incorrect data types in the bindings for the ``geom``, ``vert``, ``elem``, and ``flex`` array members
|
||||||
of the ``mjContact`` struct, and all array members of the ``mjrContext`` struct.
|
of the ``mjContact`` struct, and all array members of the ``mjrContext`` struct.
|
||||||
12. Added the ``mujoco.minimize`` Python module for nonlinear least-squares, designed for System Identification (sysID).
|
|
||||||
The sysID tutorial is work in progress, but a pedagogical colab notebook with examples, including Inverse
|
|
||||||
Kinematics, is available here: |ls_colab|
|
|
||||||
|
|
||||||
.. |ls_colab| image:: https://colab.research.google.com/assets/colab-badge.svg
|
|
||||||
:target: https://colab.research.google.com/github/google-deepmind/mujoco/blob/main/python/least_squares.ipynb
|
|
||||||
|
|
||||||
|
|
||||||
Version 3.1.2 (February 05, 2024)
|
Version 3.1.2 (February 05, 2024)
|
||||||
-----------------------------------
|
---------------------------------
|
||||||
|
|
||||||
General
|
General
|
||||||
^^^^^^^
|
^^^^^^^
|
||||||
|
|||||||
@@ -85,8 +85,7 @@ Ellipsoid model
|
|||||||
:figwidth: 50%
|
:figwidth: 50%
|
||||||
:align: right
|
:align: right
|
||||||
|
|
||||||
The flight-capable Drosophila Melanogaster model in this figure will be described in a
|
The flight-capable Drosophila Melanogaster model in this figure is described in :cite:t:`Vaxenburg2024`.
|
||||||
forthcoming publication.
|
|
||||||
|
|
||||||
|
|
||||||
In this section we describe and derive a stateless model of the forces exerted onto a moving rigid body by the
|
In this section we describe and derive a stateless model of the forces exerted onto a moving rigid body by the
|
||||||
@@ -94,7 +93,6 @@ surrounding fluid, based on an ellipsoidal approximation of geom shape. This mod
|
|||||||
different types of fluid forces than the inertia-based model of the previous section. The motivating use-case for this
|
different types of fluid forces than the inertia-based model of the previous section. The motivating use-case for this
|
||||||
model is insect flight, see figure on the right.
|
model is insect flight, see figure on the right.
|
||||||
|
|
||||||
|
|
||||||
Summary
|
Summary
|
||||||
~~~~~~~
|
~~~~~~~
|
||||||
|
|
||||||
@@ -426,7 +424,7 @@ increasing Reynolds numbers, and a single reference area :math:`A_D` may not be
|
|||||||
drag for highly irregular or slender bodies. For example, experimental fits are derived from problems ranging from
|
drag for highly irregular or slender bodies. For example, experimental fits are derived from problems ranging from
|
||||||
falling playing cards :cite:p:`wang2004,andersen2005a,andersen2005b` to particle transport :cite:p:`loth2008,
|
falling playing cards :cite:p:`wang2004,andersen2005a,andersen2005b` to particle transport :cite:p:`loth2008,
|
||||||
bagheri2016`. See screen capture of the
|
bagheri2016`. See screen capture of the
|
||||||
`cards.xml <https://github.com/deepmind/mujoco/blob/main/model/card/cards.xml>`__ model on the right.
|
`cards.xml <https://github.com/deepmind/mujoco/blob/main/model/cards/cards.xml>`__ model on the right.
|
||||||
|
|
||||||
We derive a formula for :math:`\mathbf{f}_\text{D}` based on two surfaces :math:`A^\text{proj}_\mathbf{v}` and
|
We derive a formula for :math:`\mathbf{f}_\text{D}` based on two surfaces :math:`A^\text{proj}_\mathbf{v}` and
|
||||||
:math:`A_\text{max}`. The first, :math:`A^\text{proj}_\mathbf{v}`, is the cylindrical projection of the body onto a
|
:math:`A_\text{max}`. The first, :math:`A^\text{proj}_\mathbf{v}`, is the cylindrical projection of the body onto a
|
||||||
|
|||||||
@@ -426,12 +426,11 @@ typedef enum mjtEnableBit_ { // enable optional feature bitflags
|
|||||||
mjENBL_ENERGY = 1<<1, // energy computation
|
mjENBL_ENERGY = 1<<1, // energy computation
|
||||||
mjENBL_FWDINV = 1<<2, // record solver statistics
|
mjENBL_FWDINV = 1<<2, // record solver statistics
|
||||||
mjENBL_INVDISCRETE = 1<<3, // discrete-time inverse dynamics
|
mjENBL_INVDISCRETE = 1<<3, // discrete-time inverse dynamics
|
||||||
mjENBL_SENSORNOISE = 1<<4, // add noise to sensor data
|
|
||||||
// experimental features:
|
// experimental features:
|
||||||
mjENBL_MULTICCD = 1<<5, // multi-point convex collision detection
|
mjENBL_MULTICCD = 1<<4, // multi-point convex collision detection
|
||||||
mjENBL_ISLAND = 1<<6, // constraint island discovery
|
mjENBL_ISLAND = 1<<5, // constraint island discovery
|
||||||
|
|
||||||
mjNENABLE = 7 // number of enable flags
|
mjNENABLE = 6 // number of enable flags
|
||||||
} mjtEnableBit;
|
} mjtEnableBit;
|
||||||
typedef enum mjtJoint_ { // type of degree of freedom
|
typedef enum mjtJoint_ { // type of degree of freedom
|
||||||
mjJNT_FREE = 0, // global position and orientation (quat) (7)
|
mjJNT_FREE = 0, // global position and orientation (quat) (7)
|
||||||
@@ -926,9 +925,9 @@ struct mjModel_ {
|
|||||||
int nemax; // number of potential equality-constraint rows
|
int nemax; // number of potential equality-constraint rows
|
||||||
int njmax; // number of available rows in constraint Jacobian
|
int njmax; // number of available rows in constraint Jacobian
|
||||||
int nconmax; // number of potential contacts in contact list
|
int nconmax; // number of potential contacts in contact list
|
||||||
int nuserdata; // number of extra fields in mjData
|
int nuserdata; // number of mjtNums reserved for the user
|
||||||
int nsensordata; // number of fields in sensor data vector
|
int nsensordata; // number of mjtNums in sensor data vector
|
||||||
int npluginstate; // number of fields in plugin state vector
|
int npluginstate; // number of mjtNums in plugin state vector
|
||||||
|
|
||||||
size_t narena; // number of bytes in the mjData arena (inclusive of stack)
|
size_t narena; // number of bytes in the mjData arena (inclusive of stack)
|
||||||
size_t nbuffer; // number of bytes in buffer
|
size_t nbuffer; // number of bytes in buffer
|
||||||
@@ -993,6 +992,7 @@ struct mjModel_ {
|
|||||||
int* jnt_group; // group for visibility (njnt x 1)
|
int* jnt_group; // group for visibility (njnt x 1)
|
||||||
mjtByte* jnt_limited; // does joint have limits (njnt x 1)
|
mjtByte* jnt_limited; // does joint have limits (njnt x 1)
|
||||||
mjtByte* jnt_actfrclimited; // does joint have actuator force limits (njnt x 1)
|
mjtByte* jnt_actfrclimited; // does joint have actuator force limits (njnt x 1)
|
||||||
|
mjtByte* jnt_actgravcomp; // is gravcomp force applied via actuators (njnt x 1)
|
||||||
mjtNum* jnt_solref; // constraint solver reference: limit (njnt x mjNREF)
|
mjtNum* jnt_solref; // constraint solver reference: limit (njnt x mjNREF)
|
||||||
mjtNum* jnt_solimp; // constraint solver impedance: limit (njnt x mjNIMP)
|
mjtNum* jnt_solimp; // constraint solver impedance: limit (njnt x mjNIMP)
|
||||||
mjtNum* jnt_pos; // local anchor position (njnt x 3)
|
mjtNum* jnt_pos; // local anchor position (njnt x 3)
|
||||||
|
|||||||
+13
-12
@@ -215,6 +215,14 @@ The following features are **in development** and coming soon:
|
|||||||
|
|
||||||
* - Category
|
* - Category
|
||||||
- Feature
|
- Feature
|
||||||
|
* - :ref:`Geom <mjtGeom>`
|
||||||
|
- ``SDF``, ``HFIELD``, ``ELLIPSOID``, ``CYLINDER``
|
||||||
|
* - :ref:`Condim <coContact>`
|
||||||
|
- 1, 4, 6
|
||||||
|
* - :ref:`Constraint <mjtConstraint>`
|
||||||
|
- :ref:`Frictionloss <coFriction>`, ``CONTACT_FRICTIONLESS``, ``CONTACT_ELLIPTIC``, ``FRICTION_DOF``
|
||||||
|
* - :ref:`Integrator <mjtIntegrator>`
|
||||||
|
- ``IMPLICIT``, ``IMPLICITFAST``
|
||||||
* - Dynamics
|
* - Dynamics
|
||||||
- :ref:`Inverse <mj_inverse>`
|
- :ref:`Inverse <mj_inverse>`
|
||||||
* - :ref:`Transmission <mjtTrn>`
|
* - :ref:`Transmission <mjtTrn>`
|
||||||
@@ -227,16 +235,8 @@ The following features are **in development** and coming soon:
|
|||||||
- ``MUSCLE``
|
- ``MUSCLE``
|
||||||
* - :ref:`Tendon Wrapping <mjtWrap>`
|
* - :ref:`Tendon Wrapping <mjtWrap>`
|
||||||
- ``NONE``, ``JOINT``, ``PULLEY``, ``SITE``, ``SPHERE``, ``CYLINDER``
|
- ``NONE``, ``JOINT``, ``PULLEY``, ``SITE``, ``SPHERE``, ``CYLINDER``
|
||||||
* - :ref:`Geom <mjtGeom>`
|
|
||||||
- ``HFIELD``, ``ELLIPSOID``, ``CYLINDER``
|
|
||||||
* - :ref:`Constraint <mjtConstraint>`
|
|
||||||
- :ref:`Frictionloss <coFriction>`, ``CONTACT_FRICTIONLESS``, ``CONTACT_ELLIPTIC``, ``FRICTION_DOF``
|
|
||||||
* - :ref:`Integrator <mjtIntegrator>`
|
|
||||||
- ``IMPLICIT``, ``IMPLICITFAST``
|
|
||||||
* - :ref:`Cone <mjtCone>`
|
* - :ref:`Cone <mjtCone>`
|
||||||
- ``ELLIPTIC``
|
- ``ELLIPTIC``
|
||||||
* - :ref:`Condim <coContact>`
|
|
||||||
- 1, 4, 6
|
|
||||||
* - Fluid Model
|
* - Fluid Model
|
||||||
- :ref:`flEllipsoid`
|
- :ref:`flEllipsoid`
|
||||||
* - :ref:`Tendons <tendon>`
|
* - :ref:`Tendons <tendon>`
|
||||||
@@ -258,6 +258,8 @@ The following features are **unsupported**:
|
|||||||
|
|
||||||
* - Category
|
* - Category
|
||||||
- Feature
|
- Feature
|
||||||
|
* - :ref:`margin<body-geom-margin>` and :ref:`gap<body-geom-gap>`
|
||||||
|
- Unimplemented for collisions with ``Mesh`` :ref:`Geom <mjtGeom>`.
|
||||||
* - :ref:`Transmission <mjtTrn>`
|
* - :ref:`Transmission <mjtTrn>`
|
||||||
- ``TRN_JOINTINPARENT``, ``TRN_SLIDERCRANK``, ``TRN_BODY``
|
- ``TRN_JOINTINPARENT``, ``TRN_SLIDERCRANK``, ``TRN_BODY``
|
||||||
* - :ref:`Actuator Dynamics <mjtDyn>`
|
* - :ref:`Actuator Dynamics <mjtDyn>`
|
||||||
@@ -270,8 +272,6 @@ The following features are **unsupported**:
|
|||||||
- ``PGS``
|
- ``PGS``
|
||||||
* - :ref:`Sensors <mjtSensor>`
|
* - :ref:`Sensors <mjtSensor>`
|
||||||
- ``PLUGIN``, ``USER``
|
- ``PLUGIN``, ``USER``
|
||||||
* - :ref:`Geom <mjtGeom>`
|
|
||||||
- ``SDF``
|
|
||||||
|
|
||||||
.. _MjxSharpBits:
|
.. _MjxSharpBits:
|
||||||
|
|
||||||
@@ -299,8 +299,9 @@ Collisions between large meshes
|
|||||||
SAT works well for smaller meshes but suffers in both runtime and memory for larger meshes.
|
SAT works well for smaller meshes but suffers in both runtime and memory for larger meshes.
|
||||||
|
|
||||||
For
|
For
|
||||||
collisions with convex meshes, the convex decompositon of the mesh should have
|
collisions with convex meshes and primitives, the convex decompositon of the mesh should have
|
||||||
roughly **200 vertices or less** for reasonable performance.
|
roughly **200 vertices or less** for reasonable performance. For convex-convex collisions,
|
||||||
|
the convex mesh should have roughly **fewer than 32 vertices**.
|
||||||
With careful
|
With careful
|
||||||
tuning, MJX can simulate scenes with mesh collisions -- see the MJX
|
tuning, MJX can simulate scenes with mesh collisions -- see the MJX
|
||||||
`shadow hand <https://github.com/google-deepmind/mujoco/tree/main/mjx/mujoco/mjx/benchmark/model/shadow_hand>`__
|
`shadow hand <https://github.com/google-deepmind/mujoco/tree/main/mjx/mujoco/mjx/benchmark/model/shadow_hand>`__
|
||||||
|
|||||||
+8
-4
@@ -421,7 +421,7 @@ and the damping ratio is ignored. Equivalently, in the direct format, the :math:
|
|||||||
impedance is constant, then the penetration depth at rest is
|
impedance is constant, then the penetration depth at rest is
|
||||||
|
|
||||||
.. math::
|
.. math::
|
||||||
r = \au \cdot (1 - d) \cdot \text{stiffness}
|
r = \frac{\au (1 - d)}{\text{stiffness}}
|
||||||
|
|
||||||
.. tip::
|
.. tip::
|
||||||
In the positive-value default format, the :math:`\text{timeconst}` parameter controls constraint **softness**.
|
In the positive-value default format, the :math:`\text{timeconst}` parameter controls constraint **softness**.
|
||||||
@@ -431,6 +431,9 @@ and the damping ratio is ignored. Equivalently, in the direct format, the :math:
|
|||||||
The negative-value "direct" format is more flexible, for example allowing for perfectly elastic collisions
|
The negative-value "direct" format is more flexible, for example allowing for perfectly elastic collisions
|
||||||
(:math:`\text{damping} = 0`). It is the recommended format for system identification.
|
(:math:`\text{damping} = 0`). It is the recommended format for system identification.
|
||||||
|
|
||||||
|
A :math:`\text{dampratio}` of 1 in the positive-value format is equivalent to
|
||||||
|
:math:`\text{damping} = 2 \sqrt{ \text{stiffness} }` in the direct format.
|
||||||
|
|
||||||
.. _CContact:
|
.. _CContact:
|
||||||
|
|
||||||
Contact parameters
|
Contact parameters
|
||||||
@@ -1057,9 +1060,10 @@ Here we describe the XML attributes common to all sensor types, so as to avoid r
|
|||||||
:at:`name`: :at-val:`string, optional`
|
:at:`name`: :at-val:`string, optional`
|
||||||
Name of the sensor.
|
Name of the sensor.
|
||||||
:at:`noise`: :at-val:`real, "0"`
|
:at:`noise`: :at-val:`real, "0"`
|
||||||
The standard deviation of zero-mean Gaussian noise added to the sensor output, when the :at:`sensornoise`
|
The standard deviation of the noise model of this sensor. In versions prior to 3.1.4, this would lead to noise being
|
||||||
attribute of :ref:`flag <option-flag>` is enabled. Sensor noise respects the sensor data type:
|
added to the sensors. In release 3.1.4 this feature was removed, see :doc:`3.1.4 changelog <changelog>` for a
|
||||||
quaternions and unit vectors remain normalized, non-negative quantities remain non-negative.
|
detailed justification. As of subsequent versions, this attrbute serves as a convenient location for saving standard
|
||||||
|
deviation information for later use.
|
||||||
:at:`cutoff`: :at-val:`real, "0"`
|
:at:`cutoff`: :at-val:`real, "0"`
|
||||||
When this value is positive, it limits the absolute value of the sensor output. It is also used to normalize the
|
When this value is positive, it limits the absolute value of the sensor output. It is also used to normalize the
|
||||||
sensor output in the sensor data plots in :ref:`simulate.cc <saSimulate>`.
|
sensor output in the sensor data plots in :ref:`simulate.cc <saSimulate>`.
|
||||||
|
|||||||
@@ -88,3 +88,14 @@
|
|||||||
year={2015},
|
year={2015},
|
||||||
publisher={Nature Publishing Group}
|
publisher={Nature Publishing Group}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@article {Vaxenburg2024,
|
||||||
|
author = {Roman Vaxenburg and Igor Siwanowicz and Josh Merel and Alice A Robie and Carmen Morrow and Guido Novati and Zinovia Stefanidi and Gwyneth M Card and Michael B Reiser and Matthew M Botvinick and Kristin M Branson and Yuval Tassa and Srinivas C Turaga},
|
||||||
|
title = {Whole-body simulation of realistic fruit fly locomotion with deep reinforcement learning},
|
||||||
|
elocation-id = {2024.03.11.584515},
|
||||||
|
year = {2024},
|
||||||
|
doi = {10.1101/2024.03.11.584515},
|
||||||
|
publisher = {Cold Spring Harbor Laboratory},
|
||||||
|
|
||||||
|
journal = {bioRxiv}
|
||||||
|
}
|
||||||
|
|||||||
@@ -74,12 +74,11 @@ typedef enum mjtEnableBit_ { // enable optional feature bitflags
|
|||||||
mjENBL_ENERGY = 1<<1, // energy computation
|
mjENBL_ENERGY = 1<<1, // energy computation
|
||||||
mjENBL_FWDINV = 1<<2, // record solver statistics
|
mjENBL_FWDINV = 1<<2, // record solver statistics
|
||||||
mjENBL_INVDISCRETE = 1<<3, // discrete-time inverse dynamics
|
mjENBL_INVDISCRETE = 1<<3, // discrete-time inverse dynamics
|
||||||
mjENBL_SENSORNOISE = 1<<4, // add noise to sensor data
|
|
||||||
// experimental features:
|
// experimental features:
|
||||||
mjENBL_MULTICCD = 1<<5, // multi-point convex collision detection
|
mjENBL_MULTICCD = 1<<4, // multi-point convex collision detection
|
||||||
mjENBL_ISLAND = 1<<6, // constraint island discovery
|
mjENBL_ISLAND = 1<<5, // constraint island discovery
|
||||||
|
|
||||||
mjNENABLE = 7 // number of enable flags
|
mjNENABLE = 6 // number of enable flags
|
||||||
} mjtEnableBit;
|
} mjtEnableBit;
|
||||||
|
|
||||||
|
|
||||||
@@ -641,9 +640,9 @@ struct mjModel_ {
|
|||||||
int nemax; // number of potential equality-constraint rows
|
int nemax; // number of potential equality-constraint rows
|
||||||
int njmax; // number of available rows in constraint Jacobian
|
int njmax; // number of available rows in constraint Jacobian
|
||||||
int nconmax; // number of potential contacts in contact list
|
int nconmax; // number of potential contacts in contact list
|
||||||
int nuserdata; // number of extra fields in mjData
|
int nuserdata; // number of mjtNums reserved for the user
|
||||||
int nsensordata; // number of fields in sensor data vector
|
int nsensordata; // number of mjtNums in sensor data vector
|
||||||
int npluginstate; // number of fields in plugin state vector
|
int npluginstate; // number of mjtNums in plugin state vector
|
||||||
|
|
||||||
size_t narena; // number of bytes in the mjData arena (inclusive of stack)
|
size_t narena; // number of bytes in the mjData arena (inclusive of stack)
|
||||||
size_t nbuffer; // number of bytes in buffer
|
size_t nbuffer; // number of bytes in buffer
|
||||||
@@ -708,6 +707,7 @@ struct mjModel_ {
|
|||||||
int* jnt_group; // group for visibility (njnt x 1)
|
int* jnt_group; // group for visibility (njnt x 1)
|
||||||
mjtByte* jnt_limited; // does joint have limits (njnt x 1)
|
mjtByte* jnt_limited; // does joint have limits (njnt x 1)
|
||||||
mjtByte* jnt_actfrclimited; // does joint have actuator force limits (njnt x 1)
|
mjtByte* jnt_actfrclimited; // does joint have actuator force limits (njnt x 1)
|
||||||
|
mjtByte* jnt_actgravcomp; // is gravcomp force applied via actuators (njnt x 1)
|
||||||
mjtNum* jnt_solref; // constraint solver reference: limit (njnt x mjNREF)
|
mjtNum* jnt_solref; // constraint solver reference: limit (njnt x mjNREF)
|
||||||
mjtNum* jnt_solimp; // constraint solver impedance: limit (njnt x mjNIMP)
|
mjtNum* jnt_solimp; // constraint solver impedance: limit (njnt x mjNIMP)
|
||||||
mjtNum* jnt_pos; // local anchor position (njnt x 3)
|
mjtNum* jnt_pos; // local anchor position (njnt x 3)
|
||||||
|
|||||||
@@ -215,6 +215,7 @@
|
|||||||
XMJV( int, jnt_group, njnt, 1 ) \
|
XMJV( int, jnt_group, njnt, 1 ) \
|
||||||
X ( mjtByte, jnt_limited, njnt, 1 ) \
|
X ( mjtByte, jnt_limited, njnt, 1 ) \
|
||||||
X ( mjtByte, jnt_actfrclimited, njnt, 1 ) \
|
X ( mjtByte, jnt_actfrclimited, njnt, 1 ) \
|
||||||
|
X ( mjtByte, jnt_actgravcomp, njnt, 1 ) \
|
||||||
X ( mjtNum, jnt_solref, njnt, mjNREF ) \
|
X ( mjtNum, jnt_solref, njnt, mjNREF ) \
|
||||||
X ( mjtNum, jnt_solimp, njnt, mjNIMP ) \
|
X ( mjtNum, jnt_solimp, njnt, mjNIMP ) \
|
||||||
X ( mjtNum, jnt_pos, njnt, 3 ) \
|
X ( mjtNum, jnt_pos, njnt, 3 ) \
|
||||||
|
|||||||
+3
-4
@@ -54,10 +54,9 @@ ENUMS: Mapping[str, EnumDecl] = dict([
|
|||||||
('mjENBL_ENERGY', 2),
|
('mjENBL_ENERGY', 2),
|
||||||
('mjENBL_FWDINV', 4),
|
('mjENBL_FWDINV', 4),
|
||||||
('mjENBL_INVDISCRETE', 8),
|
('mjENBL_INVDISCRETE', 8),
|
||||||
('mjENBL_SENSORNOISE', 16),
|
('mjENBL_MULTICCD', 16),
|
||||||
('mjENBL_MULTICCD', 32),
|
('mjENBL_ISLAND', 32),
|
||||||
('mjENBL_ISLAND', 64),
|
('mjNENABLE', 6),
|
||||||
('mjNENABLE', 7),
|
|
||||||
]),
|
]),
|
||||||
)),
|
)),
|
||||||
('mjtJoint',
|
('mjtJoint',
|
||||||
|
|||||||
@@ -42,10 +42,9 @@ class EnumsTest(absltest.TestCase):
|
|||||||
('mjENBL_ENERGY', 1<<1),
|
('mjENBL_ENERGY', 1<<1),
|
||||||
('mjENBL_FWDINV', 1<<2),
|
('mjENBL_FWDINV', 1<<2),
|
||||||
('mjENBL_INVDISCRETE', 1<<3),
|
('mjENBL_INVDISCRETE', 1<<3),
|
||||||
('mjENBL_SENSORNOISE', 1<<4),
|
('mjENBL_MULTICCD', 1<<4),
|
||||||
('mjENBL_MULTICCD', 1<<5),
|
('mjENBL_ISLAND', 1<<5),
|
||||||
('mjENBL_ISLAND', 1<<6),
|
('mjNENABLE', 6)))
|
||||||
('mjNENABLE', 7)))
|
|
||||||
|
|
||||||
# values mostly increment by one with occasional overrides
|
# values mostly increment by one with occasional overrides
|
||||||
def test_mjtGeom(self): # pylint: disable=invalid-name
|
def test_mjtGeom(self): # pylint: disable=invalid-name
|
||||||
|
|||||||
+10
-3
@@ -1218,17 +1218,17 @@ STRUCTS: Mapping[str, StructDecl] = dict([
|
|||||||
StructFieldDecl(
|
StructFieldDecl(
|
||||||
name='nuserdata',
|
name='nuserdata',
|
||||||
type=ValueType(name='int'),
|
type=ValueType(name='int'),
|
||||||
doc='number of extra fields in mjData',
|
doc='number of mjtNums reserved for the user',
|
||||||
),
|
),
|
||||||
StructFieldDecl(
|
StructFieldDecl(
|
||||||
name='nsensordata',
|
name='nsensordata',
|
||||||
type=ValueType(name='int'),
|
type=ValueType(name='int'),
|
||||||
doc='number of fields in sensor data vector',
|
doc='number of mjtNums in sensor data vector',
|
||||||
),
|
),
|
||||||
StructFieldDecl(
|
StructFieldDecl(
|
||||||
name='npluginstate',
|
name='npluginstate',
|
||||||
type=ValueType(name='int'),
|
type=ValueType(name='int'),
|
||||||
doc='number of fields in plugin state vector',
|
doc='number of mjtNums in plugin state vector',
|
||||||
),
|
),
|
||||||
StructFieldDecl(
|
StructFieldDecl(
|
||||||
name='narena',
|
name='narena',
|
||||||
@@ -1556,6 +1556,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
|
|||||||
),
|
),
|
||||||
doc='does joint have actuator force limits (njnt x 1)',
|
doc='does joint have actuator force limits (njnt x 1)',
|
||||||
),
|
),
|
||||||
|
StructFieldDecl(
|
||||||
|
name='jnt_actgravcomp',
|
||||||
|
type=PointerType(
|
||||||
|
inner_type=ValueType(name='mjtByte'),
|
||||||
|
),
|
||||||
|
doc='is gravcomp force applied via actuators (njnt x 1)',
|
||||||
|
),
|
||||||
StructFieldDecl(
|
StructFieldDecl(
|
||||||
name='jnt_solref',
|
name='jnt_solref',
|
||||||
type=PointerType(
|
type=PointerType(
|
||||||
|
|||||||
@@ -16,6 +16,7 @@
|
|||||||
|
|
||||||
# pylint:disable=g-importing-member
|
# pylint:disable=g-importing-member
|
||||||
from mujoco.mjx._src.collision_driver import collision
|
from mujoco.mjx._src.collision_driver import collision
|
||||||
|
from mujoco.mjx._src.collision_driver import get_params
|
||||||
from mujoco.mjx._src.collision_driver import ncon
|
from mujoco.mjx._src.collision_driver import ncon
|
||||||
from mujoco.mjx._src.constraint import count_constraints
|
from mujoco.mjx._src.constraint import count_constraints
|
||||||
from mujoco.mjx._src.constraint import make_constraint
|
from mujoco.mjx._src.constraint import make_constraint
|
||||||
@@ -48,4 +49,5 @@ from mujoco.mjx._src.solver import solve
|
|||||||
from mujoco.mjx._src.support import full_m
|
from mujoco.mjx._src.support import full_m
|
||||||
from mujoco.mjx._src.support import is_sparse
|
from mujoco.mjx._src.support import is_sparse
|
||||||
from mujoco.mjx._src.support import mul_m
|
from mujoco.mjx._src.support import mul_m
|
||||||
|
from mujoco.mjx._src.test_util import benchmark
|
||||||
from mujoco.mjx._src.types import *
|
from mujoco.mjx._src.types import *
|
||||||
|
|||||||
@@ -50,10 +50,10 @@ class GeomInfo(PyTreeNode):
|
|||||||
size: jax.Array
|
size: jax.Array
|
||||||
face: Optional[jax.Array] = None
|
face: Optional[jax.Array] = None
|
||||||
vert: Optional[jax.Array] = None
|
vert: Optional[jax.Array] = None
|
||||||
edge: Optional[jax.Array] = None
|
edge_dir: Optional[jax.Array] = None
|
||||||
facenorm: Optional[jax.Array] = None
|
facenorm: Optional[jax.Array] = None
|
||||||
face_edge: Optional[jax.Array] = None
|
edge: Optional[jax.Array] = None
|
||||||
face_edge_normal: Optional[jax.Array] = None
|
edge_face_normal: Optional[jax.Array] = None
|
||||||
|
|
||||||
|
|
||||||
class SolverParams(PyTreeNode):
|
class SolverParams(PyTreeNode):
|
||||||
|
|||||||
@@ -215,46 +215,47 @@ def sphere_convex(sphere: GeomInfo, convex: GeomInfo) -> Contact:
|
|||||||
return jp.dot(pos - faces[0], normal)
|
return jp.dot(pos - faces[0], normal)
|
||||||
|
|
||||||
support = get_support(faces, normals)
|
support = get_support(faces, normals)
|
||||||
|
has_separating_axis = jp.any(support >= 0)
|
||||||
|
|
||||||
# Pick the face with minimal penetration as long as it has support.
|
# Pick the face with the best separating axis.
|
||||||
support = jp.where(support >= 0, -1e12, support)
|
|
||||||
best_idx = support.argmax()
|
best_idx = support.argmax()
|
||||||
face = faces[best_idx]
|
face = faces[best_idx]
|
||||||
normal = normals[best_idx]
|
face_normal = normals[best_idx]
|
||||||
|
|
||||||
# Get closest point between the polygon face and the sphere center point.
|
# Get closest point between the polygon face and the sphere center point.
|
||||||
# Project the sphere center point onto poly plane. If it's inside polygon
|
# Project the sphere center point onto poly plane. If it's inside polygon
|
||||||
# edge normals, then we're done.
|
# side planes, then we're done.
|
||||||
pt = _project_pt_onto_plane(sphere_pos, face[0], normal)
|
pt = _project_pt_onto_plane(sphere_pos, face[0], face_normal)
|
||||||
edge_p0 = jp.roll(face, 1, axis=0)
|
edge_p0 = jp.roll(face, 1, axis=0)
|
||||||
edge_p1 = face
|
edge_p1 = face
|
||||||
edge_normals = jax.vmap(jp.cross, in_axes=[0, None])(
|
side_normals = jax.vmap(jp.cross, in_axes=[0, None])(
|
||||||
edge_p1 - edge_p0,
|
edge_p1 - edge_p0,
|
||||||
normal,
|
face_normal,
|
||||||
)
|
)
|
||||||
edge_dist = jax.vmap(
|
edge_dist = jax.vmap(
|
||||||
lambda plane_pt, plane_norm: (pt - plane_pt).dot(plane_norm)
|
lambda plane_pt, plane_norm: (pt - plane_pt).dot(plane_norm)
|
||||||
)(edge_p0, edge_normals)
|
)(edge_p0, side_normals)
|
||||||
inside = jp.all(edge_dist <= 0) # lte to handle degenerate edges
|
pt_on_face = jp.all(edge_dist <= 0) # lte to handle degenerate edges
|
||||||
|
|
||||||
# If the point is outside edge normals, project onto the closest edge plane
|
# If the point is outside side planes, project onto the closest side plane
|
||||||
# that the point is in front of.
|
# that the point is in front of.
|
||||||
degenerate_edge = jp.all(edge_normals == 0, axis=1)
|
degenerate_edge = jp.all(side_normals == 0, axis=1)
|
||||||
behind = edge_dist < 0.0
|
behind = edge_dist < 0.0
|
||||||
edge_dist = jp.where(degenerate_edge | behind, 1e12, edge_dist)
|
edge_dist = jp.where(degenerate_edge | behind, 1e12, edge_dist)
|
||||||
idx = edge_dist.argmin()
|
idx = edge_dist.argmin()
|
||||||
edge_pt = math.closest_segment_point(edge_p0[idx], edge_p1[idx], pt)
|
edge_pt = math.closest_segment_point(edge_p0[idx], edge_p1[idx], pt)
|
||||||
|
pt = jp.where(pt_on_face, pt, edge_pt)
|
||||||
pt = jp.where(inside, pt, edge_pt)
|
|
||||||
|
|
||||||
# Get the normal, dist, and contact position.
|
# Get the normal, dist, and contact position.
|
||||||
n, d = math.normalize_with_norm(pt - sphere_pos)
|
pt_normal, d = math.normalize_with_norm(pt - sphere_pos)
|
||||||
n = jp.where(inside | (d < 1e-6), normal, n)
|
|
||||||
# Ensure normal points towards convex centroid.
|
# Ensure normal points towards convex centroid.
|
||||||
n *= jp.where(jp.dot(pt, n) < 0, 1, -1)
|
inside = jp.dot(pt, pt_normal) > 0
|
||||||
|
sign = jp.where(inside, -1, 1)
|
||||||
|
n = jp.where(pt_on_face | (d < 1e-6), -face_normal, sign * pt_normal)
|
||||||
|
d *= sign
|
||||||
|
|
||||||
spt = sphere_pos + n * sphere.size[0]
|
spt = sphere_pos + n * sphere.size[0]
|
||||||
dist = d - sphere.size[0]
|
dist = jp.where(has_separating_axis, 1.0, d - sphere.size[0])
|
||||||
pos = (pt + spt) * 0.5
|
pos = (pt + spt) * 0.5
|
||||||
|
|
||||||
# Go back to world frame.
|
# Go back to world frame.
|
||||||
@@ -292,8 +293,7 @@ def capsule_convex(cap: GeomInfo, convex: GeomInfo) -> Contact:
|
|||||||
support = get_support(faces, normals)
|
support = get_support(faces, normals)
|
||||||
has_support = jp.all(support < 0)
|
has_support = jp.all(support < 0)
|
||||||
|
|
||||||
# Pick the face with minimal penetration as long as it has support.
|
# Pick the face with minimal penetration.
|
||||||
support = jp.where(support >= 0, -1e12, support)
|
|
||||||
best_idx = support.argmax()
|
best_idx = support.argmax()
|
||||||
face = faces[best_idx]
|
face = faces[best_idx]
|
||||||
normal = normals[best_idx]
|
normal = normals[best_idx]
|
||||||
@@ -302,12 +302,12 @@ def capsule_convex(cap: GeomInfo, convex: GeomInfo) -> Contact:
|
|||||||
# the face.
|
# the face.
|
||||||
edge_p0 = jp.roll(face, 1, axis=0)
|
edge_p0 = jp.roll(face, 1, axis=0)
|
||||||
edge_p1 = face
|
edge_p1 = face
|
||||||
edge_normals = jax.vmap(jp.cross, in_axes=[0, None])(
|
side_planes = jax.vmap(jp.cross, in_axes=[0, None])(
|
||||||
edge_p1 - edge_p0,
|
edge_p1 - edge_p0,
|
||||||
normal,
|
normal,
|
||||||
)
|
)
|
||||||
cap_pts_clipped, mask = _clip_edge_to_planes(
|
cap_pts_clipped, mask = _clip_edge_to_planes(
|
||||||
cap_pts[0], cap_pts[1], edge_p0, edge_normals
|
cap_pts[0], cap_pts[1], edge_p0, side_planes
|
||||||
)
|
)
|
||||||
cap_pts_clipped = cap_pts_clipped - normal * cap.size[0]
|
cap_pts_clipped = cap_pts_clipped - normal * cap.size[0]
|
||||||
face_pts = jax.vmap(_project_pt_onto_plane, in_axes=[0, None, None])(
|
face_pts = jax.vmap(_project_pt_onto_plane, in_axes=[0, None, None])(
|
||||||
@@ -316,33 +316,65 @@ def capsule_convex(cap: GeomInfo, convex: GeomInfo) -> Contact:
|
|||||||
# Create variables for the face contact.
|
# Create variables for the face contact.
|
||||||
pos = (cap_pts_clipped + face_pts) * 0.5
|
pos = (cap_pts_clipped + face_pts) * 0.5
|
||||||
contact_normal = -jp.stack([normal] * 2, 0)
|
contact_normal = -jp.stack([normal] * 2, 0)
|
||||||
penetration = jp.where(
|
face_penetration = jp.where(
|
||||||
mask & has_support, jp.dot(face_pts - cap_pts_clipped, normal), -1
|
mask & has_support, jp.dot(face_pts - cap_pts_clipped, normal), -1
|
||||||
)
|
)
|
||||||
|
|
||||||
# Get a potential edge contact.
|
# Pick a potential shallow edge contact.
|
||||||
edge_closest, cap_closest, t_a, t_b = jax.vmap(
|
def get_edge_axis(edge):
|
||||||
math.closest_segment_to_segment_points_w_barycentric,
|
edge_closest_pt, cap_closest_pt = math.closest_segment_to_segment_points(
|
||||||
in_axes=[0, 0, None, None],
|
edge[0], edge[1], cap_pts[0], cap_pts[1]
|
||||||
)(edge_p0, edge_p1, cap_pts[0], cap_pts[1])
|
)
|
||||||
e_idx = ((edge_closest - cap_closest) ** 2).sum(axis=1).argmin()
|
edge_dir = edge_closest_pt - cap_closest_pt
|
||||||
cap_closest_pt, edge_closest_pt = cap_closest[e_idx], edge_closest[e_idx]
|
degenerate_edge_dir = jp.sum(jp.square(edge_dir)) < 1e-6
|
||||||
edge_dist = math.norm(cap_closest_pt - edge_closest_pt)
|
edge_axis, edge_dist = math.normalize_with_norm(edge_dir)
|
||||||
t_a, t_b = t_a[e_idx], t_b[e_idx]
|
return (
|
||||||
in_segment = ((t_a > 0) & (t_a < 1)) | ((t_b > 0) & (t_b < 1))
|
edge_dist,
|
||||||
# Ensure edge_axis points towards the convex centroid.
|
edge_axis,
|
||||||
edge_axis = jp.cross(edge_p0[e_idx] - edge_p1[e_idx], axis)
|
degenerate_edge_dir,
|
||||||
sign = jp.where(jp.dot(edge_closest_pt, edge_axis) < 0, 1, -1)
|
edge_closest_pt,
|
||||||
edge_axis *= sign
|
cap_closest_pt,
|
||||||
degenerate_edge_axis = (edge_axis**2).sum() < 1e-6
|
)
|
||||||
edge_axis = math.normalize(edge_axis)
|
|
||||||
|
edge = jp.take(convex.vert, convex.edge, axis=0)
|
||||||
|
edge_face_normal = convex.edge_face_normal # pytype: disable=attribute-error
|
||||||
|
|
||||||
|
res = jax.vmap(get_edge_axis)(edge.reshape(-1, 2, 3))
|
||||||
|
e_idx = jp.abs(res[0]).argmin()
|
||||||
|
(
|
||||||
|
edge_dist,
|
||||||
|
edge_axis,
|
||||||
|
degenerate_edge_dir,
|
||||||
|
edge_closest_pt,
|
||||||
|
cap_closest_pt,
|
||||||
|
) = jax.tree_map(lambda x, i=e_idx: jp.take(x, i, axis=0), res)
|
||||||
|
|
||||||
|
edge_face_normals = edge_face_normal[e_idx]
|
||||||
|
edge_voronoi_front = ((edge_face_normals @ edge_axis) < 0).all()
|
||||||
|
shallow = ~degenerate_edge_dir & edge_voronoi_front
|
||||||
|
edge_penetration = jp.where(shallow, cap.size[0] - edge_dist, -1)
|
||||||
|
|
||||||
# Determine edge contact position.
|
# Determine edge contact position.
|
||||||
edge_pos = (
|
edge_pos = (
|
||||||
edge_closest_pt + (cap_closest_pt + edge_axis * cap.size[0])
|
edge_closest_pt + (cap_closest_pt + edge_axis * cap.size[0])
|
||||||
) * 0.5
|
) * 0.5
|
||||||
edge_penetration = cap.size[0] - edge_dist
|
edge_dir_parallel_to_face = (
|
||||||
has_edge_contact = (edge_penetration > 0) & in_segment & ~degenerate_edge_axis
|
jp.abs(edge_axis.dot(normal)) > 0.99
|
||||||
|
) & ~degenerate_edge_dir
|
||||||
|
min_face_penetration = face_penetration.min()
|
||||||
|
has_edge_contact = (
|
||||||
|
(edge_penetration > 0)
|
||||||
|
# prefer edge contact if the edge is smaller than face penetration
|
||||||
|
& jp.where(
|
||||||
|
min_face_penetration > 0,
|
||||||
|
edge_penetration < min_face_penetration,
|
||||||
|
True,
|
||||||
|
)
|
||||||
|
# prefer face contact if the edge axis is parallel to the face normal
|
||||||
|
& ~edge_dir_parallel_to_face
|
||||||
|
# make sure we have a shallow contact
|
||||||
|
& edge_voronoi_front
|
||||||
|
)
|
||||||
|
|
||||||
# Get the contact info.
|
# Get the contact info.
|
||||||
pos = jp.where(has_edge_contact, pos.at[0].set(edge_pos), pos)
|
pos = jp.where(has_edge_contact, pos.at[0].set(edge_pos), pos)
|
||||||
@@ -355,7 +387,7 @@ def capsule_convex(cap: GeomInfo, convex: GeomInfo) -> Contact:
|
|||||||
n = n @ convex.mat.T
|
n = n @ convex.mat.T
|
||||||
|
|
||||||
dist = -jp.where(
|
dist = -jp.where(
|
||||||
has_edge_contact, penetration.at[0].set(edge_penetration), penetration
|
has_edge_contact, jp.array([edge_penetration, -1]), face_penetration
|
||||||
)
|
)
|
||||||
frame = jax.vmap(math.make_frame)(n)
|
frame = jax.vmap(math.make_frame)(n)
|
||||||
return dist, pos, frame
|
return dist, pos, frame
|
||||||
@@ -598,8 +630,9 @@ def _sat_bruteforce(
|
|||||||
We return both the edge and face contacts. Valid contacts can be checked with
|
We return both the edge and face contacts. Valid contacts can be checked with
|
||||||
dist < 0. Resulting edge contacts should be preferred over face contacts.
|
dist < 0. Resulting edge contacts should be preferred over face contacts.
|
||||||
|
|
||||||
This method checks all unique edge-pairs and is thus costly to run over large
|
This method checks all separating axes via a brute force support function, and
|
||||||
meshes, but is more performant for smaller meshes (boxes, tetrahedra, etc.).
|
is thus costly to run over large meshes, but is more performant for smaller
|
||||||
|
meshes (boxes, tetrahedra, etc.).
|
||||||
|
|
||||||
Args:
|
Args:
|
||||||
faces_a: Faces for hull A.
|
faces_a: Faces for hull A.
|
||||||
@@ -699,7 +732,7 @@ def _arcs_intersect(
|
|||||||
return (cba * dba < 0) & (adc * bdc < 0) & (cba * bdc > 0)
|
return (cba * dba < 0) & (adc * bdc < 0) & (cba * bdc > 0)
|
||||||
|
|
||||||
|
|
||||||
def _sat_approx(
|
def _sat_gaussmap(
|
||||||
centroid_a: jax.Array,
|
centroid_a: jax.Array,
|
||||||
faces_a: jax.Array,
|
faces_a: jax.Array,
|
||||||
faces_b: jax.Array,
|
faces_b: jax.Array,
|
||||||
@@ -707,23 +740,16 @@ def _sat_approx(
|
|||||||
vertices_b: jax.Array,
|
vertices_b: jax.Array,
|
||||||
normals_a: jax.Array,
|
normals_a: jax.Array,
|
||||||
normals_b: jax.Array,
|
normals_b: jax.Array,
|
||||||
face_edges_a: jax.Array,
|
edges_a: jax.Array,
|
||||||
face_edges_b: jax.Array,
|
edges_b: jax.Array,
|
||||||
face_edge_normals_a: jax.Array,
|
edge_face_normals_a: jax.Array,
|
||||||
face_edge_normals_b: jax.Array,
|
edge_face_normals_b: jax.Array,
|
||||||
) -> Tuple[jax.Array, jax.Array, jax.Array]:
|
) -> Tuple[jax.Array, jax.Array, jax.Array]:
|
||||||
"""Runs the Separating Axis Test for a pair of hulls.
|
"""Runs the Separating Axis Test for a pair of hulls.
|
||||||
|
|
||||||
Runs the separating axis test for all faces. After obtaining a reference
|
Runs the separating axis test for all faces. Tests edge separating axes via
|
||||||
and incident face, tests edge separating axes via edge intersections
|
edge intersections on gauss maps for all edge pairs. h/t to Dirk Gregorius
|
||||||
on gauss maps.
|
for the implementation details and gauss map trick.
|
||||||
|
|
||||||
Certain meshes can have nearly parallel coplanar faces that are not merged.
|
|
||||||
Thus reference/incident faces can be non-overlapping, and face contacts will
|
|
||||||
not get generated. Since we only check edge separating axes on
|
|
||||||
reference/incident faces, the correct edge separating axes may also be
|
|
||||||
missing. We mitigate this issue by checking nearly coplanar anti-parallel
|
|
||||||
reference/incident faces for support, hence why this method is "approximate".
|
|
||||||
|
|
||||||
Args:
|
Args:
|
||||||
centroid_a: Centroid of hull A.
|
centroid_a: Centroid of hull A.
|
||||||
@@ -733,10 +759,10 @@ def _sat_approx(
|
|||||||
vertices_b: Vertices for hull B.
|
vertices_b: Vertices for hull B.
|
||||||
normals_a: Normal vectors for hull A faces.
|
normals_a: Normal vectors for hull A faces.
|
||||||
normals_b: Normal vectors for hull B faces.
|
normals_b: Normal vectors for hull B faces.
|
||||||
face_edges_a: Edges for faces in hull A.
|
edges_a: Edges for hull A.
|
||||||
face_edges_b: Edges for faces in hull B.
|
edges_b: Edges for hull B.
|
||||||
face_edge_normals_a: Edge normals for faces in hull A.
|
edge_face_normals_a: Face normals for edges in hull A.
|
||||||
face_edge_normals_b: Edge normals for faces in hull B.
|
edge_face_normals_b: Face normals for edges in hull B.
|
||||||
|
|
||||||
Returns:
|
Returns:
|
||||||
tuple of dist, pos, and normal
|
tuple of dist, pos, and normal
|
||||||
@@ -784,75 +810,61 @@ def _sat_approx(
|
|||||||
-best_axis,
|
-best_axis,
|
||||||
)
|
)
|
||||||
|
|
||||||
# Handle edge separating axes by checking edge pairs on the reference and
|
# Handle edge separating axes by checking all edge pairs.
|
||||||
# incident faces. In principle, the correct edge-edge separating axis can be
|
a_idx = jp.tile(jp.arange(edges_a.shape[0]), reps=edges_b.shape[0])
|
||||||
# created from edge pairs on the reference and incident faces.
|
b_idx = jp.repeat(
|
||||||
# first get the edge directions and face edge normals
|
jp.arange(edges_b.shape[0]), repeats=edges_a.shape[0], axis=0
|
||||||
face_edges_a = face_edges_a[face_a_idx]
|
)
|
||||||
v_norm = jax.vmap(math.normalize)
|
normal_a_1 = edge_face_normals_a[a_idx, 0]
|
||||||
face_edges_dir_a = v_norm(face_edges_a[:, 0] - face_edges_a[:, 1])
|
normal_a_2 = edge_face_normals_a[a_idx, 1]
|
||||||
face_edges_b = face_edges_b[face_b_idx]
|
normal_b_1 = edge_face_normals_b[b_idx, 0]
|
||||||
face_edges_dir_b = v_norm(face_edges_b[:, 0] - face_edges_b[:, 1])
|
normal_b_2 = edge_face_normals_b[b_idx, 1]
|
||||||
face_edge_normals_a = face_edge_normals_a[face_a_idx]
|
is_minkowski_face = jax.vmap(_arcs_intersect)(
|
||||||
face_edge_normals_b = face_edge_normals_b[face_b_idx]
|
normal_a_1, normal_a_2, -normal_b_1, -normal_b_2
|
||||||
|
|
||||||
# scatter to all edge pairs
|
|
||||||
edge_idx_a = jp.repeat(
|
|
||||||
jp.arange(face_edges_a.shape[0]), face_edges_b.shape[0]
|
|
||||||
)
|
)
|
||||||
edge_idx_b = jp.tile(jp.arange(face_edges_b.shape[0]), face_edges_a.shape[0])
|
|
||||||
face_edges_dir_a = face_edges_dir_a[edge_idx_a]
|
|
||||||
face_edges_dir_b = face_edges_dir_b[edge_idx_b]
|
|
||||||
face_edges_pt_a = face_edges_a[:, 0][edge_idx_a]
|
|
||||||
face_edges_pt_b = face_edges_b[:, 0][edge_idx_b]
|
|
||||||
face_edge_normals_a = face_edge_normals_a[edge_idx_a]
|
|
||||||
face_edge_normals_b = face_edge_normals_b[edge_idx_b]
|
|
||||||
|
|
||||||
@jax.vmap
|
# get distances
|
||||||
|
edge_a_dir = jax.vmap(math.normalize)(edges_a[:, 0] - edges_a[:, 1])[a_idx]
|
||||||
|
edge_b_dir = jax.vmap(math.normalize)(edges_b[:, 0] - edges_b[:, 1])[b_idx]
|
||||||
|
edges_a, edges_b = edges_a[a_idx], edges_b[b_idx]
|
||||||
|
edge_a_pt, edge_a_pt_2 = edges_a[:, 0], edges_a[:, 1]
|
||||||
|
edge_b_pt, edge_b_pt_2 = edges_b[:, 0], edges_b[:, 1]
|
||||||
|
|
||||||
def get_normals(a_dir, a_pt, b_dir):
|
def get_normals(a_dir, a_pt, b_dir):
|
||||||
edge_axis = math.normalize(jp.cross(a_dir, b_dir))
|
edge_axis = jp.cross(a_dir, b_dir)
|
||||||
|
degenerate_edge_axis = jp.sum(edge_axis**2) < 1e-6
|
||||||
|
edge_axis = math.normalize(edge_axis)
|
||||||
# correct normal to point from a to b, object b is at the origin
|
# correct normal to point from a to b, object b is at the origin
|
||||||
sign = jp.where(jp.dot(edge_axis, a_pt - centroid_a) > 0.0, 1.0, -1.0)
|
sign = jp.where(jp.dot(edge_axis, a_pt - centroid_a) > 0.0, 1.0, -1.0)
|
||||||
return edge_axis * sign
|
return edge_axis * sign, degenerate_edge_axis
|
||||||
|
|
||||||
edge_axes = get_normals(face_edges_dir_a, face_edges_pt_a, face_edges_dir_b)
|
edge_axes, degenerate_edge_axes = jax.vmap(get_normals)(
|
||||||
edge_dist = jax.vmap(jp.dot)(edge_axes, face_edges_pt_b - face_edges_pt_a)
|
edge_a_dir, edge_a_pt, edge_b_dir)
|
||||||
# handle degenerate axes
|
edge_dist = jax.vmap(jp.dot)(edge_axes, edge_b_pt - edge_a_pt)
|
||||||
edge_dist = jp.where((edge_axes**2).sum(axis=1) < 1e-6, 1e6, edge_dist)
|
# handle degenerate axis
|
||||||
# ensure edges create a minkowski face by testing intersection on gauss maps
|
edge_dist = jp.where(degenerate_edge_axes, -jp.inf, edge_dist)
|
||||||
is_minkowski_face = jax.vmap(_arcs_intersect)(
|
# ensure edges create minkowski face
|
||||||
face_edge_normals_a[:, 0],
|
edge_dist = jp.where(is_minkowski_face, edge_dist, -jp.inf)
|
||||||
face_edge_normals_a[:, 1],
|
|
||||||
-face_edge_normals_b[:, 0],
|
|
||||||
-face_edge_normals_b[:, 1],
|
|
||||||
)
|
|
||||||
edge_dist = jp.where(is_minkowski_face, edge_dist, 1e6)
|
|
||||||
edge_dist = jp.where(edge_dist > 0, -1e6, edge_dist)
|
|
||||||
|
|
||||||
best_edge_idx = edge_dist.argmax()
|
best_edge_idx = edge_dist.argmax()
|
||||||
best_edge_dist = edge_dist[best_edge_idx]
|
best_edge_dist = edge_dist[best_edge_idx]
|
||||||
# prefer edge over face contacts as long as we have a valid edge contact
|
is_edge_contact = jp.where(
|
||||||
is_edge_contact = (best_edge_dist > dist.min() + 1e-6) & (best_edge_dist < 0)
|
dist.max() < 0, best_edge_dist > dist.max() - 1e-6,
|
||||||
|
(best_edge_dist < 0) & ~jp.isinf(best_edge_dist)
|
||||||
|
)
|
||||||
|
is_edge_contact = is_edge_contact & ~is_face_separating
|
||||||
normal = jp.where(is_edge_contact, edge_axes[best_edge_idx], normal)
|
normal = jp.where(is_edge_contact, edge_axes[best_edge_idx], normal)
|
||||||
dist = jp.where(is_edge_contact, jp.array([best_edge_dist, 1, 1, 1]), dist)
|
dist = jp.where(
|
||||||
|
is_edge_contact,
|
||||||
# A failure mode occurs if faces are very narrow and nearly parallel
|
jp.array([best_edge_dist, 1, 1, 1]),
|
||||||
# (i.e. faces did not get merged properly as coplanar faces). The face
|
dist,
|
||||||
# contacts will be empty since the reference/incident faces may not overlap.
|
|
||||||
# An edge-edge separating axis will not be found, since the reference and
|
|
||||||
# incident faces will also not overlap or necessarily create a minkowski face.
|
|
||||||
# Thus, we approximate the contact for anti-parallel faces with support.
|
|
||||||
anti_parallel = incident_face_norm.dot(ref_face_norm) < -0.97
|
|
||||||
dist = dist.at[0].set(
|
|
||||||
jp.where(
|
|
||||||
anti_parallel
|
|
||||||
& ~is_face_separating
|
|
||||||
& (dist > 0).all()
|
|
||||||
& ~is_edge_contact,
|
|
||||||
-support[best_idx],
|
|
||||||
dist[0],
|
|
||||||
)
|
|
||||||
)
|
)
|
||||||
|
a_closest, b_closest = math.closest_segment_to_segment_points(
|
||||||
|
edge_a_pt[best_edge_idx], edge_a_pt_2[best_edge_idx],
|
||||||
|
edge_b_pt[best_edge_idx], edge_b_pt_2[best_edge_idx])
|
||||||
|
pos = jp.where(
|
||||||
|
is_edge_contact,
|
||||||
|
jp.tile(0.5 * (a_closest + b_closest), (4, 1)), pos)
|
||||||
|
|
||||||
return dist, pos, normal
|
return dist, pos, normal
|
||||||
|
|
||||||
@@ -892,15 +904,15 @@ def convex_convex(c1: GeomInfo, c2: GeomInfo) -> Contact:
|
|||||||
unique_edges1 = jp.take(vertices1, c1.edge, axis=0)
|
unique_edges1 = jp.take(vertices1, c1.edge, axis=0)
|
||||||
unique_edges2 = jp.take(vertices2, c2.edge, axis=0)
|
unique_edges2 = jp.take(vertices2, c2.edge, axis=0)
|
||||||
|
|
||||||
face_edges1 = jp.take(vertices1, c1.face_edge, axis=0)
|
edges1 = jp.take(vertices1, c1.edge, axis=0)
|
||||||
face_edges2 = jp.take(vertices2, c2.face_edge, axis=0)
|
edges2 = jp.take(vertices2, c2.edge, axis=0)
|
||||||
|
|
||||||
face_edge_normals1 = c1.face_edge_normal @ to_local_mat.T
|
edge_face_normals1 = c1.edge_face_normal @ to_local_mat.T
|
||||||
face_edge_normals2 = c2.face_edge_normal
|
edge_face_normals2 = c2.edge_face_normal
|
||||||
|
|
||||||
enable_bruteforce = (
|
enable_bruteforce = (
|
||||||
unique_edges1.shape[0] * unique_edges2.shape[0]
|
unique_edges1.shape[0] * unique_edges2.shape[0]
|
||||||
< face_edges1[0].shape[0] * face_edges2[0].shape[0]
|
< edges1[0].shape[0] * edges2[0].shape[0]
|
||||||
)
|
)
|
||||||
if enable_bruteforce:
|
if enable_bruteforce:
|
||||||
dist, pos, normal = _sat_bruteforce(
|
dist, pos, normal = _sat_bruteforce(
|
||||||
@@ -914,7 +926,7 @@ def convex_convex(c1: GeomInfo, c2: GeomInfo) -> Contact:
|
|||||||
unique_edges2,
|
unique_edges2,
|
||||||
)
|
)
|
||||||
else:
|
else:
|
||||||
dist, pos, normal = _sat_approx(
|
dist, pos, normal = _sat_gaussmap(
|
||||||
to_local_pos,
|
to_local_pos,
|
||||||
faces1,
|
faces1,
|
||||||
faces2,
|
faces2,
|
||||||
@@ -922,10 +934,10 @@ def convex_convex(c1: GeomInfo, c2: GeomInfo) -> Contact:
|
|||||||
vertices2,
|
vertices2,
|
||||||
normals1,
|
normals1,
|
||||||
normals2,
|
normals2,
|
||||||
face_edges1,
|
edges1,
|
||||||
face_edges2,
|
edges2,
|
||||||
face_edge_normals1,
|
edge_face_normals1,
|
||||||
face_edge_normals2,
|
edge_face_normals2,
|
||||||
)
|
)
|
||||||
|
|
||||||
# Go back to world frame.
|
# Go back to world frame.
|
||||||
|
|||||||
@@ -14,7 +14,7 @@
|
|||||||
# ==============================================================================
|
# ==============================================================================
|
||||||
"""Collide geometries."""
|
"""Collide geometries."""
|
||||||
|
|
||||||
from typing import Callable, Dict, Optional, Sequence, Tuple, Union
|
from typing import Callable, Dict, List, Optional, Sequence, Tuple, Union
|
||||||
|
|
||||||
import jax
|
import jax
|
||||||
from jax import numpy as jp
|
from jax import numpy as jp
|
||||||
@@ -33,6 +33,7 @@ from mujoco.mjx._src.collision_convex import plane_convex
|
|||||||
from mujoco.mjx._src.collision_convex import sphere_convex
|
from mujoco.mjx._src.collision_convex import sphere_convex
|
||||||
from mujoco.mjx._src.collision_primitive import capsule_capsule
|
from mujoco.mjx._src.collision_primitive import capsule_capsule
|
||||||
from mujoco.mjx._src.collision_primitive import plane_capsule
|
from mujoco.mjx._src.collision_primitive import plane_capsule
|
||||||
|
from mujoco.mjx._src.collision_primitive import plane_ellipsoid
|
||||||
from mujoco.mjx._src.collision_primitive import plane_sphere
|
from mujoco.mjx._src.collision_primitive import plane_sphere
|
||||||
from mujoco.mjx._src.collision_primitive import sphere_capsule
|
from mujoco.mjx._src.collision_primitive import sphere_capsule
|
||||||
from mujoco.mjx._src.collision_primitive import sphere_sphere
|
from mujoco.mjx._src.collision_primitive import sphere_sphere
|
||||||
@@ -48,6 +49,7 @@ _COLLISION_FUNC = {
|
|||||||
(GeomType.PLANE, GeomType.SPHERE): plane_sphere,
|
(GeomType.PLANE, GeomType.SPHERE): plane_sphere,
|
||||||
(GeomType.PLANE, GeomType.CAPSULE): plane_capsule,
|
(GeomType.PLANE, GeomType.CAPSULE): plane_capsule,
|
||||||
(GeomType.PLANE, GeomType.BOX): plane_convex,
|
(GeomType.PLANE, GeomType.BOX): plane_convex,
|
||||||
|
(GeomType.PLANE, GeomType.ELLIPSOID): plane_ellipsoid,
|
||||||
(GeomType.PLANE, GeomType.MESH): plane_convex,
|
(GeomType.PLANE, GeomType.MESH): plane_convex,
|
||||||
(GeomType.SPHERE, GeomType.SPHERE): sphere_sphere,
|
(GeomType.SPHERE, GeomType.SPHERE): sphere_sphere,
|
||||||
(GeomType.SPHERE, GeomType.CAPSULE): sphere_capsule,
|
(GeomType.SPHERE, GeomType.CAPSULE): sphere_capsule,
|
||||||
@@ -187,6 +189,31 @@ def _dynamic_params(
|
|||||||
return SolverParams(friction, solref, solreffriction, solimp, margin, gap)
|
return SolverParams(friction, solref, solreffriction, solimp, margin, gap)
|
||||||
|
|
||||||
|
|
||||||
|
def get_params(
|
||||||
|
m: Union[Model, mujoco.MjModel], candidates: Sequence[Candidate]
|
||||||
|
) -> Tuple[List[int], List[int], SolverParams]:
|
||||||
|
"""Gets solver params for a list of collision candidates."""
|
||||||
|
# group sol params by different candidate types
|
||||||
|
typ_cands = {}
|
||||||
|
for c in candidates:
|
||||||
|
typ = (c.ipair > -1, c.geomp > -1)
|
||||||
|
typ_cands.setdefault(typ, []).append(c)
|
||||||
|
|
||||||
|
geom1, geom2, params = [], [], []
|
||||||
|
for (pair, priority), candidates in typ_cands.items():
|
||||||
|
geom1.extend([c.geom1 for c in candidates])
|
||||||
|
geom2.extend([c.geom2 for c in candidates])
|
||||||
|
if pair:
|
||||||
|
params.append(_pair_params(m, candidates))
|
||||||
|
elif priority:
|
||||||
|
params.append(_priority_params(m, candidates))
|
||||||
|
else:
|
||||||
|
params.append(_dynamic_params(m, candidates))
|
||||||
|
|
||||||
|
params = jax.tree_map(lambda *x: jp.concatenate(x), *params)
|
||||||
|
return geom1, geom2, params
|
||||||
|
|
||||||
|
|
||||||
def _pair_info(
|
def _pair_info(
|
||||||
m: Model, d: Data, geom1: Sequence[int], geom2: Sequence[int]
|
m: Model, d: Data, geom1: Sequence[int], geom2: Sequence[int]
|
||||||
) -> Tuple[GeomInfo, GeomInfo, Sequence[Dict[str, Optional[int]]]]:
|
) -> Tuple[GeomInfo, GeomInfo, Sequence[Dict[str, Optional[int]]]]:
|
||||||
@@ -205,20 +232,20 @@ def _pair_info(
|
|||||||
info = info.replace(
|
info = info.replace(
|
||||||
face=jp.stack([m.geom_convex_face[i] for i in geom]),
|
face=jp.stack([m.geom_convex_face[i] for i in geom]),
|
||||||
vert=jp.stack([m.geom_convex_vert[i] for i in geom]),
|
vert=jp.stack([m.geom_convex_vert[i] for i in geom]),
|
||||||
edge=jp.stack([m.geom_convex_edge_dir[i] for i in geom]),
|
edge_dir=jp.stack([m.geom_convex_edge_dir[i] for i in geom]),
|
||||||
facenorm=jp.stack([m.geom_convex_facenormal[i] for i in geom]),
|
facenorm=jp.stack([m.geom_convex_facenormal[i] for i in geom]),
|
||||||
face_edge_normal=jp.stack(
|
edge=jp.stack([m.geom_convex_edge[i] for i in geom]),
|
||||||
[m.geom_convex_face_edge_normal[i] for i in geom]
|
edge_face_normal=jp.stack(
|
||||||
|
[m.geom_convex_edge_face_normal[i] for i in geom]
|
||||||
),
|
),
|
||||||
face_edge=jp.stack([m.geom_convex_face_edge[i] for i in geom]),
|
|
||||||
)
|
)
|
||||||
in_axes = in_axes.replace(
|
in_axes = in_axes.replace(
|
||||||
face=0,
|
face=0,
|
||||||
vert=0,
|
vert=0,
|
||||||
edge=0,
|
edge_dir=0,
|
||||||
facenorm=0,
|
facenorm=0,
|
||||||
face_edge=0,
|
edge=0,
|
||||||
face_edge_normal=0,
|
edge_face_normal=0,
|
||||||
)
|
)
|
||||||
return info, in_axes
|
return info, in_axes
|
||||||
|
|
||||||
@@ -276,24 +303,7 @@ def _collide_geoms(
|
|||||||
if not fn:
|
if not fn:
|
||||||
return Contact.zero()
|
return Contact.zero()
|
||||||
|
|
||||||
# group sol params by different candidate types
|
geom1, geom2, params = get_params(m, candidates)
|
||||||
typ_cands = {}
|
|
||||||
for c in candidates:
|
|
||||||
typ = (c.ipair > -1, c.geomp > -1)
|
|
||||||
typ_cands.setdefault(typ, []).append(c)
|
|
||||||
|
|
||||||
geom1, geom2, params = [], [], []
|
|
||||||
for (pair, priority), candidates in typ_cands.items():
|
|
||||||
geom1.extend([c.geom1 for c in candidates])
|
|
||||||
geom2.extend([c.geom2 for c in candidates])
|
|
||||||
if pair:
|
|
||||||
params.append(_pair_params(m, candidates))
|
|
||||||
elif priority:
|
|
||||||
params.append(_priority_params(m, candidates))
|
|
||||||
else:
|
|
||||||
params.append(_dynamic_params(m, candidates))
|
|
||||||
|
|
||||||
params = jax.tree_map(lambda *x: jp.concatenate(x), *params)
|
|
||||||
g1, g2, in_axes = _pair_info(m, d, geom1, geom2)
|
g1, g2, in_axes = _pair_info(m, d, geom1, geom2)
|
||||||
|
|
||||||
# Run a crude version of broadphase.
|
# Run a crude version of broadphase.
|
||||||
|
|||||||
@@ -132,37 +132,93 @@ class SphereCollisionTest(parameterized.TestCase):
|
|||||||
</mujoco>
|
</mujoco>
|
||||||
"""
|
"""
|
||||||
|
|
||||||
def test_sphere_convex(self):
|
def test_sphere_convex_face(self):
|
||||||
d, dx = _collide(self._SPHERE_CONVEX)
|
# no contact
|
||||||
|
xml = self._SPHERE_CONVEX.replace(
|
||||||
|
'<body pos="0.52 0 0.52">', '<body pos="0.55 0 0.5">'
|
||||||
|
)
|
||||||
|
d, dx = _collide(xml)
|
||||||
|
self.assertEmpty(d.contact.dist)
|
||||||
|
self.assertGreater(dx.contact.dist, 0)
|
||||||
|
|
||||||
|
# face contact
|
||||||
|
xml = self._SPHERE_CONVEX.replace(
|
||||||
|
'<body pos="0.52 0 0.52">', '<body pos="0.51 0 0.25">'
|
||||||
|
)
|
||||||
|
d, dx = _collide(xml)
|
||||||
for field in dataclasses.fields(Contact):
|
for field in dataclasses.fields(Contact):
|
||||||
_assert_attr_eq(dx.contact, d.contact, field.name, 'sphere_convex', 1e-4)
|
_assert_attr_eq(dx.contact, d.contact, field.name, 'face', 1e-4)
|
||||||
|
|
||||||
# test deep penetration
|
# deep face contact
|
||||||
|
xml = self._SPHERE_CONVEX.replace(
|
||||||
|
'<body pos="0.52 0 0.52">', '<body pos="0.48 0 0.47">'
|
||||||
|
)
|
||||||
|
d, dx = _collide(xml)
|
||||||
|
self.assertTrue((dx.contact.dist < 0).all())
|
||||||
|
self.assertTrue((d.contact.dist < 0).all())
|
||||||
|
np.testing.assert_allclose(dx.contact.dist, [-0.07], atol=1e-5)
|
||||||
|
np.testing.assert_array_almost_equal(dx.contact.pos, d.contact.pos)
|
||||||
|
np.testing.assert_array_almost_equal(
|
||||||
|
dx.contact.frame, d.contact.frame.reshape((-1, 3, 3))
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_sphere_convex_edge(self):
|
||||||
|
# edge contact
|
||||||
|
d, dx = _collide(self._SPHERE_CONVEX)
|
||||||
|
for field in dataclasses.fields(Contact):
|
||||||
|
_assert_attr_eq(dx.contact, d.contact, field.name, 'edge', 1e-4)
|
||||||
|
|
||||||
|
# deep edge penetration
|
||||||
xml = self._SPHERE_CONVEX.replace(
|
xml = self._SPHERE_CONVEX.replace(
|
||||||
'<body pos="0.52 0 0.52">', '<body pos="0.49 0 0.49">'
|
'<body pos="0.52 0 0.52">', '<body pos="0.49 0 0.49">'
|
||||||
)
|
)
|
||||||
d, dx = _collide(xml)
|
d, dx = _collide(xml)
|
||||||
|
|
||||||
self.assertTrue((dx.contact.dist < 0).all())
|
self.assertTrue((dx.contact.dist < 0).all())
|
||||||
self.assertTrue((d.contact.dist < 0).all())
|
self.assertTrue((d.contact.dist < 0).all())
|
||||||
|
np.testing.assert_allclose(dx.contact.dist, [-0.06], atol=1e-5)
|
||||||
np.testing.assert_array_almost_equal(dx.contact.pos, d.contact.pos)
|
np.testing.assert_array_almost_equal(dx.contact.pos, d.contact.pos)
|
||||||
np.testing.assert_array_almost_equal(
|
np.testing.assert_array_almost_equal(
|
||||||
dx.contact.frame, d.contact.frame.reshape((-1, 3, 3))
|
dx.contact.frame, d.contact.frame.reshape((-1, 3, 3))
|
||||||
)
|
)
|
||||||
|
|
||||||
# test sphere center on vertex
|
# vertex contact
|
||||||
|
xml = self._SPHERE_CONVEX.replace(
|
||||||
|
'<body pos="0.52 0 0.52">', '<body pos="0.5 0.52 0.51">'
|
||||||
|
)
|
||||||
|
d, dx = _collide(xml)
|
||||||
|
for field in dataclasses.fields(Contact):
|
||||||
|
_assert_attr_eq(dx.contact, d.contact, field.name, 'vertex', 1e-4)
|
||||||
|
|
||||||
|
# sphere center on vertex
|
||||||
xml = self._SPHERE_CONVEX.replace(
|
xml = self._SPHERE_CONVEX.replace(
|
||||||
'<body pos="0.52 0 0.52">', '<body pos="0.5 0 0.5">'
|
'<body pos="0.52 0 0.52">', '<body pos="0.5 0 0.5">'
|
||||||
)
|
)
|
||||||
d, dx = _collide(xml)
|
d, dx = _collide(xml)
|
||||||
|
for field in dataclasses.fields(Contact):
|
||||||
|
_assert_attr_eq(dx.contact, d.contact, field.name, 'vertex_center', 1e-4)
|
||||||
|
|
||||||
self.assertTrue((dx.contact.dist < 0).all())
|
|
||||||
self.assertTrue((d.contact.dist < 0).all())
|
class EllipsoidCollisionTest(parameterized.TestCase):
|
||||||
np.testing.assert_array_almost_equal(dx.contact.pos, d.contact.pos)
|
|
||||||
np.testing.assert_array_almost_equal(
|
_ELLIPSOID_PLANE = """
|
||||||
dx.contact.frame, d.contact.frame.reshape((-1, 3, 3))
|
<mujoco>
|
||||||
)
|
<worldbody>
|
||||||
|
<geom name="floor" size="0 0 .05" type="plane"/>
|
||||||
|
<body pos="0 0 0.03" euler="45 0 0">
|
||||||
|
<freejoint/>
|
||||||
|
<geom size=".15 .03 .05" type="ellipsoid"/>
|
||||||
|
</body>
|
||||||
|
</worldbody>
|
||||||
|
</mujoco>
|
||||||
|
"""
|
||||||
|
|
||||||
|
def test_plane_ellipsoid(self):
|
||||||
|
"""Tests ellipsoid plane contact."""
|
||||||
|
d, dx = _collide(self._ELLIPSOID_PLANE)
|
||||||
|
self.assertLess(dx.contact.dist[0], 0)
|
||||||
|
for field in dataclasses.fields(Contact):
|
||||||
|
_assert_attr_eq(
|
||||||
|
dx.contact, d.contact, field.name, 'ellipsoid-plane', 1e-5)
|
||||||
|
|
||||||
|
|
||||||
class CapsuleCollisionTest(parameterized.TestCase):
|
class CapsuleCollisionTest(parameterized.TestCase):
|
||||||
@@ -248,8 +304,8 @@ class CapsuleCollisionTest(parameterized.TestCase):
|
|||||||
</mujoco>
|
</mujoco>
|
||||||
"""
|
"""
|
||||||
|
|
||||||
def test_capsule_convex(self):
|
def test_capsule_convex_face(self):
|
||||||
"""Tests a capsule-convex collision for a face contact."""
|
"""Tests face contact."""
|
||||||
d, dx = _collide(self._CAP_BOX)
|
d, dx = _collide(self._CAP_BOX)
|
||||||
|
|
||||||
# sort positions for comparison
|
# sort positions for comparison
|
||||||
@@ -263,7 +319,8 @@ class CapsuleCollisionTest(parameterized.TestCase):
|
|||||||
for field in dataclasses.fields(Contact):
|
for field in dataclasses.fields(Contact):
|
||||||
_assert_attr_eq(dx.contact, d.contact, field.name, 'capsule_convex', 1e-4)
|
_assert_attr_eq(dx.contact, d.contact, field.name, 'capsule_convex', 1e-4)
|
||||||
|
|
||||||
# test deep face penetration
|
def test_capsule_convex_face_deep(self):
|
||||||
|
"""Tests deep face penetration."""
|
||||||
xml = self._CAP_BOX.replace('<body pos="0 0 0.54">', '<body pos="0 0 0.4">')
|
xml = self._CAP_BOX.replace('<body pos="0 0 0.54">', '<body pos="0 0 0.4">')
|
||||||
|
|
||||||
_, dx = _collide(xml)
|
_, dx = _collide(xml)
|
||||||
@@ -294,7 +351,7 @@ class CapsuleCollisionTest(parameterized.TestCase):
|
|||||||
"""
|
"""
|
||||||
|
|
||||||
def test_capsule_convex_edge(self):
|
def test_capsule_convex_edge(self):
|
||||||
"""Tests a capsule-convex collision for an edge contact."""
|
"""Tests edge contact."""
|
||||||
d, dx = _collide(self._CAP_EDGE_BOX)
|
d, dx = _collide(self._CAP_EDGE_BOX)
|
||||||
|
|
||||||
c = dx.contact
|
c = dx.contact
|
||||||
@@ -305,17 +362,62 @@ class CapsuleCollisionTest(parameterized.TestCase):
|
|||||||
for field in dataclasses.fields(Contact):
|
for field in dataclasses.fields(Contact):
|
||||||
_assert_attr_eq(c, d.contact, field.name, 'capsule_convex_edge', 1e-4)
|
_assert_attr_eq(c, d.contact, field.name, 'capsule_convex_edge', 1e-4)
|
||||||
|
|
||||||
# test deep edge penetration
|
def test_capsule_convex_edge_deep(self):
|
||||||
|
"""Tests deep edge penetration."""
|
||||||
xml = self._CAP_EDGE_BOX.replace(
|
xml = self._CAP_EDGE_BOX.replace(
|
||||||
'<body pos="0.5 0 0.55"', '<body pos="0.5 0 0.48"'
|
'<body pos="0.5 0 0.55"', '<body pos="0.5 0 0.42"'
|
||||||
)
|
)
|
||||||
_, dx = _collide(xml)
|
_, dx = _collide(xml)
|
||||||
|
|
||||||
np.testing.assert_array_equal(dx.contact.dist < 0, np.array([True, False]))
|
np.testing.assert_array_equal(dx.contact.dist < 0, np.array([True, False]))
|
||||||
|
np.testing.assert_array_almost_equal(dx.contact.dist[0], np.array([-0.13]))
|
||||||
np.testing.assert_array_almost_equal(
|
np.testing.assert_array_almost_equal(
|
||||||
dx.contact.pos[0], np.array([0.483, 0, 0.471]), decimal=3
|
dx.contact.pos[0], np.array([0.5, 0, 0.435]), decimal=3
|
||||||
)
|
)
|
||||||
np.testing.assert_array_almost_equal(
|
np.testing.assert_array_almost_equal(
|
||||||
dx.contact.frame[0, 0], np.array([-0.5, 0, -0.866]), decimal=3
|
dx.contact.frame[0, 0], np.array([0, 0, -1]), decimal=3
|
||||||
|
)
|
||||||
|
|
||||||
|
def test_capsule_convex_edge_shallow_tip(self):
|
||||||
|
"""Tests shallow edge penetration on the tip of the capsule."""
|
||||||
|
# the capsule sphere is inside the edge voronoi region, so there is an
|
||||||
|
# edge contact
|
||||||
|
xml = self._CAP_EDGE_BOX.replace(
|
||||||
|
'<geom fromto="-0.6 0 0 0.6 0 0" size="0.05"',
|
||||||
|
'<geom fromto="0.6 0 0.6 -0.05 0 0" size="0.1"',
|
||||||
|
)
|
||||||
|
xml = xml.replace('<body pos="0.5 0 0.55"', '<body pos="0.58 0 0.55"')
|
||||||
|
d, dx = _collide(xml)
|
||||||
|
|
||||||
|
c = dx.contact
|
||||||
|
self.assertEqual(c.pos.shape[0], 2)
|
||||||
|
self.assertGreater(c.dist[1], 0)
|
||||||
|
# extract the contact point with penetration
|
||||||
|
c = jax.tree_map(lambda x: jp.take(x, 0, axis=0)[None], dx.contact)
|
||||||
|
for field in dataclasses.fields(Contact):
|
||||||
|
_assert_attr_eq(c, d.contact, field.name, 'edge_shallow_tip1', 1e-4)
|
||||||
|
np.testing.assert_array_almost_equal(
|
||||||
|
dx.contact.frame[0][0, :3], np.array([-0.43952, 0.0, -0.898233])
|
||||||
|
)
|
||||||
|
|
||||||
|
# the capsule sphere is outside the edge voronoi region, so there is a
|
||||||
|
# face contact
|
||||||
|
xml = self._CAP_EDGE_BOX.replace(
|
||||||
|
'<geom fromto="-0.6 0 0 0.6 0 0" size="0.05"',
|
||||||
|
'<geom fromto="-0.6 0 0.6 -0.05 0 0" size="0.1"',
|
||||||
|
)
|
||||||
|
xml = xml.replace('<body pos="0.5 0 0.55"', '<body pos="0.5 0 0.52"')
|
||||||
|
d, dx = _collide(xml)
|
||||||
|
|
||||||
|
c = dx.contact
|
||||||
|
self.assertEqual(c.pos.shape[0], 2)
|
||||||
|
self.assertGreater(c.dist[1], 0)
|
||||||
|
# extract the contact point with penetration
|
||||||
|
c = jax.tree_map(lambda x: jp.take(x, 0, axis=0)[None], dx.contact)
|
||||||
|
for field in dataclasses.fields(Contact):
|
||||||
|
_assert_attr_eq(c, d.contact, field.name, 'edge_shallow_tip2', 1e-4)
|
||||||
|
np.testing.assert_array_almost_equal(
|
||||||
|
dx.contact.frame[0][0, :3], np.array([0.0, 0.0, -1.0])
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|
||||||
@@ -448,7 +550,7 @@ class ConvexTest(absltest.TestCase):
|
|||||||
"""
|
"""
|
||||||
|
|
||||||
def test_convex_convex(self):
|
def test_convex_convex(self):
|
||||||
"""Tests generic convex-convex collision via _sat_approx."""
|
"""Tests generic convex-convex collision via _sat_gaussmap."""
|
||||||
directory = epath.resource_path('mujoco.mjx')
|
directory = epath.resource_path('mujoco.mjx')
|
||||||
assets = {
|
assets = {
|
||||||
'meshes/dodecahedron.stl': (
|
'meshes/dodecahedron.stl': (
|
||||||
@@ -463,6 +565,44 @@ class ConvexTest(absltest.TestCase):
|
|||||||
np.testing.assert_array_less(0, c.dist[1:])
|
np.testing.assert_array_less(0, c.dist[1:])
|
||||||
np.testing.assert_array_almost_equal(c.frame[0, 0], np.array([0, 0, 1]))
|
np.testing.assert_array_almost_equal(c.frame[0, 0], np.array([0, 0, 1]))
|
||||||
|
|
||||||
|
_CONVEX_CONVEX_THIN = """
|
||||||
|
<mujoco>
|
||||||
|
<asset>
|
||||||
|
<mesh name="poly"
|
||||||
|
vertex="0.3 0 0 0 0.5 0 -0.3 0 0 0 -0.5 0 0 -1 1 0 1 1"
|
||||||
|
face="0 1 5 0 5 4 0 4 3 3 4 2 2 4 5 1 2 5 0 2 1 0 3 2"/>
|
||||||
|
</asset>
|
||||||
|
<worldbody>
|
||||||
|
<body pos="0.0 2.0 0.35" euler="0 0 90">
|
||||||
|
<freejoint/>
|
||||||
|
<geom size="0.2 0.2 0.2" type="mesh" mesh="poly"/>
|
||||||
|
</body>
|
||||||
|
<body pos="0.0 2.0 2.281" euler="180 0 0">
|
||||||
|
<freejoint/>
|
||||||
|
<geom size="0.2 0.2 0.2" type="mesh" mesh="poly"/>
|
||||||
|
</body>
|
||||||
|
</worldbody>
|
||||||
|
</mujoco>
|
||||||
|
"""
|
||||||
|
|
||||||
|
def test_convex_convex_edge(self):
|
||||||
|
"""Tests convex-convex collisions with edge contact via _sat_gaussmap."""
|
||||||
|
_, dx = _collide(self._CONVEX_CONVEX_THIN)
|
||||||
|
c = dx.contact
|
||||||
|
|
||||||
|
# Only one contact point for an edge contact.
|
||||||
|
self.assertLess(c.dist[0], 0)
|
||||||
|
np.testing.assert_array_less(0, c.dist[1:])
|
||||||
|
np.testing.assert_array_almost_equal(c.frame[0, 0], np.array([0, 0, 1]))
|
||||||
|
np.testing.assert_array_almost_equal(
|
||||||
|
c.pos[0], np.array([0, 2, 1.3155]), decimal=5)
|
||||||
|
|
||||||
|
_, dx = _collide(
|
||||||
|
self._CONVEX_CONVEX_THIN.replace(
|
||||||
|
'pos="0.0 2.0 0.35"', 'pos="0.0 2.0 0"'))
|
||||||
|
c = dx.contact
|
||||||
|
self.assertTrue((c.dist > 0).all())
|
||||||
|
|
||||||
|
|
||||||
class BodyPairFilterTest(absltest.TestCase):
|
class BodyPairFilterTest(absltest.TestCase):
|
||||||
"""Tests that certain body pairs get filtered."""
|
"""Tests that certain body pairs get filtered."""
|
||||||
@@ -568,11 +708,11 @@ class NconTest(parameterized.TestCase):
|
|||||||
m.numeric_data[m.numeric_adr[i]] = -1
|
m.numeric_data[m.numeric_adr[i]] = -1
|
||||||
|
|
||||||
ncon = collision_driver.ncon(m)
|
ncon = collision_driver.ncon(m)
|
||||||
self.assertEqual(ncon, 307)
|
self.assertEqual(ncon, 98)
|
||||||
|
|
||||||
mx = mjx.put_model(m)
|
mx = mjx.put_model(m)
|
||||||
ncon = collision_driver.ncon(mx)
|
ncon = collision_driver.ncon(mx)
|
||||||
self.assertEqual(ncon, 307)
|
self.assertEqual(ncon, 98)
|
||||||
|
|
||||||
|
|
||||||
class TopKContactTest(absltest.TestCase):
|
class TopKContactTest(absltest.TestCase):
|
||||||
|
|||||||
@@ -65,6 +65,19 @@ def plane_capsule(plane: GeomInfo, cap: GeomInfo) -> Contact:
|
|||||||
return jax.tree_map(lambda *x: jp.concatenate(x), *contacts)
|
return jax.tree_map(lambda *x: jp.concatenate(x), *contacts)
|
||||||
|
|
||||||
|
|
||||||
|
def plane_ellipsoid(plane: GeomInfo, ellipsoid: GeomInfo) -> Contact:
|
||||||
|
"""Calculates one contact between an ellipsoid and a plane."""
|
||||||
|
n = plane.mat[:, 2]
|
||||||
|
size = ellipsoid.size
|
||||||
|
sphere_support = -math.normalize((ellipsoid.mat.T @ n) * size)
|
||||||
|
pos = ellipsoid.pos + ellipsoid.mat @ (sphere_support * size)
|
||||||
|
dist = jp.dot(n, pos - plane.pos)
|
||||||
|
pos = pos - n * dist * 0.5
|
||||||
|
return jax.tree_map(
|
||||||
|
lambda x: jp.expand_dims(x, axis=0), (dist, pos, math.make_frame(n))
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
def _sphere_sphere(
|
def _sphere_sphere(
|
||||||
pos1: jax.Array, radius1: jax.Array, pos2: jax.Array, radius2: jax.Array
|
pos1: jax.Array, radius1: jax.Array, pos2: jax.Array, radius2: jax.Array
|
||||||
) -> Contact:
|
) -> Contact:
|
||||||
@@ -121,6 +134,7 @@ def capsule_capsule(cap1: GeomInfo, cap2: GeomInfo) -> Contact:
|
|||||||
# store ncon as function attributes
|
# store ncon as function attributes
|
||||||
plane_sphere.ncon = 1
|
plane_sphere.ncon = 1
|
||||||
plane_capsule.ncon = 2
|
plane_capsule.ncon = 2
|
||||||
|
plane_ellipsoid.ncon = 1
|
||||||
sphere_sphere.ncon = 1
|
sphere_sphere.ncon = 1
|
||||||
sphere_capsule.ncon = 1
|
sphere_capsule.ncon = 1
|
||||||
capsule_capsule.ncon = 1
|
capsule_capsule.ncon = 1
|
||||||
|
|||||||
@@ -138,8 +138,7 @@ def _validate(m: mujoco.MjModel):
|
|||||||
raise NotImplementedError('Tendons are not supported.')
|
raise NotImplementedError('Tendons are not supported.')
|
||||||
|
|
||||||
# check collision geom types
|
# check collision geom types
|
||||||
candidate_set = collision_driver.collision_candidates(m)
|
for (g1, g2, *_), c in collision_driver.collision_candidates(m).items():
|
||||||
for g1, g2, *_ in candidate_set:
|
|
||||||
g1, g2 = mujoco.mjtGeom(g1), mujoco.mjtGeom(g2)
|
g1, g2 = mujoco.mjtGeom(g1), mujoco.mjtGeom(g2)
|
||||||
if g1 == mujoco.mjtGeom.mjGEOM_PLANE and g2 in (
|
if g1 == mujoco.mjtGeom.mjGEOM_PLANE and g2 in (
|
||||||
mujoco.mjtGeom.mjGEOM_PLANE,
|
mujoco.mjtGeom.mjGEOM_PLANE,
|
||||||
@@ -149,6 +148,12 @@ def _validate(m: mujoco.MjModel):
|
|||||||
continue
|
continue
|
||||||
if collision_driver.get_collision_fn((g1, g2)) is None:
|
if collision_driver.get_collision_fn((g1, g2)) is None:
|
||||||
raise NotImplementedError(f'({g1}, {g2}) collisions not implemented.')
|
raise NotImplementedError(f'({g1}, {g2}) collisions not implemented.')
|
||||||
|
*_, params = collision_driver.get_params(m, c)
|
||||||
|
margin_gap = not np.allclose(np.concatenate([params.margin, params.gap]), 0)
|
||||||
|
if mujoco.mjtGeom.mjGEOM_MESH in (g1, g2) and margin_gap:
|
||||||
|
raise NotImplementedError(
|
||||||
|
f'Margin and gap not implemented for ({g1}, {g2})'
|
||||||
|
)
|
||||||
|
|
||||||
# TODO(erikfrey): warn for high solver iterations, nefc, etc.
|
# TODO(erikfrey): warn for high solver iterations, nefc, etc.
|
||||||
|
|
||||||
|
|||||||
@@ -91,10 +91,16 @@ def put_model(m: mujoco.MjModel, device=None) -> types.Model:
|
|||||||
raise NotImplementedError('only condim=3 is supported')
|
raise NotImplementedError('only condim=3 is supported')
|
||||||
|
|
||||||
# check collision geom types
|
# check collision geom types
|
||||||
for g1, g2, *_ in collision_driver.collision_candidates(m):
|
for (g1, g2, *_), c in collision_driver.collision_candidates(m).items():
|
||||||
if collision_driver.get_collision_fn((g1, g2)) is None:
|
|
||||||
g1, g2 = mujoco.mjtGeom(g1), mujoco.mjtGeom(g2)
|
g1, g2 = mujoco.mjtGeom(g1), mujoco.mjtGeom(g2)
|
||||||
|
if collision_driver.get_collision_fn((g1, g2)) is None:
|
||||||
raise NotImplementedError(f'({g1}, {g2}) has no collision function')
|
raise NotImplementedError(f'({g1}, {g2}) has no collision function')
|
||||||
|
*_, params = collision_driver.get_params(m, c)
|
||||||
|
margin_gap = not np.allclose(np.concatenate([params.margin, params.gap]), 0)
|
||||||
|
if mujoco.mjtGeom.mjGEOM_MESH in (g1, g2) and margin_gap:
|
||||||
|
raise NotImplementedError(
|
||||||
|
f'Margin and gap not implemented for ({g1}, {g2})'
|
||||||
|
)
|
||||||
|
|
||||||
for enum_field, enum_type, mj_type in (
|
for enum_field, enum_type, mj_type in (
|
||||||
(m.actuator_biastype, types.BiasType, mujoco.mjtBias),
|
(m.actuator_biastype, types.BiasType, mujoco.mjtBias),
|
||||||
@@ -172,7 +178,7 @@ def make_data(m: Union[types.Model, mujoco.MjModel]) -> types.Data:
|
|||||||
ctrl=zero_nu,
|
ctrl=zero_nu,
|
||||||
qfrc_applied=zero_nv,
|
qfrc_applied=zero_nv,
|
||||||
xfrc_applied=zero_nbody_6,
|
xfrc_applied=zero_nbody_6,
|
||||||
eq_active=jp.zeros(m.neq, dtype=int),
|
eq_active=jp.zeros(m.neq, dtype=jp.uint8),
|
||||||
qacc=zero_nv,
|
qacc=zero_nv,
|
||||||
act_dot=zero_na,
|
act_dot=zero_na,
|
||||||
xpos=zero_nbody_3,
|
xpos=zero_nbody_3,
|
||||||
@@ -233,6 +239,7 @@ def _get_contact(
|
|||||||
|
|
||||||
ncon = cx.dist.shape[0]
|
ncon = cx.dist.shape[0]
|
||||||
c.efc_address[:] = np.arange(efc_start, efc_start + ncon * 4, 4)[con_id]
|
c.efc_address[:] = np.arange(efc_start, efc_start + ncon * 4, 4)[con_id]
|
||||||
|
c.dim[:] = 3
|
||||||
|
|
||||||
|
|
||||||
def get_data(
|
def get_data(
|
||||||
@@ -374,6 +381,9 @@ def put_data(m: mujoco.MjModel, d: mujoco.MjData, device=None) -> types.Data:
|
|||||||
for fname in ('xmat', 'ximat', 'geom_xmat', 'site_xmat', 'cam_xmat'):
|
for fname in ('xmat', 'ximat', 'geom_xmat', 'site_xmat', 'cam_xmat'):
|
||||||
fields[fname] = fields[fname].reshape((-1, 3, 3))
|
fields[fname] = fields[fname].reshape((-1, 3, 3))
|
||||||
|
|
||||||
|
# MJX does not support islanding, so only transfer the first solver_niter
|
||||||
|
fields['solver_niter'] = fields['solver_niter'][0]
|
||||||
|
|
||||||
# pad efc fields: MuJoCo efc arrays are sparse for inactive constraints.
|
# pad efc fields: MuJoCo efc arrays are sparse for inactive constraints.
|
||||||
# efc_J is also optionally column-sparse (typically for large nv). MJX is
|
# efc_J is also optionally column-sparse (typically for large nv). MJX is
|
||||||
# neither: it contains zeros for inactive constraints, and efc_J is always
|
# neither: it contains zeros for inactive constraints, and efc_J is always
|
||||||
|
|||||||
@@ -209,6 +209,25 @@ class ModelIOTest(parameterized.TestCase):
|
|||||||
</worldbody>
|
</worldbody>
|
||||||
</mujoco>"""))
|
</mujoco>"""))
|
||||||
|
|
||||||
|
def test_margin_gap_mesh_not_implemented(self):
|
||||||
|
with self.assertRaises(NotImplementedError):
|
||||||
|
mjx.put_model(mujoco.MjModel.from_xml_string("""
|
||||||
|
<mujoco>
|
||||||
|
<asset>
|
||||||
|
<mesh name="box" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1" scale="1 1 1"/>
|
||||||
|
</asset>
|
||||||
|
<worldbody>
|
||||||
|
<body>
|
||||||
|
<freejoint/>
|
||||||
|
<geom type="mesh" mesh="box" margin="0.3"/>
|
||||||
|
</body>
|
||||||
|
<body>
|
||||||
|
<freejoint/>
|
||||||
|
<geom size="0.05"/>
|
||||||
|
</body>
|
||||||
|
</worldbody>
|
||||||
|
</mujoco>"""))
|
||||||
|
|
||||||
|
|
||||||
class DataIOTest(parameterized.TestCase):
|
class DataIOTest(parameterized.TestCase):
|
||||||
"""IO tests for mjx.Data."""
|
"""IO tests for mjx.Data."""
|
||||||
@@ -434,5 +453,20 @@ class DataIOTest(parameterized.TestCase):
|
|||||||
self.assertEqual(d_2.contact.frame.shape, (1, 9))
|
self.assertEqual(d_2.contact.frame.shape, (1, 9))
|
||||||
np.testing.assert_allclose(d_2.contact.frame, d.contact.frame)
|
np.testing.assert_allclose(d_2.contact.frame, d.contact.frame)
|
||||||
|
|
||||||
|
def test_make_matches_put(self):
|
||||||
|
"""Test that make_data produces a pytree that matches put_data."""
|
||||||
|
|
||||||
|
m = mujoco.MjModel.from_xml_string(_MULTIPLE_CONSTRAINTS)
|
||||||
|
d = mujoco.MjData(m)
|
||||||
|
mujoco.mj_step(m, d, 2)
|
||||||
|
dx = mjx.put_data(m, d)
|
||||||
|
|
||||||
|
step_fn = lambda d: d.replace(time=d.time + 1)
|
||||||
|
step_fn_jit = jax.jit(step_fn).lower(dx).compile()
|
||||||
|
|
||||||
|
# placing an MjData onto device should yield the same treedef mjx.Data as
|
||||||
|
# calling make_data. they should be interchangeable for jax functions:
|
||||||
|
step_fn_jit(mjx.make_data(m))
|
||||||
|
|
||||||
if __name__ == '__main__':
|
if __name__ == '__main__':
|
||||||
absltest.main()
|
absltest.main()
|
||||||
|
|||||||
@@ -331,9 +331,9 @@ def closest_segment_point_and_dist(
|
|||||||
return closest, dist
|
return closest, dist
|
||||||
|
|
||||||
|
|
||||||
def closest_segment_to_segment_points_w_barycentric(
|
def closest_segment_to_segment_points(
|
||||||
a0: jax.Array, a1: jax.Array, b0: jax.Array, b1: jax.Array
|
a0: jax.Array, a1: jax.Array, b0: jax.Array, b1: jax.Array
|
||||||
) -> Tuple[jax.Array, jax.Array, jax.Array, jax.Array]:
|
) -> Tuple[jax.Array, jax.Array]:
|
||||||
"""Returns closest points between two line segments."""
|
"""Returns closest points between two line segments."""
|
||||||
# Gets the closest segment points by first finding the closest points
|
# Gets the closest segment points by first finding the closest points
|
||||||
# between two lines. Points are then clipped to be on the line segments
|
# between two lines. Points are then clipped to be on the line segments
|
||||||
@@ -364,10 +364,6 @@ def closest_segment_to_segment_points_w_barycentric(
|
|||||||
t_a = jp.clip(orig_t_a, -half_len_a, half_len_a)
|
t_a = jp.clip(orig_t_a, -half_len_a, half_len_a)
|
||||||
t_b = jp.clip(orig_t_b, -half_len_b, half_len_b)
|
t_b = jp.clip(orig_t_b, -half_len_b, half_len_b)
|
||||||
|
|
||||||
# reparametrize t_a, t_b
|
|
||||||
t_a_01 = (orig_t_a + half_len_a) / jp.maximum(len_a, 1e-6)
|
|
||||||
t_b_01 = (orig_t_b + half_len_b) / jp.maximum(len_b, 1e-6)
|
|
||||||
|
|
||||||
best_a = a_mid + dir_a * t_a
|
best_a = a_mid + dir_a * t_a
|
||||||
best_b = b_mid + dir_b * t_b
|
best_b = b_mid + dir_b * t_b
|
||||||
|
|
||||||
@@ -381,12 +377,4 @@ def closest_segment_to_segment_points_w_barycentric(
|
|||||||
best_a = jp.where(d1 < d2, new_a, best_a)
|
best_a = jp.where(d1 < d2, new_a, best_a)
|
||||||
best_b = jp.where(d1 < d2, best_b, new_b)
|
best_b = jp.where(d1 < d2, best_b, new_b)
|
||||||
|
|
||||||
return best_a, best_b, t_a_01, t_b_01
|
return best_a, best_b
|
||||||
|
|
||||||
|
|
||||||
def closest_segment_to_segment_points(
|
|
||||||
a0: jax.Array, a1: jax.Array, b0: jax.Array, b1: jax.Array
|
|
||||||
) -> Tuple[jax.Array, jax.Array]:
|
|
||||||
"""Returns closest points between two line segments."""
|
|
||||||
a, b, *_ = closest_segment_to_segment_points_w_barycentric(a0, a1, b0, b1)
|
|
||||||
return a, b
|
|
||||||
|
|||||||
+10
-19
@@ -49,8 +49,8 @@ _DERIVED_ARGS = [
|
|||||||
'geom_convex_vert',
|
'geom_convex_vert',
|
||||||
'geom_convex_edge_dir',
|
'geom_convex_edge_dir',
|
||||||
'geom_convex_facenormal',
|
'geom_convex_facenormal',
|
||||||
'geom_convex_face_edge',
|
'geom_convex_edge',
|
||||||
'geom_convex_face_edge_normal',
|
'geom_convex_edge_face_normal',
|
||||||
]
|
]
|
||||||
DERIVED = {(Model, d) for d in _DERIVED_ARGS}
|
DERIVED = {(Model, d) for d in _DERIVED_ARGS}
|
||||||
|
|
||||||
@@ -114,7 +114,7 @@ def _get_unique_edge_dir(vert: np.ndarray, face: np.ndarray) -> np.ndarray:
|
|||||||
return edges[unique_edge_idx]
|
return edges[unique_edge_idx]
|
||||||
|
|
||||||
|
|
||||||
def _get_face_edge_normals(
|
def _get_edge_normals(
|
||||||
face: np.ndarray, face_norm: np.ndarray
|
face: np.ndarray, face_norm: np.ndarray
|
||||||
) -> Tuple[np.ndarray, np.ndarray]:
|
) -> Tuple[np.ndarray, np.ndarray]:
|
||||||
"""Returns face edges and face edge normals."""
|
"""Returns face edges and face edge normals."""
|
||||||
@@ -133,7 +133,7 @@ def _get_face_edge_normals(
|
|||||||
continue
|
continue
|
||||||
edge_map_list[tuple(face_edge_flat[i])].append(edge_face_norm[i])
|
edge_map_list[tuple(face_edge_flat[i])].append(edge_face_norm[i])
|
||||||
|
|
||||||
edge_map = {}
|
edges, edge_face_normals = [], []
|
||||||
for k, v in edge_map_list.items():
|
for k, v in edge_map_list.items():
|
||||||
v = np.array(v)
|
v = np.array(v)
|
||||||
if len(v) > 2:
|
if len(v) > 2:
|
||||||
@@ -145,19 +145,10 @@ def _get_face_edge_normals(
|
|||||||
# and face vertices were down sampled. In either case, we ignore these
|
# and face vertices were down sampled. In either case, we ignore these
|
||||||
# edges.
|
# edges.
|
||||||
continue
|
continue
|
||||||
edge_map[k] = v
|
edges.append(k)
|
||||||
|
edge_face_normals.append(v)
|
||||||
|
|
||||||
# for each face, list the edge normals
|
return np.array(edges), np.array(edge_face_normals)
|
||||||
face_edge_normal = []
|
|
||||||
for face_idx in range(face_edge.shape[0]):
|
|
||||||
normals = []
|
|
||||||
for edge in face_edge[face_idx]:
|
|
||||||
k = tuple(edge)
|
|
||||||
normals.append(edge_map.get(k, np.zeros((2, 3))))
|
|
||||||
face_edge_normal.append(np.array(normals))
|
|
||||||
face_edge_normal = np.array(face_edge_normal)
|
|
||||||
|
|
||||||
return face_edge, face_edge_normal
|
|
||||||
|
|
||||||
|
|
||||||
def _convex_hull_2d(points: np.ndarray, normal: np.ndarray) -> np.ndarray:
|
def _convex_hull_2d(points: np.ndarray, normal: np.ndarray) -> np.ndarray:
|
||||||
@@ -297,15 +288,15 @@ def _geom_mesh_kwargs(
|
|||||||
vert = np.array(tm_convex.vertices)
|
vert = np.array(tm_convex.vertices)
|
||||||
face = _merge_coplanar(tm_convex, mesh_info)
|
face = _merge_coplanar(tm_convex, mesh_info)
|
||||||
facenormal = _get_face_norm(vert, face)
|
facenormal = _get_face_norm(vert, face)
|
||||||
face_edge, face_edge_normal = _get_face_edge_normals(face, facenormal)
|
edge, edge_face_normal = _get_edge_normals(face, facenormal)
|
||||||
return {
|
return {
|
||||||
'geom_convex_face': vert[face],
|
'geom_convex_face': vert[face],
|
||||||
'geom_convex_face_vert_idx': face,
|
'geom_convex_face_vert_idx': face,
|
||||||
'geom_convex_vert': vert,
|
'geom_convex_vert': vert,
|
||||||
'geom_convex_edge_dir': _get_unique_edge_dir(vert, face),
|
'geom_convex_edge_dir': _get_unique_edge_dir(vert, face),
|
||||||
'geom_convex_facenormal': facenormal,
|
'geom_convex_facenormal': facenormal,
|
||||||
'geom_convex_face_edge': face_edge,
|
'geom_convex_edge': edge,
|
||||||
'geom_convex_face_edge_normal': face_edge_normal,
|
'geom_convex_edge_face_normal': edge_face_normal,
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|||||||
@@ -80,7 +80,7 @@ class GeomMeshKwargsTest(absltest.TestCase):
|
|||||||
self.assertEqual(h['geom_convex_facenormal'].shape, (5, 3))
|
self.assertEqual(h['geom_convex_facenormal'].shape, (5, 3))
|
||||||
|
|
||||||
# face edges
|
# face edges
|
||||||
edges = np.concatenate(h['geom_convex_face_edge'])
|
edges = h['geom_convex_edge']
|
||||||
edges = np.vectorize(map_.get)(edges)
|
edges = np.vectorize(map_.get)(edges)
|
||||||
mask = edges[:, 0] != edges[:, 1]
|
mask = edges[:, 0] != edges[:, 1]
|
||||||
edges = edges[mask]
|
edges = edges[mask]
|
||||||
@@ -92,27 +92,18 @@ class GeomMeshKwargsTest(absltest.TestCase):
|
|||||||
edges,
|
edges,
|
||||||
np.array([
|
np.array([
|
||||||
[0, 2],
|
[0, 2],
|
||||||
[0, 2],
|
|
||||||
[0, 3],
|
|
||||||
[0, 3],
|
[0, 3],
|
||||||
[0, 4],
|
[0, 4],
|
||||||
[0, 4],
|
|
||||||
[1, 2],
|
|
||||||
[1, 2],
|
[1, 2],
|
||||||
[1, 3],
|
[1, 3],
|
||||||
[1, 3],
|
|
||||||
[1, 4],
|
|
||||||
[1, 4],
|
[1, 4],
|
||||||
[2, 4],
|
[2, 4],
|
||||||
[2, 4],
|
|
||||||
[3, 4],
|
|
||||||
[3, 4],
|
[3, 4],
|
||||||
]),
|
]),
|
||||||
)
|
)
|
||||||
|
|
||||||
# face edge normals
|
# face edge normals
|
||||||
edge_normal = h['geom_convex_face_edge_normal']
|
edge_normal = h['geom_convex_edge_face_normal']
|
||||||
edge_normal = np.concatenate(edge_normal)
|
|
||||||
edge_normal = edge_normal[mask]
|
edge_normal = edge_normal[mask]
|
||||||
edge_normal = np.take_along_axis(
|
edge_normal = np.take_along_axis(
|
||||||
edge_normal, sort_col_idx[..., None], axis=1
|
edge_normal, sort_col_idx[..., None], axis=1
|
||||||
@@ -120,8 +111,8 @@ class GeomMeshKwargsTest(absltest.TestCase):
|
|||||||
edge_normal = edge_normal[sort_row_idx]
|
edge_normal = edge_normal[sort_row_idx]
|
||||||
edge_normal_02 = np.array([[0.4472136, -0.0, 0.89442719], [-1.0, 0.0, 0.0]])
|
edge_normal_02 = np.array([[0.4472136, -0.0, 0.89442719], [-1.0, 0.0, 0.0]])
|
||||||
np.testing.assert_array_almost_equal(
|
np.testing.assert_array_almost_equal(
|
||||||
edge_normal[:2],
|
edge_normal[:1],
|
||||||
np.array([edge_normal_02, edge_normal_02]),
|
np.array([edge_normal_02]),
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|
||||||
|
|||||||
@@ -13,7 +13,6 @@
|
|||||||
# limitations under the License.
|
# limitations under the License.
|
||||||
# ==============================================================================
|
# ==============================================================================
|
||||||
"""Engine support functions."""
|
"""Engine support functions."""
|
||||||
|
|
||||||
from typing import Optional, Tuple, Union
|
from typing import Optional, Tuple, Union
|
||||||
|
|
||||||
import jax
|
import jax
|
||||||
|
|||||||
@@ -14,14 +14,96 @@
|
|||||||
# ==============================================================================
|
# ==============================================================================
|
||||||
"""Utilities for testing."""
|
"""Utilities for testing."""
|
||||||
|
|
||||||
|
import os
|
||||||
import sys
|
import sys
|
||||||
|
import time
|
||||||
from typing import Dict, Tuple
|
from typing import Dict, Tuple
|
||||||
from xml.etree import ElementTree as ET
|
from xml.etree import ElementTree as ET
|
||||||
|
|
||||||
from etils import epath
|
from etils import epath
|
||||||
|
import jax
|
||||||
import mujoco
|
import mujoco
|
||||||
|
# pylint: disable=g-importing-member
|
||||||
|
from mujoco.mjx._src import forward
|
||||||
|
from mujoco.mjx._src import io
|
||||||
|
# pylint: enable=g-importing-member
|
||||||
import numpy as np
|
import numpy as np
|
||||||
|
|
||||||
|
|
||||||
|
def _measure(fn, *args) -> Tuple[float, float]:
|
||||||
|
"""Reports jit time and op time for a function."""
|
||||||
|
|
||||||
|
beg = time.perf_counter()
|
||||||
|
compiled_fn = fn.lower(*args).compile()
|
||||||
|
end = time.perf_counter()
|
||||||
|
jit_time = end - beg
|
||||||
|
|
||||||
|
beg = time.perf_counter()
|
||||||
|
result = compiled_fn(*args)
|
||||||
|
jax.block_until_ready(result)
|
||||||
|
end = time.perf_counter()
|
||||||
|
run_time = end - beg
|
||||||
|
|
||||||
|
return jit_time, run_time
|
||||||
|
|
||||||
|
|
||||||
|
def benchmark(
|
||||||
|
m: mujoco.MjModel,
|
||||||
|
nstep: int = 1000,
|
||||||
|
batch_size: int = 1024,
|
||||||
|
unroll_steps: int = 1,
|
||||||
|
solver: str = 'cg',
|
||||||
|
iterations: int = 1,
|
||||||
|
ls_iterations: int = 4,
|
||||||
|
) -> Tuple[float, float, int]:
|
||||||
|
"""Benchmark a model."""
|
||||||
|
|
||||||
|
xla_flags = os.environ.get('XLA_FLAGS', '')
|
||||||
|
xla_flags += ' --xla_gpu_triton_gemm_any=True'
|
||||||
|
os.environ['XLA_FLAGS'] = xla_flags
|
||||||
|
|
||||||
|
m.opt.solver = {
|
||||||
|
'cg': mujoco.mjtSolver.mjSOL_CG,
|
||||||
|
'newton': mujoco.mjtSolver.mjSOL_NEWTON,
|
||||||
|
}[solver.lower()]
|
||||||
|
m.opt.iterations = iterations
|
||||||
|
m.opt.ls_iterations = ls_iterations
|
||||||
|
m = io.put_model(m)
|
||||||
|
|
||||||
|
@jax.pmap
|
||||||
|
def init(key):
|
||||||
|
key = jax.random.split(key, batch_size // jax.device_count())
|
||||||
|
|
||||||
|
@jax.vmap
|
||||||
|
def random_init(key):
|
||||||
|
d = io.make_data(m)
|
||||||
|
qvel = 0.01 * jax.random.normal(key, shape=(m.nv,))
|
||||||
|
d = d.replace(qvel=qvel)
|
||||||
|
return d
|
||||||
|
|
||||||
|
return random_init(key)
|
||||||
|
|
||||||
|
key = jax.random.split(jax.random.key(0), jax.device_count())
|
||||||
|
d = init(key)
|
||||||
|
jax.block_until_ready(d)
|
||||||
|
|
||||||
|
@jax.pmap
|
||||||
|
def unroll(d):
|
||||||
|
@jax.vmap
|
||||||
|
def step(d, _):
|
||||||
|
d = forward.step(m, d)
|
||||||
|
return d, None
|
||||||
|
|
||||||
|
d, _ = jax.lax.scan(step, d, None, length=nstep, unroll=unroll_steps)
|
||||||
|
|
||||||
|
return d
|
||||||
|
|
||||||
|
jit_time, run_time = _measure(unroll, d)
|
||||||
|
steps = nstep * batch_size
|
||||||
|
|
||||||
|
return jit_time, run_time, steps
|
||||||
|
|
||||||
|
|
||||||
_ACTUATOR_TYPES = ['motor', 'velocity', 'position', 'general', 'intvelocity']
|
_ACTUATOR_TYPES = ['motor', 'velocity', 'position', 'general', 'intvelocity']
|
||||||
_DYN_TYPES = ['none', 'integrator', 'filter', 'filterexact']
|
_DYN_TYPES = ['none', 'integrator', 'filter', 'filterexact']
|
||||||
_DYN_PRMS = ['0.189', '2.1']
|
_DYN_PRMS = ['0.189', '2.1']
|
||||||
|
|||||||
@@ -543,8 +543,8 @@ class Model(PyTreeNode):
|
|||||||
geom_convex_vert: List[Optional[jax.Array]]
|
geom_convex_vert: List[Optional[jax.Array]]
|
||||||
geom_convex_edge_dir: List[Optional[jax.Array]]
|
geom_convex_edge_dir: List[Optional[jax.Array]]
|
||||||
geom_convex_facenormal: List[Optional[jax.Array]]
|
geom_convex_facenormal: List[Optional[jax.Array]]
|
||||||
geom_convex_face_edge: List[Optional[jax.Array]]
|
geom_convex_edge: List[Optional[jax.Array]]
|
||||||
geom_convex_face_edge_normal: List[Optional[jax.Array]]
|
geom_convex_edge_face_normal: List[Optional[jax.Array]]
|
||||||
pair_solref: jax.Array
|
pair_solref: jax.Array
|
||||||
pair_solreffriction: jax.Array
|
pair_solreffriction: jax.Array
|
||||||
pair_solimp: jax.Array
|
pair_solimp: jax.Array
|
||||||
|
|||||||
@@ -0,0 +1,150 @@
|
|||||||
|
<mujoco model="01 Humanoids">
|
||||||
|
<option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
|
||||||
|
<flag eulerdamp="disable"/>
|
||||||
|
</option>
|
||||||
|
|
||||||
|
<custom>
|
||||||
|
<numeric data="4" name="max_contact_points"/>
|
||||||
|
</custom>
|
||||||
|
|
||||||
|
<size memory="100M"/>
|
||||||
|
|
||||||
|
<asset>
|
||||||
|
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
|
||||||
|
<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
|
||||||
|
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
|
||||||
|
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
|
||||||
|
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
||||||
|
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
||||||
|
</asset>
|
||||||
|
|
||||||
|
<default>
|
||||||
|
<motor ctrlrange="-1 1" ctrllimited="true"/>
|
||||||
|
<default class="body">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="0"/>
|
||||||
|
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
|
||||||
|
<default class="big_joint">
|
||||||
|
<joint damping="5" stiffness="10"/>
|
||||||
|
<default class="big_stiff_joint">
|
||||||
|
<joint stiffness="20"/>
|
||||||
|
</default>
|
||||||
|
</default>
|
||||||
|
</default>
|
||||||
|
</default>
|
||||||
|
|
||||||
|
<visual>
|
||||||
|
<map force="0.1" zfar="30"/>
|
||||||
|
<rgba haze="0.15 0.25 0.35 1"/>
|
||||||
|
<quality shadowsize="4096"/>
|
||||||
|
<global offwidth="800" offheight="800"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<worldbody>
|
||||||
|
<geom size="10 10 .05" type="plane" material="grid" condim="3"/>
|
||||||
|
<light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
|
||||||
|
<light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
|
||||||
|
|
||||||
|
<body name="1a_torso" pos="-1 0 1.5" childclass="body">
|
||||||
|
<camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="1a_root"/>
|
||||||
|
<geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="1a_head" pos="0 0 .19">
|
||||||
|
<geom name="1a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="1a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="1a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="1a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="1a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="1a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="1a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="1a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="1a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="1a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="1a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="1a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="1a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="1a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="1a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="1a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="1a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
</worldbody>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="1a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="1a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="1a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="1a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="1a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="1a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="1a_right_knee"/>
|
||||||
|
<motor gear="20" joint="1a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="1a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="1a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="1a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="1a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="1a_left_knee"/>
|
||||||
|
<motor gear="20" joint="1a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="1a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="1a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="1a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="1a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="1a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="1a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="1a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
</mujoco>
|
||||||
@@ -0,0 +1,255 @@
|
|||||||
|
<mujoco model="02 Humanoids">
|
||||||
|
<option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
|
||||||
|
<flag eulerdamp="disable"/>
|
||||||
|
</option>
|
||||||
|
|
||||||
|
<custom>
|
||||||
|
<numeric data="8" name="max_contact_points"/>
|
||||||
|
<numeric data="8" name="max_geom_pairs"/>
|
||||||
|
</custom>
|
||||||
|
|
||||||
|
<size memory="100M"/>
|
||||||
|
|
||||||
|
<asset>
|
||||||
|
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
|
||||||
|
<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
|
||||||
|
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
|
||||||
|
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
|
||||||
|
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
||||||
|
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
||||||
|
</asset>
|
||||||
|
|
||||||
|
<default>
|
||||||
|
<motor ctrlrange="-1 1" ctrllimited="true"/>
|
||||||
|
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
|
||||||
|
<default class="big_joint">
|
||||||
|
<joint damping="5" stiffness="10"/>
|
||||||
|
<default class="big_stiff_joint">
|
||||||
|
<joint stiffness="20"/>
|
||||||
|
</default>
|
||||||
|
</default>
|
||||||
|
<default class="body1">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="5"/>
|
||||||
|
</default>
|
||||||
|
<default class="body2">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="3"/>
|
||||||
|
</default>
|
||||||
|
</default>
|
||||||
|
|
||||||
|
<visual>
|
||||||
|
<map force="0.1" zfar="30"/>
|
||||||
|
<rgba haze="0.15 0.25 0.35 1"/>
|
||||||
|
<quality shadowsize="4096"/>
|
||||||
|
<global offwidth="800" offheight="800"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<worldbody>
|
||||||
|
<geom size="10 10 .05" type="plane" material="grid" condim="3"/>
|
||||||
|
<light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
|
||||||
|
<light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
|
||||||
|
|
||||||
|
<body name="1a_torso" pos="-1 0 1.5" childclass="body1">
|
||||||
|
<camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="1a_root"/>
|
||||||
|
<geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="1a_head" pos="0 0 .19">
|
||||||
|
<geom name="1a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="1a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="1a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="1a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="1a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="1a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="1a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="1a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="1a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="1a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="1a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="1a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="1a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="1a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="1a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="1a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="1a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="2a_torso" pos="-1 1 1.5" childclass="body2">
|
||||||
|
<camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="2a_root"/>
|
||||||
|
<geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="2a_head" pos="0 0 .19">
|
||||||
|
<geom name="2a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="2a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="2a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="2a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="2a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="2a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="2a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="2a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="2a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="2a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="2a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="2a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="2a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="2a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="2a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="2a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="2a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
</worldbody>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="1a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="1a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="1a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="1a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="1a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="1a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="1a_right_knee"/>
|
||||||
|
<motor gear="20" joint="1a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="1a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="1a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="1a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="1a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="1a_left_knee"/>
|
||||||
|
<motor gear="20" joint="1a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="1a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="1a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="1a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="1a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="1a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="1a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="1a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="2a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="2a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="2a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="2a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="2a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="2a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="2a_right_knee"/>
|
||||||
|
<motor gear="20" joint="2a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="2a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="2a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="2a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="2a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="2a_left_knee"/>
|
||||||
|
<motor gear="20" joint="2a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="2a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="2a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="2a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="2a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="2a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="2a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="2a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
</mujoco>
|
||||||
@@ -0,0 +1,359 @@
|
|||||||
|
<mujoco model="03 Humanoids">
|
||||||
|
<option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
|
||||||
|
<flag eulerdamp="disable"/>
|
||||||
|
</option>
|
||||||
|
|
||||||
|
<custom>
|
||||||
|
<numeric data="12" name="max_contact_points"/>
|
||||||
|
<numeric data="12" name="max_geom_pairs"/>
|
||||||
|
</custom>
|
||||||
|
|
||||||
|
<size memory="100M"/>
|
||||||
|
|
||||||
|
<asset>
|
||||||
|
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
|
||||||
|
<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
|
||||||
|
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
|
||||||
|
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
|
||||||
|
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
||||||
|
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
||||||
|
</asset>
|
||||||
|
|
||||||
|
<default>
|
||||||
|
<motor ctrlrange="-1 1" ctrllimited="true"/>
|
||||||
|
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
|
||||||
|
<default class="big_joint">
|
||||||
|
<joint damping="5" stiffness="10"/>
|
||||||
|
<default class="big_stiff_joint">
|
||||||
|
<joint stiffness="20"/>
|
||||||
|
</default>
|
||||||
|
</default>
|
||||||
|
<default class="body1">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="13"/>
|
||||||
|
</default>
|
||||||
|
<default class="body2">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="11"/>
|
||||||
|
</default>
|
||||||
|
<default class="body3">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="8" conaffinity="7"/>
|
||||||
|
</default>
|
||||||
|
</default>
|
||||||
|
|
||||||
|
<visual>
|
||||||
|
<map force="0.1" zfar="30"/>
|
||||||
|
<rgba haze="0.15 0.25 0.35 1"/>
|
||||||
|
<quality shadowsize="4096"/>
|
||||||
|
<global offwidth="800" offheight="800"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<worldbody>
|
||||||
|
<geom size="10 10 .05" type="plane" material="grid" condim="3"/>
|
||||||
|
<light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
|
||||||
|
<light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
|
||||||
|
|
||||||
|
<body name="1a_torso" pos="-1 0 1.5" childclass="body1">
|
||||||
|
<camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="1a_root"/>
|
||||||
|
<geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="1a_head" pos="0 0 .19">
|
||||||
|
<geom name="1a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="1a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="1a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="1a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="1a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="1a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="1a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="1a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="1a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="1a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="1a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="1a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="1a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="1a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="1a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="1a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="1a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="2a_torso" pos="-1 1 1.5" childclass="body2">
|
||||||
|
<camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="2a_root"/>
|
||||||
|
<geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="2a_head" pos="0 0 .19">
|
||||||
|
<geom name="2a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="2a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="2a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="2a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="2a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="2a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="2a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="2a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="2a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="2a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="2a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="2a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="2a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="2a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="2a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="2a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="2a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="3a_torso" pos="-1 -1 1.5" childclass="body3">
|
||||||
|
<camera name="3a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="3a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="3a_root"/>
|
||||||
|
<geom name="3a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="3a_head" pos="0 0 .19">
|
||||||
|
<geom name="3a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="3a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="3a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="3a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="3a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="3a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="3a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="3a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="3a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="3a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="3a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="3a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="3a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="3a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="3a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="3a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="3a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="3a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="3a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="3a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="3a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="3a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="3a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="3a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="3a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="3a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="3a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="3a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="3a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="3a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="3a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="3a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="3a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="3a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="3a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="3a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="3a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="3a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="3a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="3a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="3a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="3a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="3a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="3a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="3a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="3a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="3a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="3a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="3a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="3a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="3a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="3a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
</worldbody>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="1a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="1a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="1a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="1a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="1a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="1a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="1a_right_knee"/>
|
||||||
|
<motor gear="20" joint="1a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="1a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="1a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="1a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="1a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="1a_left_knee"/>
|
||||||
|
<motor gear="20" joint="1a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="1a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="1a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="1a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="1a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="1a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="1a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="1a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="2a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="2a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="2a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="2a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="2a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="2a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="2a_right_knee"/>
|
||||||
|
<motor gear="20" joint="2a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="2a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="2a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="2a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="2a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="2a_left_knee"/>
|
||||||
|
<motor gear="20" joint="2a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="2a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="2a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="2a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="2a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="2a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="2a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="2a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="3a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="3a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="3a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="3a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="3a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="3a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="3a_right_knee"/>
|
||||||
|
<motor gear="20" joint="3a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="3a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="3a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="3a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="3a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="3a_left_knee"/>
|
||||||
|
<motor gear="20" joint="3a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="3a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="3a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="3a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="3a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="3a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="3a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="3a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
</mujoco>
|
||||||
@@ -0,0 +1,463 @@
|
|||||||
|
<mujoco model="04 Humanoids">
|
||||||
|
<option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
|
||||||
|
<flag eulerdamp="disable"/>
|
||||||
|
</option>
|
||||||
|
|
||||||
|
<custom>
|
||||||
|
<numeric data="16" name="max_contact_points"/>
|
||||||
|
<numeric data="16" name="max_geom_pairs"/>
|
||||||
|
</custom>
|
||||||
|
|
||||||
|
<size memory="100M"/>
|
||||||
|
|
||||||
|
<asset>
|
||||||
|
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
|
||||||
|
<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
|
||||||
|
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
|
||||||
|
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
|
||||||
|
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
||||||
|
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
||||||
|
</asset>
|
||||||
|
|
||||||
|
<default>
|
||||||
|
<motor ctrlrange="-1 1" ctrllimited="true"/>
|
||||||
|
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
|
||||||
|
<default class="big_joint">
|
||||||
|
<joint damping="5" stiffness="10"/>
|
||||||
|
<default class="big_stiff_joint">
|
||||||
|
<joint stiffness="20"/>
|
||||||
|
</default>
|
||||||
|
</default>
|
||||||
|
<default class="body1">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="29"/>
|
||||||
|
</default>
|
||||||
|
<default class="body2">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="27"/>
|
||||||
|
</default>
|
||||||
|
<default class="body3">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="8" conaffinity="23"/>
|
||||||
|
</default>
|
||||||
|
<default class="body4">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="16" conaffinity="15"/>
|
||||||
|
</default>
|
||||||
|
</default>
|
||||||
|
|
||||||
|
<visual>
|
||||||
|
<map force="0.1" zfar="30"/>
|
||||||
|
<rgba haze="0.15 0.25 0.35 1"/>
|
||||||
|
<quality shadowsize="4096"/>
|
||||||
|
<global offwidth="800" offheight="800"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<worldbody>
|
||||||
|
<geom size="10 10 .05" type="plane" material="grid" condim="3"/>
|
||||||
|
<light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
|
||||||
|
<light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
|
||||||
|
|
||||||
|
<body name="1a_torso" pos="-1 0 1.5" childclass="body1">
|
||||||
|
<camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="1a_root"/>
|
||||||
|
<geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="1a_head" pos="0 0 .19">
|
||||||
|
<geom name="1a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="1a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="1a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="1a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="1a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="1a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="1a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="1a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="1a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="1a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="1a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="1a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="1a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="1a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="1a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="1a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="1a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="2a_torso" pos="-1 1 1.5" childclass="body2">
|
||||||
|
<camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="2a_root"/>
|
||||||
|
<geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="2a_head" pos="0 0 .19">
|
||||||
|
<geom name="2a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="2a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="2a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="2a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="2a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="2a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="2a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="2a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="2a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="2a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="2a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="2a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="2a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="2a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="2a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="2a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="2a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="3a_torso" pos="-1 -1 1.5" childclass="body3">
|
||||||
|
<camera name="3a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="3a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="3a_root"/>
|
||||||
|
<geom name="3a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="3a_head" pos="0 0 .19">
|
||||||
|
<geom name="3a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="3a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="3a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="3a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="3a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="3a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="3a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="3a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="3a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="3a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="3a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="3a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="3a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="3a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="3a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="3a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="3a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="3a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="3a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="3a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="3a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="3a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="3a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="3a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="3a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="3a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="3a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="3a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="3a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="3a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="3a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="3a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="3a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="3a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="3a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="3a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="3a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="3a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="3a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="3a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="3a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="3a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="3a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="3a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="3a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="3a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="3a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="3a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="3a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="3a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="3a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="3a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="4a_torso" pos="-1 2 1.5" childclass="body4">
|
||||||
|
<camera name="4a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="4a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="4a_root"/>
|
||||||
|
<geom name="4a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="4a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="4a_head" pos="0 0 .19">
|
||||||
|
<geom name="4a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="4a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="4a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="4a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="4a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="4a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="4a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="4a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="4a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="4a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="4a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="4a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="4a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="4a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="4a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="4a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="4a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="4a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="4a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="4a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="4a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="4a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="4a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="4a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="4a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="4a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="4a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="4a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="4a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="4a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="4a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="4a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="4a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="4a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="4a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="4a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="4a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="4a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="4a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="4a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="4a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="4a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="4a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="4a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="4a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="4a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="4a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="4a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="4a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="4a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="4a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="4a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="4a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
</worldbody>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="1a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="1a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="1a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="1a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="1a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="1a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="1a_right_knee"/>
|
||||||
|
<motor gear="20" joint="1a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="1a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="1a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="1a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="1a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="1a_left_knee"/>
|
||||||
|
<motor gear="20" joint="1a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="1a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="1a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="1a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="1a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="1a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="1a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="1a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="2a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="2a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="2a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="2a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="2a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="2a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="2a_right_knee"/>
|
||||||
|
<motor gear="20" joint="2a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="2a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="2a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="2a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="2a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="2a_left_knee"/>
|
||||||
|
<motor gear="20" joint="2a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="2a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="2a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="2a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="2a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="2a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="2a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="2a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="3a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="3a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="3a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="3a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="3a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="3a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="3a_right_knee"/>
|
||||||
|
<motor gear="20" joint="3a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="3a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="3a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="3a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="3a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="3a_left_knee"/>
|
||||||
|
<motor gear="20" joint="3a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="3a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="3a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="3a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="3a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="3a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="3a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="3a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="4a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="4a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="4a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="4a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="4a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="4a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="4a_right_knee"/>
|
||||||
|
<motor gear="20" joint="4a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="4a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="4a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="4a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="4a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="4a_left_knee"/>
|
||||||
|
<motor gear="20" joint="4a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="4a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="4a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="4a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="4a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="4a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="4a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="4a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
</mujoco>
|
||||||
@@ -0,0 +1,567 @@
|
|||||||
|
<mujoco model="05 Humanoids">
|
||||||
|
<option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
|
||||||
|
<flag eulerdamp="disable"/>
|
||||||
|
</option>
|
||||||
|
|
||||||
|
<custom>
|
||||||
|
<numeric data="20" name="max_contact_points"/>
|
||||||
|
<numeric data="20" name="max_geom_pairs"/>
|
||||||
|
</custom>
|
||||||
|
|
||||||
|
<size memory="100M"/>
|
||||||
|
|
||||||
|
<asset>
|
||||||
|
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
|
||||||
|
<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
|
||||||
|
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
|
||||||
|
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
|
||||||
|
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
||||||
|
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
||||||
|
</asset>
|
||||||
|
|
||||||
|
<default>
|
||||||
|
<motor ctrlrange="-1 1" ctrllimited="true"/>
|
||||||
|
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
|
||||||
|
<default class="big_joint">
|
||||||
|
<joint damping="5" stiffness="10"/>
|
||||||
|
<default class="big_stiff_joint">
|
||||||
|
<joint stiffness="20"/>
|
||||||
|
</default>
|
||||||
|
</default>
|
||||||
|
<default class="body1">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="61"/>
|
||||||
|
</default>
|
||||||
|
<default class="body2">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="59"/>
|
||||||
|
</default>
|
||||||
|
<default class="body3">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="8" conaffinity="55"/>
|
||||||
|
</default>
|
||||||
|
<default class="body4">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="16" conaffinity="47"/>
|
||||||
|
</default>
|
||||||
|
<default class="body5">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="32" conaffinity="31"/>
|
||||||
|
</default>
|
||||||
|
</default>
|
||||||
|
|
||||||
|
<visual>
|
||||||
|
<map force="0.1" zfar="30"/>
|
||||||
|
<rgba haze="0.15 0.25 0.35 1"/>
|
||||||
|
<quality shadowsize="4096"/>
|
||||||
|
<global offwidth="800" offheight="800"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<worldbody>
|
||||||
|
<geom size="10 10 .05" type="plane" material="grid" condim="3"/>
|
||||||
|
<light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
|
||||||
|
<light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
|
||||||
|
|
||||||
|
<body name="1a_torso" pos="-1 0 1.5" childclass="body1">
|
||||||
|
<camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="1a_root"/>
|
||||||
|
<geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="1a_head" pos="0 0 .19">
|
||||||
|
<geom name="1a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="1a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="1a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="1a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="1a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="1a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="1a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="1a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="1a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="1a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="1a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="1a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="1a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="1a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="1a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="1a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="1a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="2a_torso" pos="-1 1 1.5" childclass="body2">
|
||||||
|
<camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="2a_root"/>
|
||||||
|
<geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="2a_head" pos="0 0 .19">
|
||||||
|
<geom name="2a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="2a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="2a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="2a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="2a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="2a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="2a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="2a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="2a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="2a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="2a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="2a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="2a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="2a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="2a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="2a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="2a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="3a_torso" pos="-1 -1 1.5" childclass="body3">
|
||||||
|
<camera name="3a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="3a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="3a_root"/>
|
||||||
|
<geom name="3a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="3a_head" pos="0 0 .19">
|
||||||
|
<geom name="3a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="3a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="3a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="3a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="3a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="3a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="3a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="3a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="3a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="3a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="3a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="3a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="3a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="3a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="3a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="3a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="3a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="3a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="3a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="3a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="3a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="3a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="3a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="3a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="3a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="3a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="3a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="3a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="3a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="3a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="3a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="3a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="3a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="3a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="3a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="3a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="3a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="3a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="3a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="3a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="3a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="3a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="3a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="3a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="3a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="3a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="3a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="3a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="3a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="3a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="3a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="3a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="4a_torso" pos="-1 2 1.5" childclass="body4">
|
||||||
|
<camera name="4a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="4a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="4a_root"/>
|
||||||
|
<geom name="4a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="4a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="4a_head" pos="0 0 .19">
|
||||||
|
<geom name="4a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="4a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="4a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="4a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="4a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="4a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="4a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="4a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="4a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="4a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="4a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="4a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="4a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="4a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="4a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="4a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="4a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="4a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="4a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="4a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="4a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="4a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="4a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="4a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="4a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="4a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="4a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="4a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="4a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="4a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="4a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="4a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="4a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="4a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="4a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="4a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="4a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="4a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="4a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="4a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="4a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="4a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="4a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="4a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="4a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="4a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="4a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="4a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="4a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="4a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="4a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="4a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="4a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="5a_torso" pos="-1 -2 1.5" childclass="body5">
|
||||||
|
<camera name="5a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="5a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="5a_root"/>
|
||||||
|
<geom name="5a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="5a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="5a_head" pos="0 0 .19">
|
||||||
|
<geom name="5a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="5a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="5a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="5a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="5a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="5a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="5a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="5a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="5a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="5a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="5a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="5a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="5a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="5a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="5a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="5a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="5a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="5a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="5a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="5a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="5a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="5a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="5a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="5a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="5a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="5a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="5a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="5a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="5a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="5a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="5a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="5a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="5a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="5a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="5a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="5a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="5a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="5a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="5a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="5a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="5a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="5a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="5a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="5a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="5a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="5a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="5a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="5a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="5a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="5a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="5a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="5a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="5a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
</worldbody>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="1a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="1a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="1a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="1a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="1a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="1a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="1a_right_knee"/>
|
||||||
|
<motor gear="20" joint="1a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="1a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="1a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="1a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="1a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="1a_left_knee"/>
|
||||||
|
<motor gear="20" joint="1a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="1a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="1a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="1a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="1a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="1a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="1a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="1a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="2a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="2a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="2a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="2a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="2a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="2a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="2a_right_knee"/>
|
||||||
|
<motor gear="20" joint="2a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="2a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="2a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="2a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="2a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="2a_left_knee"/>
|
||||||
|
<motor gear="20" joint="2a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="2a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="2a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="2a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="2a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="2a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="2a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="2a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="3a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="3a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="3a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="3a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="3a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="3a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="3a_right_knee"/>
|
||||||
|
<motor gear="20" joint="3a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="3a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="3a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="3a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="3a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="3a_left_knee"/>
|
||||||
|
<motor gear="20" joint="3a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="3a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="3a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="3a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="3a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="3a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="3a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="3a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="4a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="4a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="4a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="4a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="4a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="4a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="4a_right_knee"/>
|
||||||
|
<motor gear="20" joint="4a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="4a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="4a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="4a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="4a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="4a_left_knee"/>
|
||||||
|
<motor gear="20" joint="4a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="4a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="4a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="4a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="4a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="4a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="4a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="4a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="5a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="5a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="5a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="5a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="5a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="5a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="5a_right_knee"/>
|
||||||
|
<motor gear="20" joint="5a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="5a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="5a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="5a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="5a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="5a_left_knee"/>
|
||||||
|
<motor gear="20" joint="5a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="5a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="5a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="5a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="5a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="5a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="5a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="5a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
</mujoco>
|
||||||
@@ -0,0 +1,671 @@
|
|||||||
|
<mujoco model="06 Humanoids">
|
||||||
|
<option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
|
||||||
|
<flag eulerdamp="disable"/>
|
||||||
|
</option>
|
||||||
|
|
||||||
|
<custom>
|
||||||
|
<numeric data="24" name="max_contact_points"/>
|
||||||
|
<numeric data="24" name="max_geom_pairs"/>
|
||||||
|
</custom>
|
||||||
|
|
||||||
|
<size memory="100M"/>
|
||||||
|
|
||||||
|
<asset>
|
||||||
|
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
|
||||||
|
<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
|
||||||
|
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
|
||||||
|
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
|
||||||
|
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
||||||
|
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
||||||
|
</asset>
|
||||||
|
|
||||||
|
<default>
|
||||||
|
<motor ctrlrange="-1 1" ctrllimited="true"/>
|
||||||
|
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
|
||||||
|
<default class="big_joint">
|
||||||
|
<joint damping="5" stiffness="10"/>
|
||||||
|
<default class="big_stiff_joint">
|
||||||
|
<joint stiffness="20"/>
|
||||||
|
</default>
|
||||||
|
</default>
|
||||||
|
<default class="body1">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="125"/>
|
||||||
|
</default>
|
||||||
|
<default class="body2">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="123"/>
|
||||||
|
</default>
|
||||||
|
<default class="body3">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="8" conaffinity="119"/>
|
||||||
|
</default>
|
||||||
|
<default class="body4">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="16" conaffinity="111"/>
|
||||||
|
</default>
|
||||||
|
<default class="body5">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="32" conaffinity="95"/>
|
||||||
|
</default>
|
||||||
|
<default class="body6">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="64" conaffinity="63"/>
|
||||||
|
</default>
|
||||||
|
</default>
|
||||||
|
|
||||||
|
<visual>
|
||||||
|
<map force="0.1" zfar="30"/>
|
||||||
|
<rgba haze="0.15 0.25 0.35 1"/>
|
||||||
|
<quality shadowsize="4096"/>
|
||||||
|
<global offwidth="800" offheight="800"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<worldbody>
|
||||||
|
<geom size="10 10 .05" type="plane" material="grid" condim="3"/>
|
||||||
|
<light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
|
||||||
|
<light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
|
||||||
|
|
||||||
|
<body name="1a_torso" pos="-1 0 1.5" childclass="body1">
|
||||||
|
<camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="1a_root"/>
|
||||||
|
<geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="1a_head" pos="0 0 .19">
|
||||||
|
<geom name="1a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="1a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="1a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="1a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="1a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="1a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="1a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="1a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="1a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="1a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="1a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="1a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="1a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="1a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="1a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="1a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="1a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="2a_torso" pos="-1 1 1.5" childclass="body2">
|
||||||
|
<camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="2a_root"/>
|
||||||
|
<geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="2a_head" pos="0 0 .19">
|
||||||
|
<geom name="2a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="2a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="2a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="2a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="2a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="2a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="2a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="2a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="2a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="2a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="2a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="2a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="2a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="2a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="2a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="2a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="2a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="3a_torso" pos="-1 -1 1.5" childclass="body3">
|
||||||
|
<camera name="3a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="3a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="3a_root"/>
|
||||||
|
<geom name="3a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="3a_head" pos="0 0 .19">
|
||||||
|
<geom name="3a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="3a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="3a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="3a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="3a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="3a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="3a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="3a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="3a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="3a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="3a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="3a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="3a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="3a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="3a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="3a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="3a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="3a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="3a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="3a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="3a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="3a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="3a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="3a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="3a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="3a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="3a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="3a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="3a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="3a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="3a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="3a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="3a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="3a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="3a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="3a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="3a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="3a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="3a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="3a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="3a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="3a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="3a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="3a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="3a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="3a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="3a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="3a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="3a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="3a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="3a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="3a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="4a_torso" pos="-1 2 1.5" childclass="body4">
|
||||||
|
<camera name="4a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="4a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="4a_root"/>
|
||||||
|
<geom name="4a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="4a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="4a_head" pos="0 0 .19">
|
||||||
|
<geom name="4a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="4a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="4a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="4a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="4a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="4a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="4a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="4a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="4a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="4a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="4a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="4a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="4a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="4a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="4a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="4a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="4a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="4a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="4a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="4a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="4a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="4a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="4a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="4a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="4a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="4a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="4a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="4a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="4a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="4a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="4a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="4a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="4a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="4a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="4a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="4a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="4a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="4a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="4a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="4a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="4a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="4a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="4a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="4a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="4a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="4a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="4a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="4a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="4a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="4a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="4a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="4a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="4a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="5a_torso" pos="-1 -2 1.5" childclass="body5">
|
||||||
|
<camera name="5a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="5a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="5a_root"/>
|
||||||
|
<geom name="5a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="5a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="5a_head" pos="0 0 .19">
|
||||||
|
<geom name="5a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="5a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="5a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="5a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="5a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="5a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="5a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="5a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="5a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="5a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="5a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="5a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="5a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="5a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="5a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="5a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="5a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="5a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="5a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="5a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="5a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="5a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="5a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="5a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="5a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="5a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="5a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="5a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="5a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="5a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="5a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="5a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="5a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="5a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="5a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="5a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="5a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="5a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="5a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="5a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="5a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="5a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="5a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="5a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="5a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="5a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="5a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="5a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="5a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="5a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="5a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="5a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="5a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="6a_torso" pos="-1 3 1.5" childclass="body6">
|
||||||
|
<camera name="6a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="6a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="6a_root"/>
|
||||||
|
<geom name="6a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="6a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="6a_head" pos="0 0 .19">
|
||||||
|
<geom name="6a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="6a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="6a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="6a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="6a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="6a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="6a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="6a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="6a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="6a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="6a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="6a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="6a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="6a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="6a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="6a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="6a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="6a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="6a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="6a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="6a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="6a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="6a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="6a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="6a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="6a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="6a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="6a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="6a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="6a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="6a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="6a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="6a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="6a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="6a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="6a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="6a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="6a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="6a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="6a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="6a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="6a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="6a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="6a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="6a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="6a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="6a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="6a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="6a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="6a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="6a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="6a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="6a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
</worldbody>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="1a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="1a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="1a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="1a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="1a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="1a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="1a_right_knee"/>
|
||||||
|
<motor gear="20" joint="1a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="1a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="1a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="1a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="1a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="1a_left_knee"/>
|
||||||
|
<motor gear="20" joint="1a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="1a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="1a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="1a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="1a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="1a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="1a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="1a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="2a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="2a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="2a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="2a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="2a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="2a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="2a_right_knee"/>
|
||||||
|
<motor gear="20" joint="2a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="2a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="2a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="2a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="2a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="2a_left_knee"/>
|
||||||
|
<motor gear="20" joint="2a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="2a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="2a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="2a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="2a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="2a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="2a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="2a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="3a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="3a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="3a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="3a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="3a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="3a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="3a_right_knee"/>
|
||||||
|
<motor gear="20" joint="3a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="3a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="3a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="3a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="3a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="3a_left_knee"/>
|
||||||
|
<motor gear="20" joint="3a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="3a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="3a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="3a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="3a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="3a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="3a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="3a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="4a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="4a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="4a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="4a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="4a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="4a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="4a_right_knee"/>
|
||||||
|
<motor gear="20" joint="4a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="4a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="4a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="4a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="4a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="4a_left_knee"/>
|
||||||
|
<motor gear="20" joint="4a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="4a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="4a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="4a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="4a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="4a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="4a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="4a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="5a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="5a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="5a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="5a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="5a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="5a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="5a_right_knee"/>
|
||||||
|
<motor gear="20" joint="5a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="5a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="5a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="5a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="5a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="5a_left_knee"/>
|
||||||
|
<motor gear="20" joint="5a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="5a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="5a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="5a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="5a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="5a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="5a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="5a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="6a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="6a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="6a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="6a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="6a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="6a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="6a_right_knee"/>
|
||||||
|
<motor gear="20" joint="6a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="6a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="6a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="6a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="6a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="6a_left_knee"/>
|
||||||
|
<motor gear="20" joint="6a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="6a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="6a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="6a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="6a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="6a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="6a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="6a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
</mujoco>
|
||||||
@@ -0,0 +1,775 @@
|
|||||||
|
<mujoco model="07 Humanoids">
|
||||||
|
<option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
|
||||||
|
<flag eulerdamp="disable"/>
|
||||||
|
</option>
|
||||||
|
|
||||||
|
<custom>
|
||||||
|
<numeric data="28" name="max_contact_points"/>
|
||||||
|
<numeric data="28" name="max_geom_pairs"/>
|
||||||
|
</custom>
|
||||||
|
|
||||||
|
<size memory="100M"/>
|
||||||
|
|
||||||
|
<asset>
|
||||||
|
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
|
||||||
|
<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
|
||||||
|
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
|
||||||
|
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
|
||||||
|
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
||||||
|
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
||||||
|
</asset>
|
||||||
|
|
||||||
|
<default>
|
||||||
|
<motor ctrlrange="-1 1" ctrllimited="true"/>
|
||||||
|
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
|
||||||
|
<default class="big_joint">
|
||||||
|
<joint damping="5" stiffness="10"/>
|
||||||
|
<default class="big_stiff_joint">
|
||||||
|
<joint stiffness="20"/>
|
||||||
|
</default>
|
||||||
|
</default>
|
||||||
|
<default class="body1">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="253"/>
|
||||||
|
</default>
|
||||||
|
<default class="body2">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="251"/>
|
||||||
|
</default>
|
||||||
|
<default class="body3">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="8" conaffinity="247"/>
|
||||||
|
</default>
|
||||||
|
<default class="body4">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="16" conaffinity="239"/>
|
||||||
|
</default>
|
||||||
|
<default class="body5">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="32" conaffinity="223"/>
|
||||||
|
</default>
|
||||||
|
<default class="body6">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="64" conaffinity="191"/>
|
||||||
|
</default>
|
||||||
|
<default class="body7">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="128" conaffinity="127"/>
|
||||||
|
</default>
|
||||||
|
</default>
|
||||||
|
|
||||||
|
<visual>
|
||||||
|
<map force="0.1" zfar="30"/>
|
||||||
|
<rgba haze="0.15 0.25 0.35 1"/>
|
||||||
|
<quality shadowsize="4096"/>
|
||||||
|
<global offwidth="800" offheight="800"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<worldbody>
|
||||||
|
<geom size="10 10 .05" type="plane" material="grid" condim="3"/>
|
||||||
|
<light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
|
||||||
|
<light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
|
||||||
|
|
||||||
|
<body name="1a_torso" pos="-1 0 1.5" childclass="body1">
|
||||||
|
<camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="1a_root"/>
|
||||||
|
<geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="1a_head" pos="0 0 .19">
|
||||||
|
<geom name="1a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="1a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="1a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="1a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="1a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="1a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="1a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="1a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="1a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="1a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="1a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="1a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="1a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="1a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="1a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="1a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="1a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="2a_torso" pos="-1 1 1.5" childclass="body2">
|
||||||
|
<camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="2a_root"/>
|
||||||
|
<geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="2a_head" pos="0 0 .19">
|
||||||
|
<geom name="2a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="2a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="2a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="2a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="2a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="2a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="2a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="2a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="2a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="2a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="2a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="2a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="2a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="2a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="2a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="2a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="2a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="3a_torso" pos="-1 -1 1.5" childclass="body3">
|
||||||
|
<camera name="3a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="3a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="3a_root"/>
|
||||||
|
<geom name="3a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="3a_head" pos="0 0 .19">
|
||||||
|
<geom name="3a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="3a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="3a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="3a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="3a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="3a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="3a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="3a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="3a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="3a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="3a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="3a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="3a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="3a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="3a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="3a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="3a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="3a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="3a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="3a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="3a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="3a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="3a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="3a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="3a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="3a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="3a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="3a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="3a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="3a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="3a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="3a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="3a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="3a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="3a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="3a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="3a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="3a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="3a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="3a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="3a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="3a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="3a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="3a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="3a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="3a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="3a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="3a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="3a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="3a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="3a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="3a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="4a_torso" pos="-1 2 1.5" childclass="body4">
|
||||||
|
<camera name="4a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="4a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="4a_root"/>
|
||||||
|
<geom name="4a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="4a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="4a_head" pos="0 0 .19">
|
||||||
|
<geom name="4a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="4a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="4a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="4a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="4a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="4a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="4a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="4a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="4a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="4a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="4a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="4a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="4a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="4a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="4a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="4a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="4a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="4a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="4a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="4a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="4a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="4a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="4a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="4a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="4a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="4a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="4a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="4a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="4a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="4a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="4a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="4a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="4a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="4a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="4a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="4a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="4a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="4a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="4a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="4a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="4a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="4a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="4a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="4a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="4a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="4a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="4a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="4a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="4a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="4a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="4a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="4a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="4a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="5a_torso" pos="-1 -2 1.5" childclass="body5">
|
||||||
|
<camera name="5a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="5a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="5a_root"/>
|
||||||
|
<geom name="5a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="5a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="5a_head" pos="0 0 .19">
|
||||||
|
<geom name="5a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="5a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="5a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="5a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="5a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="5a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="5a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="5a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="5a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="5a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="5a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="5a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="5a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="5a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="5a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="5a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="5a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="5a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="5a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="5a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="5a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="5a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="5a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="5a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="5a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="5a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="5a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="5a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="5a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="5a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="5a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="5a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="5a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="5a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="5a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="5a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="5a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="5a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="5a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="5a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="5a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="5a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="5a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="5a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="5a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="5a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="5a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="5a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="5a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="5a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="5a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="5a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="5a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="6a_torso" pos="-1 3 1.5" childclass="body6">
|
||||||
|
<camera name="6a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="6a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="6a_root"/>
|
||||||
|
<geom name="6a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="6a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="6a_head" pos="0 0 .19">
|
||||||
|
<geom name="6a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="6a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="6a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="6a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="6a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="6a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="6a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="6a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="6a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="6a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="6a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="6a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="6a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="6a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="6a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="6a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="6a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="6a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="6a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="6a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="6a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="6a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="6a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="6a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="6a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="6a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="6a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="6a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="6a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="6a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="6a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="6a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="6a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="6a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="6a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="6a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="6a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="6a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="6a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="6a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="6a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="6a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="6a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="6a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="6a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="6a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="6a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="6a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="6a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="6a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="6a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="6a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="6a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="7a_torso" pos="-1 -3 1.5" childclass="body7">
|
||||||
|
<camera name="7a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="7a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="7a_root"/>
|
||||||
|
<geom name="7a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="7a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="7a_head" pos="0 0 .19">
|
||||||
|
<geom name="7a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="7a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="7a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="7a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="7a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="7a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="7a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="7a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="7a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="7a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="7a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="7a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="7a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="7a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="7a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="7a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="7a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="7a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="7a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="7a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="7a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="7a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="7a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="7a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="7a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="7a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="7a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="7a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="7a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="7a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="7a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="7a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="7a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="7a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="7a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="7a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="7a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="7a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="7a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="7a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="7a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="7a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="7a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="7a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="7a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="7a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="7a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="7a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="7a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="7a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="7a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="7a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="7a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
</worldbody>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="1a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="1a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="1a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="1a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="1a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="1a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="1a_right_knee"/>
|
||||||
|
<motor gear="20" joint="1a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="1a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="1a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="1a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="1a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="1a_left_knee"/>
|
||||||
|
<motor gear="20" joint="1a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="1a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="1a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="1a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="1a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="1a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="1a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="1a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="2a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="2a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="2a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="2a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="2a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="2a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="2a_right_knee"/>
|
||||||
|
<motor gear="20" joint="2a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="2a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="2a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="2a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="2a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="2a_left_knee"/>
|
||||||
|
<motor gear="20" joint="2a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="2a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="2a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="2a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="2a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="2a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="2a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="2a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="3a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="3a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="3a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="3a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="3a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="3a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="3a_right_knee"/>
|
||||||
|
<motor gear="20" joint="3a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="3a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="3a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="3a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="3a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="3a_left_knee"/>
|
||||||
|
<motor gear="20" joint="3a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="3a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="3a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="3a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="3a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="3a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="3a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="3a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="4a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="4a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="4a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="4a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="4a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="4a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="4a_right_knee"/>
|
||||||
|
<motor gear="20" joint="4a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="4a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="4a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="4a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="4a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="4a_left_knee"/>
|
||||||
|
<motor gear="20" joint="4a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="4a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="4a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="4a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="4a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="4a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="4a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="4a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="5a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="5a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="5a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="5a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="5a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="5a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="5a_right_knee"/>
|
||||||
|
<motor gear="20" joint="5a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="5a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="5a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="5a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="5a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="5a_left_knee"/>
|
||||||
|
<motor gear="20" joint="5a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="5a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="5a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="5a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="5a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="5a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="5a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="5a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="6a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="6a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="6a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="6a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="6a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="6a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="6a_right_knee"/>
|
||||||
|
<motor gear="20" joint="6a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="6a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="6a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="6a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="6a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="6a_left_knee"/>
|
||||||
|
<motor gear="20" joint="6a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="6a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="6a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="6a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="6a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="6a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="6a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="6a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="7a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="7a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="7a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="7a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="7a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="7a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="7a_right_knee"/>
|
||||||
|
<motor gear="20" joint="7a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="7a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="7a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="7a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="7a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="7a_left_knee"/>
|
||||||
|
<motor gear="20" joint="7a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="7a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="7a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="7a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="7a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="7a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="7a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="7a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
</mujoco>
|
||||||
@@ -0,0 +1,879 @@
|
|||||||
|
<mujoco model="08 Humanoids">
|
||||||
|
<option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
|
||||||
|
<flag eulerdamp="disable"/>
|
||||||
|
</option>
|
||||||
|
|
||||||
|
<custom>
|
||||||
|
<numeric data="32" name="max_contact_points"/>
|
||||||
|
<numeric data="32" name="max_geom_pairs"/>
|
||||||
|
</custom>
|
||||||
|
|
||||||
|
<size memory="100M"/>
|
||||||
|
|
||||||
|
<asset>
|
||||||
|
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
|
||||||
|
<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
|
||||||
|
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
|
||||||
|
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
|
||||||
|
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
||||||
|
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
||||||
|
</asset>
|
||||||
|
|
||||||
|
<default>
|
||||||
|
<motor ctrlrange="-1 1" ctrllimited="true"/>
|
||||||
|
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
|
||||||
|
<default class="big_joint">
|
||||||
|
<joint damping="5" stiffness="10"/>
|
||||||
|
<default class="big_stiff_joint">
|
||||||
|
<joint stiffness="20"/>
|
||||||
|
</default>
|
||||||
|
</default>
|
||||||
|
<default class="body1">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="509"/>
|
||||||
|
</default>
|
||||||
|
<default class="body2">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="507"/>
|
||||||
|
</default>
|
||||||
|
<default class="body3">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="8" conaffinity="503"/>
|
||||||
|
</default>
|
||||||
|
<default class="body4">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="16" conaffinity="495"/>
|
||||||
|
</default>
|
||||||
|
<default class="body5">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="32" conaffinity="479"/>
|
||||||
|
</default>
|
||||||
|
<default class="body6">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="64" conaffinity="447"/>
|
||||||
|
</default>
|
||||||
|
<default class="body7">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="128" conaffinity="383"/>
|
||||||
|
</default>
|
||||||
|
<default class="body8">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="256" conaffinity="255"/>
|
||||||
|
</default>
|
||||||
|
</default>
|
||||||
|
|
||||||
|
<visual>
|
||||||
|
<map force="0.1" zfar="30"/>
|
||||||
|
<rgba haze="0.15 0.25 0.35 1"/>
|
||||||
|
<quality shadowsize="4096"/>
|
||||||
|
<global offwidth="800" offheight="800"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<worldbody>
|
||||||
|
<geom size="10 10 .05" type="plane" material="grid" condim="3"/>
|
||||||
|
<light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
|
||||||
|
<light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
|
||||||
|
|
||||||
|
<body name="1a_torso" pos="-1 0 1.5" childclass="body1">
|
||||||
|
<camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="1a_root"/>
|
||||||
|
<geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="1a_head" pos="0 0 .19">
|
||||||
|
<geom name="1a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="1a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="1a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="1a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="1a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="1a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="1a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="1a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="1a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="1a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="1a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="1a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="1a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="1a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="1a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="1a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="1a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="2a_torso" pos="-1 1 1.5" childclass="body2">
|
||||||
|
<camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="2a_root"/>
|
||||||
|
<geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="2a_head" pos="0 0 .19">
|
||||||
|
<geom name="2a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="2a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="2a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="2a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="2a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="2a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="2a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="2a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="2a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="2a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="2a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="2a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="2a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="2a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="2a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="2a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="2a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="3a_torso" pos="-1 -1 1.5" childclass="body3">
|
||||||
|
<camera name="3a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="3a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="3a_root"/>
|
||||||
|
<geom name="3a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="3a_head" pos="0 0 .19">
|
||||||
|
<geom name="3a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="3a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="3a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="3a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="3a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="3a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="3a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="3a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="3a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="3a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="3a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="3a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="3a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="3a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="3a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="3a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="3a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="3a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="3a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="3a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="3a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="3a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="3a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="3a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="3a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="3a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="3a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="3a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="3a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="3a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="3a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="3a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="3a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="3a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="3a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="3a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="3a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="3a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="3a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="3a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="3a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="3a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="3a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="3a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="3a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="3a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="3a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="3a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="3a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="3a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="3a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="3a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="4a_torso" pos="-1 2 1.5" childclass="body4">
|
||||||
|
<camera name="4a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="4a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="4a_root"/>
|
||||||
|
<geom name="4a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="4a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="4a_head" pos="0 0 .19">
|
||||||
|
<geom name="4a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="4a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="4a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="4a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="4a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="4a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="4a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="4a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="4a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="4a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="4a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="4a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="4a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="4a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="4a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="4a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="4a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="4a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="4a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="4a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="4a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="4a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="4a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="4a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="4a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="4a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="4a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="4a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="4a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="4a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="4a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="4a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="4a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="4a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="4a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="4a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="4a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="4a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="4a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="4a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="4a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="4a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="4a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="4a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="4a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="4a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="4a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="4a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="4a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="4a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="4a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="4a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="4a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="5a_torso" pos="-1 -2 1.5" childclass="body5">
|
||||||
|
<camera name="5a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="5a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="5a_root"/>
|
||||||
|
<geom name="5a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="5a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="5a_head" pos="0 0 .19">
|
||||||
|
<geom name="5a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="5a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="5a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="5a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="5a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="5a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="5a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="5a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="5a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="5a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="5a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="5a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="5a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="5a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="5a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="5a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="5a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="5a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="5a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="5a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="5a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="5a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="5a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="5a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="5a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="5a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="5a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="5a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="5a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="5a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="5a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="5a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="5a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="5a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="5a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="5a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="5a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="5a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="5a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="5a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="5a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="5a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="5a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="5a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="5a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="5a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="5a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="5a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="5a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="5a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="5a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="5a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="5a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="6a_torso" pos="-1 3 1.5" childclass="body6">
|
||||||
|
<camera name="6a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="6a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="6a_root"/>
|
||||||
|
<geom name="6a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="6a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="6a_head" pos="0 0 .19">
|
||||||
|
<geom name="6a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="6a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="6a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="6a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="6a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="6a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="6a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="6a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="6a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="6a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="6a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="6a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="6a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="6a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="6a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="6a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="6a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="6a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="6a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="6a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="6a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="6a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="6a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="6a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="6a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="6a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="6a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="6a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="6a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="6a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="6a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="6a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="6a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="6a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="6a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="6a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="6a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="6a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="6a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="6a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="6a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="6a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="6a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="6a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="6a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="6a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="6a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="6a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="6a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="6a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="6a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="6a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="6a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="7a_torso" pos="-1 -3 1.5" childclass="body7">
|
||||||
|
<camera name="7a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="7a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="7a_root"/>
|
||||||
|
<geom name="7a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="7a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="7a_head" pos="0 0 .19">
|
||||||
|
<geom name="7a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="7a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="7a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="7a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="7a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="7a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="7a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="7a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="7a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="7a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="7a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="7a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="7a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="7a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="7a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="7a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="7a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="7a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="7a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="7a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="7a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="7a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="7a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="7a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="7a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="7a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="7a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="7a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="7a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="7a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="7a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="7a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="7a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="7a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="7a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="7a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="7a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="7a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="7a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="7a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="7a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="7a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="7a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="7a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="7a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="7a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="7a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="7a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="7a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="7a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="7a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="7a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="7a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="8a_torso" pos="-1 4 1.5" childclass="body8">
|
||||||
|
<camera name="8a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="8a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="8a_root"/>
|
||||||
|
<geom name="8a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="8a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="8a_head" pos="0 0 .19">
|
||||||
|
<geom name="8a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="8a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="8a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="8a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="8a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="8a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="8a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="8a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="8a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="8a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="8a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="8a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="8a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="8a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="8a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="8a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="8a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="8a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="8a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="8a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="8a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="8a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="8a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="8a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="8a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="8a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="8a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="8a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="8a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="8a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="8a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="8a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="8a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="8a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="8a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="8a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="8a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="8a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="8a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="8a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="8a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="8a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="8a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="8a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="8a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="8a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="8a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="8a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="8a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="8a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="8a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="8a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="8a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
</worldbody>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="1a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="1a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="1a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="1a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="1a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="1a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="1a_right_knee"/>
|
||||||
|
<motor gear="20" joint="1a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="1a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="1a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="1a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="1a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="1a_left_knee"/>
|
||||||
|
<motor gear="20" joint="1a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="1a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="1a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="1a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="1a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="1a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="1a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="1a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="2a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="2a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="2a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="2a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="2a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="2a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="2a_right_knee"/>
|
||||||
|
<motor gear="20" joint="2a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="2a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="2a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="2a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="2a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="2a_left_knee"/>
|
||||||
|
<motor gear="20" joint="2a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="2a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="2a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="2a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="2a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="2a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="2a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="2a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="3a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="3a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="3a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="3a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="3a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="3a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="3a_right_knee"/>
|
||||||
|
<motor gear="20" joint="3a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="3a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="3a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="3a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="3a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="3a_left_knee"/>
|
||||||
|
<motor gear="20" joint="3a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="3a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="3a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="3a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="3a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="3a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="3a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="3a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="4a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="4a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="4a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="4a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="4a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="4a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="4a_right_knee"/>
|
||||||
|
<motor gear="20" joint="4a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="4a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="4a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="4a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="4a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="4a_left_knee"/>
|
||||||
|
<motor gear="20" joint="4a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="4a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="4a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="4a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="4a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="4a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="4a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="4a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="5a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="5a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="5a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="5a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="5a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="5a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="5a_right_knee"/>
|
||||||
|
<motor gear="20" joint="5a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="5a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="5a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="5a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="5a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="5a_left_knee"/>
|
||||||
|
<motor gear="20" joint="5a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="5a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="5a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="5a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="5a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="5a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="5a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="5a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="6a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="6a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="6a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="6a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="6a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="6a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="6a_right_knee"/>
|
||||||
|
<motor gear="20" joint="6a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="6a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="6a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="6a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="6a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="6a_left_knee"/>
|
||||||
|
<motor gear="20" joint="6a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="6a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="6a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="6a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="6a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="6a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="6a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="6a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="7a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="7a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="7a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="7a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="7a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="7a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="7a_right_knee"/>
|
||||||
|
<motor gear="20" joint="7a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="7a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="7a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="7a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="7a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="7a_left_knee"/>
|
||||||
|
<motor gear="20" joint="7a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="7a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="7a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="7a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="7a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="7a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="7a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="7a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="8a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="8a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="8a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="8a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="8a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="8a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="8a_right_knee"/>
|
||||||
|
<motor gear="20" joint="8a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="8a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="8a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="8a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="8a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="8a_left_knee"/>
|
||||||
|
<motor gear="20" joint="8a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="8a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="8a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="8a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="8a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="8a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="8a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="8a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
</mujoco>
|
||||||
@@ -0,0 +1,983 @@
|
|||||||
|
<mujoco model="09 Humanoids">
|
||||||
|
<option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
|
||||||
|
<flag eulerdamp="disable"/>
|
||||||
|
</option>
|
||||||
|
|
||||||
|
<custom>
|
||||||
|
<numeric data="36" name="max_contact_points"/>
|
||||||
|
<numeric data="36" name="max_geom_pairs"/>
|
||||||
|
</custom>
|
||||||
|
|
||||||
|
<size memory="100M"/>
|
||||||
|
|
||||||
|
<asset>
|
||||||
|
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
|
||||||
|
<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
|
||||||
|
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
|
||||||
|
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
|
||||||
|
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
||||||
|
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
||||||
|
</asset>
|
||||||
|
|
||||||
|
<default>
|
||||||
|
<motor ctrlrange="-1 1" ctrllimited="true"/>
|
||||||
|
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
|
||||||
|
<default class="big_joint">
|
||||||
|
<joint damping="5" stiffness="10"/>
|
||||||
|
<default class="big_stiff_joint">
|
||||||
|
<joint stiffness="20"/>
|
||||||
|
</default>
|
||||||
|
</default>
|
||||||
|
<default class="body1">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="1021"/>
|
||||||
|
</default>
|
||||||
|
<default class="body2">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="1019"/>
|
||||||
|
</default>
|
||||||
|
<default class="body3">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="8" conaffinity="1015"/>
|
||||||
|
</default>
|
||||||
|
<default class="body4">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="16" conaffinity="1007"/>
|
||||||
|
</default>
|
||||||
|
<default class="body5">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="32" conaffinity="991"/>
|
||||||
|
</default>
|
||||||
|
<default class="body6">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="64" conaffinity="959"/>
|
||||||
|
</default>
|
||||||
|
<default class="body7">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="128" conaffinity="895"/>
|
||||||
|
</default>
|
||||||
|
<default class="body8">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="256" conaffinity="767"/>
|
||||||
|
</default>
|
||||||
|
<default class="body9">
|
||||||
|
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="512" conaffinity="511"/>
|
||||||
|
</default>
|
||||||
|
</default>
|
||||||
|
|
||||||
|
<visual>
|
||||||
|
<map force="0.1" zfar="30"/>
|
||||||
|
<rgba haze="0.15 0.25 0.35 1"/>
|
||||||
|
<quality shadowsize="4096"/>
|
||||||
|
<global offwidth="800" offheight="800"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<worldbody>
|
||||||
|
<geom size="10 10 .05" type="plane" material="grid" condim="3"/>
|
||||||
|
<light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
|
||||||
|
<light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
|
||||||
|
|
||||||
|
<body name="1a_torso" pos="-1 0 1.5" childclass="body1">
|
||||||
|
<camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="1a_root"/>
|
||||||
|
<geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="1a_head" pos="0 0 .19">
|
||||||
|
<geom name="1a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="1a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="1a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="1a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="1a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="1a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="1a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="1a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="1a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="1a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="1a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="1a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="1a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="1a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="1a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="1a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="1a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="1a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="2a_torso" pos="-1 1 1.5" childclass="body2">
|
||||||
|
<camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="2a_root"/>
|
||||||
|
<geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="2a_head" pos="0 0 .19">
|
||||||
|
<geom name="2a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="2a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="2a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="2a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="2a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="2a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="2a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="2a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="2a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="2a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="2a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="2a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="2a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="2a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="2a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="2a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="2a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="2a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="3a_torso" pos="-1 -1 1.5" childclass="body3">
|
||||||
|
<camera name="3a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="3a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="3a_root"/>
|
||||||
|
<geom name="3a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="3a_head" pos="0 0 .19">
|
||||||
|
<geom name="3a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="3a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="3a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="3a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="3a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="3a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="3a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="3a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="3a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="3a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="3a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="3a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="3a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="3a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="3a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="3a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="3a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="3a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="3a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="3a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="3a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="3a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="3a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="3a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="3a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="3a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="3a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="3a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="3a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="3a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="3a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="3a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="3a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="3a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="3a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="3a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="3a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="3a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="3a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="3a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="3a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="3a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="3a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="3a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="3a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="3a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="3a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="3a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="3a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="3a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="3a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="3a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="4a_torso" pos="-1 2 1.5" childclass="body4">
|
||||||
|
<camera name="4a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="4a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="4a_root"/>
|
||||||
|
<geom name="4a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="4a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="4a_head" pos="0 0 .19">
|
||||||
|
<geom name="4a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="4a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="4a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="4a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="4a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="4a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="4a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="4a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="4a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="4a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="4a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="4a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="4a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="4a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="4a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="4a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="4a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="4a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="4a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="4a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="4a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="4a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="4a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="4a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="4a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="4a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="4a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="4a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="4a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="4a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="4a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="4a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="4a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="4a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="4a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="4a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="4a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="4a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="4a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="4a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="4a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="4a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="4a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="4a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="4a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="4a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="4a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="4a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="4a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="4a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="4a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="4a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="4a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="5a_torso" pos="-1 -2 1.5" childclass="body5">
|
||||||
|
<camera name="5a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="5a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="5a_root"/>
|
||||||
|
<geom name="5a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="5a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="5a_head" pos="0 0 .19">
|
||||||
|
<geom name="5a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="5a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="5a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="5a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="5a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="5a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="5a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="5a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="5a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="5a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="5a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="5a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="5a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="5a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="5a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="5a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="5a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="5a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="5a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="5a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="5a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="5a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="5a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="5a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="5a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="5a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="5a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="5a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="5a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="5a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="5a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="5a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="5a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="5a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="5a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="5a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="5a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="5a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="5a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="5a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="5a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="5a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="5a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="5a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="5a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="5a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="5a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="5a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="5a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="5a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="5a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="5a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="5a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="6a_torso" pos="-1 3 1.5" childclass="body6">
|
||||||
|
<camera name="6a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="6a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="6a_root"/>
|
||||||
|
<geom name="6a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="6a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="6a_head" pos="0 0 .19">
|
||||||
|
<geom name="6a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="6a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="6a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="6a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="6a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="6a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="6a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="6a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="6a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="6a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="6a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="6a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="6a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="6a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="6a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="6a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="6a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="6a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="6a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="6a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="6a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="6a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="6a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="6a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="6a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="6a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="6a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="6a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="6a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="6a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="6a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="6a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="6a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="6a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="6a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="6a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="6a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="6a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="6a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="6a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="6a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="6a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="6a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="6a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="6a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="6a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="6a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="6a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="6a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="6a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="6a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="6a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="6a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="7a_torso" pos="-1 -3 1.5" childclass="body7">
|
||||||
|
<camera name="7a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="7a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="7a_root"/>
|
||||||
|
<geom name="7a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="7a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="7a_head" pos="0 0 .19">
|
||||||
|
<geom name="7a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="7a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="7a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="7a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="7a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="7a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="7a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="7a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="7a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="7a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="7a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="7a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="7a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="7a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="7a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="7a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="7a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="7a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="7a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="7a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="7a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="7a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="7a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="7a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="7a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="7a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="7a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="7a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="7a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="7a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="7a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="7a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="7a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="7a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="7a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="7a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="7a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="7a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="7a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="7a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="7a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="7a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="7a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="7a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="7a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="7a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="7a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="7a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="7a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="7a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="7a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="7a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="7a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="8a_torso" pos="-1 4 1.5" childclass="body8">
|
||||||
|
<camera name="8a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="8a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="8a_root"/>
|
||||||
|
<geom name="8a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="8a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="8a_head" pos="0 0 .19">
|
||||||
|
<geom name="8a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="8a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="8a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="8a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="8a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="8a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="8a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="8a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="8a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="8a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="8a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="8a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="8a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="8a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="8a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="8a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="8a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="8a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="8a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="8a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="8a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="8a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="8a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="8a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="8a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="8a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="8a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="8a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="8a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="8a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="8a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="8a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="8a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="8a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="8a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="8a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="8a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="8a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="8a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="8a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="8a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="8a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="8a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="8a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="8a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="8a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="8a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="8a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="8a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="8a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="8a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="8a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="8a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
<body name="9a_torso" pos="-1 -4 1.5" childclass="body9">
|
||||||
|
<camera name="9a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||||
|
<camera name="9a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||||
|
<freejoint name="9a_root"/>
|
||||||
|
<geom name="9a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||||
|
<geom name="9a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||||
|
<body name="9a_head" pos="0 0 .19">
|
||||||
|
<geom name="9a_head" type="sphere" size=".09"/>
|
||||||
|
<camera name="9a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||||
|
</body>
|
||||||
|
<body name="9a_lower_waist" pos="-.01 0 -.26">
|
||||||
|
<geom name="9a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||||
|
<joint name="9a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||||
|
<joint name="9a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||||
|
<body name="9a_pelvis" pos="0 0 -.165">
|
||||||
|
<joint name="9a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||||
|
<geom name="9a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||||
|
<body name="9a_right_thigh" pos="0 -.1 -.04">
|
||||||
|
<joint name="9a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="9a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="9a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="9a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||||
|
<body name="9a_right_shin" pos="0 .01 -.403">
|
||||||
|
<joint name="9a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="9a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="9a_right_foot" pos="0 0 -.39">
|
||||||
|
<joint name="9a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="9a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="9a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||||
|
<geom name="9a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="9a_left_thigh" pos="0 .1 -.04">
|
||||||
|
<joint name="9a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||||
|
<joint name="9a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||||
|
<joint name="9a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||||
|
<geom name="9a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||||
|
<body name="9a_left_shin" pos="0 -.01 -.403">
|
||||||
|
<joint name="9a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||||
|
<geom name="9a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||||
|
<body name="9a_left_foot" pos="0 0 -.39">
|
||||||
|
<joint name="9a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||||
|
<joint name="9a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||||
|
<geom name="9a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||||
|
<geom name="9a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="9a_right_upper_arm" pos="0 -.17 .06">
|
||||||
|
<joint name="9a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||||
|
<joint name="9a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||||
|
<geom name="9a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||||
|
<body name="9a_right_lower_arm" pos=".18 -.18 -.18">
|
||||||
|
<joint name="9a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="9a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||||
|
<body name="9a_right_hand" pos=".18 .18 .18">
|
||||||
|
<geom name="9a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
<body name="9a_left_upper_arm" pos="0 .17 .06">
|
||||||
|
<joint name="9a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||||
|
<joint name="9a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||||
|
<geom name="9a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||||
|
<body name="9a_left_lower_arm" pos=".18 .18 -.18">
|
||||||
|
<joint name="9a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||||
|
<geom name="9a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||||
|
<body name="9a_left_hand" pos=".18 -.18 .18">
|
||||||
|
<geom name="9a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
</body>
|
||||||
|
|
||||||
|
</worldbody>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="1a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="1a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="1a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="1a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="1a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="1a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="1a_right_knee"/>
|
||||||
|
<motor gear="20" joint="1a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="1a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="1a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="1a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="1a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="1a_left_knee"/>
|
||||||
|
<motor gear="20" joint="1a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="1a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="1a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="1a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="1a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="1a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="1a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="1a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="2a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="2a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="2a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="2a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="2a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="2a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="2a_right_knee"/>
|
||||||
|
<motor gear="20" joint="2a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="2a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="2a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="2a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="2a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="2a_left_knee"/>
|
||||||
|
<motor gear="20" joint="2a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="2a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="2a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="2a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="2a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="2a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="2a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="2a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="3a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="3a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="3a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="3a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="3a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="3a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="3a_right_knee"/>
|
||||||
|
<motor gear="20" joint="3a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="3a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="3a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="3a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="3a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="3a_left_knee"/>
|
||||||
|
<motor gear="20" joint="3a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="3a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="3a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="3a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="3a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="3a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="3a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="3a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="4a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="4a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="4a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="4a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="4a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="4a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="4a_right_knee"/>
|
||||||
|
<motor gear="20" joint="4a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="4a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="4a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="4a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="4a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="4a_left_knee"/>
|
||||||
|
<motor gear="20" joint="4a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="4a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="4a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="4a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="4a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="4a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="4a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="4a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="5a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="5a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="5a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="5a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="5a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="5a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="5a_right_knee"/>
|
||||||
|
<motor gear="20" joint="5a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="5a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="5a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="5a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="5a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="5a_left_knee"/>
|
||||||
|
<motor gear="20" joint="5a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="5a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="5a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="5a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="5a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="5a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="5a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="5a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="6a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="6a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="6a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="6a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="6a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="6a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="6a_right_knee"/>
|
||||||
|
<motor gear="20" joint="6a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="6a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="6a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="6a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="6a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="6a_left_knee"/>
|
||||||
|
<motor gear="20" joint="6a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="6a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="6a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="6a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="6a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="6a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="6a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="6a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="7a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="7a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="7a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="7a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="7a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="7a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="7a_right_knee"/>
|
||||||
|
<motor gear="20" joint="7a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="7a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="7a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="7a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="7a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="7a_left_knee"/>
|
||||||
|
<motor gear="20" joint="7a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="7a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="7a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="7a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="7a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="7a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="7a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="7a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="8a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="8a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="8a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="8a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="8a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="8a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="8a_right_knee"/>
|
||||||
|
<motor gear="20" joint="8a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="8a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="8a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="8a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="8a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="8a_left_knee"/>
|
||||||
|
<motor gear="20" joint="8a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="8a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="8a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="8a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="8a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="8a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="8a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="8a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor gear="40" joint="9a_abdomen_y"/>
|
||||||
|
<motor gear="40" joint="9a_abdomen_z"/>
|
||||||
|
<motor gear="40" joint="9a_abdomen_x"/>
|
||||||
|
<motor gear="40" joint="9a_right_hip_x"/>
|
||||||
|
<motor gear="40" joint="9a_right_hip_z"/>
|
||||||
|
<motor gear="120" joint="9a_right_hip_y"/>
|
||||||
|
<motor gear="80" joint="9a_right_knee"/>
|
||||||
|
<motor gear="20" joint="9a_right_ankle_x"/>
|
||||||
|
<motor gear="20" joint="9a_right_ankle_y"/>
|
||||||
|
<motor gear="40" joint="9a_left_hip_x"/>
|
||||||
|
<motor gear="40" joint="9a_left_hip_z"/>
|
||||||
|
<motor gear="120" joint="9a_left_hip_y"/>
|
||||||
|
<motor gear="80" joint="9a_left_knee"/>
|
||||||
|
<motor gear="20" joint="9a_left_ankle_x"/>
|
||||||
|
<motor gear="20" joint="9a_left_ankle_y"/>
|
||||||
|
<motor gear="20" joint="9a_right_shoulder1"/>
|
||||||
|
<motor gear="20" joint="9a_right_shoulder2"/>
|
||||||
|
<motor gear="40" joint="9a_right_elbow"/>
|
||||||
|
<motor gear="20" joint="9a_left_shoulder1"/>
|
||||||
|
<motor gear="20" joint="9a_left_shoulder2"/>
|
||||||
|
<motor gear="40" joint="9a_left_elbow"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
</mujoco>
|
||||||
File diff suppressed because it is too large
Load Diff
@@ -156,7 +156,7 @@
|
|||||||
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
|
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
|
||||||
<joint name="rh_FFJ1" class="middle_distal"/>
|
<joint name="rh_FFJ1" class="middle_distal"/>
|
||||||
<geom class="plastic_visual" mesh="f_distal_pst"/>
|
<geom class="plastic_visual" mesh="f_distal_pst"/>
|
||||||
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214"/>
|
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214" contype="0" conaffinity="2"/>
|
||||||
</body>
|
</body>
|
||||||
</body>
|
</body>
|
||||||
</body>
|
</body>
|
||||||
@@ -181,7 +181,7 @@
|
|||||||
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
|
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
|
||||||
<joint name="rh_MFJ1" class="middle_distal"/>
|
<joint name="rh_MFJ1" class="middle_distal"/>
|
||||||
<geom class="plastic_visual" mesh="f_distal_pst"/>
|
<geom class="plastic_visual" mesh="f_distal_pst"/>
|
||||||
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214"/>
|
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214" contype="0" conaffinity="2"/>
|
||||||
</body>
|
</body>
|
||||||
</body>
|
</body>
|
||||||
</body>
|
</body>
|
||||||
@@ -206,7 +206,7 @@
|
|||||||
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
|
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
|
||||||
<joint name="rh_RFJ1" class="middle_distal"/>
|
<joint name="rh_RFJ1" class="middle_distal"/>
|
||||||
<geom class="plastic_visual" mesh="f_distal_pst"/>
|
<geom class="plastic_visual" mesh="f_distal_pst"/>
|
||||||
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214"/>
|
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214" contype="0" conaffinity="2"/>
|
||||||
</body>
|
</body>
|
||||||
</body>
|
</body>
|
||||||
</body>
|
</body>
|
||||||
@@ -236,7 +236,7 @@
|
|||||||
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
|
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
|
||||||
<joint name="rh_LFJ1" class="middle_distal"/>
|
<joint name="rh_LFJ1" class="middle_distal"/>
|
||||||
<geom class="plastic_visual" mesh="f_distal_pst"/>
|
<geom class="plastic_visual" mesh="f_distal_pst"/>
|
||||||
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214"/>
|
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst_214" contype="0" conaffinity="2"/>
|
||||||
</body>
|
</body>
|
||||||
</body>
|
</body>
|
||||||
</body>
|
</body>
|
||||||
@@ -266,7 +266,7 @@
|
|||||||
diaginertia="2.37794e-06 2.27794e-06 1e-06"/>
|
diaginertia="2.37794e-06 2.27794e-06 1e-06"/>
|
||||||
<joint name="rh_THJ1" class="thdistal"/>
|
<joint name="rh_THJ1" class="thdistal"/>
|
||||||
<geom class="plastic_visual" mesh="th_distal_pst"/>
|
<geom class="plastic_visual" mesh="th_distal_pst"/>
|
||||||
<geom class="plastic_collision" type="mesh" mesh="th_distal_pst_190"/>
|
<geom class="plastic_collision" type="mesh" mesh="th_distal_pst_190" contype="0" conaffinity="2"/>
|
||||||
</body>
|
</body>
|
||||||
</body>
|
</body>
|
||||||
</body>
|
</body>
|
||||||
|
|||||||
+41
-84
@@ -14,110 +14,67 @@
|
|||||||
# ==============================================================================
|
# ==============================================================================
|
||||||
"""Run benchmarks on various devices."""
|
"""Run benchmarks on various devices."""
|
||||||
|
|
||||||
import os
|
from typing import Sequence
|
||||||
import time
|
|
||||||
from typing import Sequence, Tuple
|
|
||||||
|
|
||||||
from absl import app
|
from absl import app
|
||||||
from absl import flags
|
from absl import flags
|
||||||
from etils import epath
|
from etils import epath
|
||||||
import jax
|
|
||||||
import mujoco
|
import mujoco
|
||||||
from mujoco import mjx
|
from mujoco import mjx
|
||||||
|
|
||||||
FLAGS = flags.FLAGS
|
_MJCF = flags.DEFINE_string('mjcf', None, 'path to model', required=True)
|
||||||
|
_BASE_PATH = flags.DEFINE_string(
|
||||||
flags.DEFINE_string('mjcf', None, 'path to model', required=True)
|
'base_path', None, 'base path, defaults to mujoco.mjx resource path'
|
||||||
flags.DEFINE_integer('nstep', 1000, 'number of steps per rollout')
|
)
|
||||||
flags.DEFINE_integer('batch_size', 1024, 'number of parallel rollouts')
|
_NSTEP = flags.DEFINE_integer('nstep', 1000, 'number of steps per rollout')
|
||||||
flags.DEFINE_integer('unroll', 1, 'loop unroll length')
|
_BATCH_SIZE = flags.DEFINE_integer(
|
||||||
flags.DEFINE_enum('solver', 'cg', ['cg', 'newton'], 'constraint solver')
|
'batch_size', 1024, 'number of parallel rollouts'
|
||||||
flags.DEFINE_integer('iterations', 1, 'number of solver iterations')
|
)
|
||||||
flags.DEFINE_integer('ls_iterations', 4, 'number of linesearch iterations')
|
_UNROLL = flags.DEFINE_integer('unroll', 1, 'loop unroll length')
|
||||||
flags.DEFINE_enum('output', 'text', ['text', 'tsv'], 'format to print results')
|
_SOLVER = flags.DEFINE_enum(
|
||||||
|
'solver', 'cg', ['cg', 'newton'], 'constraint solver'
|
||||||
|
)
|
||||||
def _measure(fn, *args) -> Tuple[float, float]:
|
_ITERATIONS = flags.DEFINE_integer(
|
||||||
"""Reports jit time and op time for a function."""
|
'iterations', 1, 'number of solver iterations'
|
||||||
|
)
|
||||||
beg = time.perf_counter()
|
_LS_ITERATIONS = flags.DEFINE_integer(
|
||||||
compiled_fn = fn.lower(*args).compile()
|
'ls_iterations', 4, 'number of linesearch iterations'
|
||||||
end = time.perf_counter()
|
)
|
||||||
jit_time = end - beg
|
_OUTPUT = flags.DEFINE_enum(
|
||||||
|
'output', 'text', ['text', 'tsv'], 'format to print results'
|
||||||
beg = time.perf_counter()
|
)
|
||||||
result = compiled_fn(*args)
|
|
||||||
jax.block_until_ready(result)
|
|
||||||
end = time.perf_counter()
|
|
||||||
run_time = end - beg
|
|
||||||
|
|
||||||
return jit_time, run_time
|
|
||||||
|
|
||||||
|
|
||||||
def _main(argv: Sequence[str]):
|
def _main(argv: Sequence[str]):
|
||||||
"""Benchmark a model."""
|
"""Runs testpeed function."""
|
||||||
|
base_path = _BASE_PATH.value or epath.resource_path('mujoco.mjx')
|
||||||
xla_flags = os.environ.get('XLA_FLAGS', '')
|
f = base_path / 'test_data' / _MJCF.value
|
||||||
xla_flags += ' --xla_gpu_triton_gemm_any=True'
|
|
||||||
os.environ['XLA_FLAGS'] = xla_flags
|
|
||||||
|
|
||||||
f = epath.resource_path('mujoco.mjx') / 'test_data' / FLAGS.mjcf
|
|
||||||
m = mujoco.MjModel.from_xml_path(f.as_posix())
|
m = mujoco.MjModel.from_xml_path(f.as_posix())
|
||||||
m.opt.solver = {
|
|
||||||
'cg': mujoco.mjtSolver.mjSOL_CG,
|
|
||||||
'newton': mujoco.mjtSolver.mjSOL_NEWTON,
|
|
||||||
}[FLAGS.solver.lower()]
|
|
||||||
m.opt.iterations = FLAGS.iterations
|
|
||||||
m.opt.ls_iterations = FLAGS.ls_iterations
|
|
||||||
m = mjx.put_model(m)
|
|
||||||
|
|
||||||
if FLAGS.output == 'text':
|
print(f'Rolling out {_NSTEP.value} steps at dt = {m.opt.timestep:.3f}...')
|
||||||
print(f"Rolling out {FLAGS.nstep} steps at dt = {m.opt.timestep:.3f}...")
|
jit_time, run_time, steps = mjx.benchmark(
|
||||||
|
m,
|
||||||
|
_NSTEP.value,
|
||||||
|
_BATCH_SIZE.value,
|
||||||
|
_UNROLL.value,
|
||||||
|
_SOLVER.value,
|
||||||
|
_ITERATIONS.value,
|
||||||
|
_LS_ITERATIONS.value,
|
||||||
|
)
|
||||||
|
|
||||||
@jax.pmap
|
name = argv[0]
|
||||||
def init(key):
|
if _OUTPUT.value == 'text':
|
||||||
key = jax.random.split(key, FLAGS.batch_size // jax.device_count())
|
|
||||||
|
|
||||||
@jax.vmap
|
|
||||||
def random_init(key):
|
|
||||||
d = mjx.make_data(m)
|
|
||||||
qvel = 0.01 * jax.random.normal(key, shape=(m.nv,))
|
|
||||||
d = d.replace(qvel=qvel)
|
|
||||||
return d
|
|
||||||
|
|
||||||
return random_init(key)
|
|
||||||
|
|
||||||
key = jax.random.split(jax.random.key(0), jax.device_count())
|
|
||||||
d = init(key)
|
|
||||||
jax.block_until_ready(d)
|
|
||||||
|
|
||||||
@jax.pmap
|
|
||||||
def unroll(d):
|
|
||||||
|
|
||||||
@jax.vmap
|
|
||||||
def step(d, _):
|
|
||||||
d = mjx.step(m, d)
|
|
||||||
return d, None
|
|
||||||
|
|
||||||
d, _ = jax.lax.scan(step, d, None, length=FLAGS.nstep, unroll=FLAGS.unroll)
|
|
||||||
|
|
||||||
return d
|
|
||||||
|
|
||||||
jit_time, run_time = _measure(unroll, d)
|
|
||||||
steps = FLAGS.nstep * FLAGS.batch_size
|
|
||||||
|
|
||||||
if FLAGS.output == 'text':
|
|
||||||
print(f"""
|
print(f"""
|
||||||
Summary for {FLAGS.batch_size} parallel rollouts
|
Summary for {_BATCH_SIZE.value} parallel rollouts
|
||||||
|
|
||||||
Total JIT time: {jit_time:.2f} s
|
Total JIT time: {jit_time:.2f} s
|
||||||
Total simulation time: {run_time:.2f} s
|
Total simulation time: {run_time:.2f} s
|
||||||
Total steps per second: { steps / run_time:.0f}
|
Total steps per second: { steps / run_time:.0f}
|
||||||
Total realtime factor: { steps * m.opt.timestep / run_time:.2f} x
|
Total realtime factor: { steps * m.opt.timestep / run_time:.2f} x
|
||||||
Total time per step: { 1e6 * run_time / steps:.2f} µs""")
|
Total time per step: { 1e6 * run_time / steps:.2f} µs""")
|
||||||
elif FLAGS.output == 'tsv':
|
elif _OUTPUT.value == 'tsv':
|
||||||
name = argv[0].split('/')[-1].replace('testspeed_', '')
|
name = name.split('/')[-1].replace('testspeed_', '')
|
||||||
print(f"{name}\tjit: {jit_time:.2f}s\tsteps/second: {steps / run_time:.0f}")
|
print(f'{name}\tjit: {jit_time:.2f}s\tsteps/second: {steps / run_time:.0f}')
|
||||||
|
|
||||||
|
|
||||||
def main():
|
def main():
|
||||||
|
|||||||
+1
-1
@@ -367,7 +367,7 @@
|
|||||||
"rng = jax.random.split(rng, 4096)\n",
|
"rng = jax.random.split(rng, 4096)\n",
|
||||||
"batch = jax.vmap(lambda rng: mjx_data.replace(qpos=jax.random.uniform(rng, (1,))))(rng)\n",
|
"batch = jax.vmap(lambda rng: mjx_data.replace(qpos=jax.random.uniform(rng, (1,))))(rng)\n",
|
||||||
"\n",
|
"\n",
|
||||||
"jit_step = jax.vmap(mjx.step, in_axes=(None, 0))\n",
|
"jit_step = jax.jit(jax.vmap(mjx.step, in_axes=(None, 0)))\n",
|
||||||
"batch = jit_step(mjx_model, batch)\n",
|
"batch = jit_step(mjx_model, batch)\n",
|
||||||
"\n",
|
"\n",
|
||||||
"print(batch.qpos)"
|
"print(batch.qpos)"
|
||||||
|
|||||||
@@ -234,10 +234,10 @@
|
|||||||
"$$\n",
|
"$$\n",
|
||||||
"\\begin{aligned}\n",
|
"\\begin{aligned}\n",
|
||||||
"x^* &= \\arg \\min_x f(x)\\\\\n",
|
"x^* &= \\arg \\min_x f(x)\\\\\n",
|
||||||
"\\textrm{s.t.} &\\quad l \\succcurlyeq x \\succcurlyeq u\n",
|
"\\textrm{s.t.} &\\quad l \\preccurlyeq x \\preccurlyeq u\n",
|
||||||
"\\end{aligned}\n",
|
"\\end{aligned}\n",
|
||||||
"$$\n",
|
"$$\n",
|
||||||
"Where $l$ and $u$ are respectively lower and upper bound vectors and the inequalities $l \\succcurlyeq x \\succcurlyeq u$ are read elementwise. Solving for the minimizing $\\delta x$ is now a bit more involved than solving a linear system, and the optimization method is now referred to as [Sequential Quadratic Programming](https://en.wikipedia.org/wiki/Sequential_quadratic_programming) (SQP). Fortunately MuJoCo has an efficient box-constrained QP solver: the [mju_boxQP](https://mujoco.readthedocs.io/en/latest/APIreference/APIfunctions.html#mju-boxqp) function."
|
"Where $l$ and $u$ are respectively lower and upper bound vectors and the inequalities $l \\preccurlyeq x \\preccurlyeq u$ are read elementwise. Solving for the minimizing $\\delta x$ is now a bit more involved than solving a linear system, and the optimization method is now referred to as [Sequential Quadratic Programming](https://en.wikipedia.org/wiki/Sequential_quadratic_programming) (SQP). Fortunately MuJoCo has an efficient box-constrained QP solver: the [mju_boxQP](https://mujoco.readthedocs.io/en/latest/APIreference/APIfunctions.html#mju-boxqp) function."
|
||||||
]
|
]
|
||||||
},
|
},
|
||||||
{
|
{
|
||||||
|
|||||||
@@ -623,7 +623,7 @@ class MuJoCoBindingsTest(parameterized.TestCase):
|
|||||||
self.assertEqual(struct, struct2)
|
self.assertEqual(struct, struct2)
|
||||||
|
|
||||||
self.assertNotEqual(struct, 3)
|
self.assertNotEqual(struct, 3)
|
||||||
self.assertNotEqual(struct, None)
|
self.assertIsNotNone(struct)
|
||||||
|
|
||||||
# mutable structs shouldn't declare __hash__
|
# mutable structs shouldn't declare __hash__
|
||||||
with self.assertRaises(TypeError):
|
with self.assertRaises(TypeError):
|
||||||
@@ -705,7 +705,8 @@ class MuJoCoBindingsTest(parameterized.TestCase):
|
|||||||
|
|
||||||
# Check that the output argument must have the correct dtype.
|
# Check that the output argument must have the correct dtype.
|
||||||
with self.assertRaises(TypeError):
|
with self.assertRaises(TypeError):
|
||||||
mujoco.mju_rotVecQuat(vec, quat, res=np.zeros(3, int))
|
res = np.zeros(3, np.int32)
|
||||||
|
mujoco.mju_rotVecQuat(res, vec, quat)
|
||||||
|
|
||||||
def test_getsetstate(self): # pylint: disable=invalid-name
|
def test_getsetstate(self): # pylint: disable=invalid-name
|
||||||
mujoco.mj_step(self.model, self.data)
|
mujoco.mj_step(self.model, self.data)
|
||||||
@@ -850,8 +851,7 @@ Euler integrator, semi-implicit in velocity.
|
|||||||
self.assertEqual(mujoco.mjtEnableBit.mjENBL_OVERRIDE, 1<<0)
|
self.assertEqual(mujoco.mjtEnableBit.mjENBL_OVERRIDE, 1<<0)
|
||||||
self.assertEqual(mujoco.mjtEnableBit.mjENBL_ENERGY, 1<<1)
|
self.assertEqual(mujoco.mjtEnableBit.mjENBL_ENERGY, 1<<1)
|
||||||
self.assertEqual(mujoco.mjtEnableBit.mjENBL_FWDINV, 1<<2)
|
self.assertEqual(mujoco.mjtEnableBit.mjENBL_FWDINV, 1<<2)
|
||||||
self.assertEqual(mujoco.mjtEnableBit.mjENBL_SENSORNOISE, 1<<4)
|
self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 6)
|
||||||
self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 7)
|
|
||||||
self.assertEqual(mujoco.mjtGeom.mjGEOM_PLANE, 0)
|
self.assertEqual(mujoco.mjtGeom.mjGEOM_PLANE, 0)
|
||||||
self.assertEqual(mujoco.mjtGeom.mjGEOM_HFIELD, 1)
|
self.assertEqual(mujoco.mjtGeom.mjGEOM_HFIELD, 1)
|
||||||
self.assertEqual(mujoco.mjtGeom.mjGEOM_SPHERE, 2)
|
self.assertEqual(mujoco.mjtGeom.mjGEOM_SPHERE, 2)
|
||||||
|
|||||||
+71
@@ -0,0 +1,71 @@
|
|||||||
|
#usda 1.0
|
||||||
|
(
|
||||||
|
defaultPrim = "World"
|
||||||
|
doc = """Generated from Composed Stage of root layer
|
||||||
|
"""
|
||||||
|
endTimeCode = 1
|
||||||
|
startTimeCode = 0
|
||||||
|
timeCodesPerSecond = 24
|
||||||
|
upAxis = "Z"
|
||||||
|
)
|
||||||
|
|
||||||
|
def Xform "World"
|
||||||
|
{
|
||||||
|
def Xform "Light_Xform_0"
|
||||||
|
{
|
||||||
|
double3 xformOp:translate
|
||||||
|
uniform token[] xformOpOrder = ["xformOp:translate"]
|
||||||
|
|
||||||
|
def SphereLight "Light_0"
|
||||||
|
{
|
||||||
|
bool inputs:normalize = 1
|
||||||
|
float inputs:radius = 0.3
|
||||||
|
bool treatAsPoint = 0
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
def Xform "CubeMesh_Xform_white_box"
|
||||||
|
{
|
||||||
|
matrix4d xformOp:transform.timeSamples = {
|
||||||
|
0: ( (0, 0, 0, 0), (0, 0, 0, 0), (0, 0, 0, 0), (0, 0, 0, 1) ),
|
||||||
|
}
|
||||||
|
uniform token[] xformOpOrder = ["xformOp:transform"]
|
||||||
|
|
||||||
|
def Mesh "CubeMesh_white_box" (
|
||||||
|
apiSchemas = ["MaterialBindingAPI"]
|
||||||
|
)
|
||||||
|
{
|
||||||
|
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
|
||||||
|
int[] faceVertexIndices = [4, 7, 5, 4, 6, 7, 0, 2, 4, 2, 6, 4, 0, 1, 2, 1, 3, 2, 1, 5, 7, 1, 7, 3, 2, 3, 7, 2, 7, 6, 0, 4, 1, 1, 4, 5]
|
||||||
|
rel material:binding = </World/_materials/Material_white_box>
|
||||||
|
point3f[] points = [(-1, -1, -1), (1, -1, -1), (-1, -1, 1), (1, -1, 1), (-1, 1, -1), (1, 1, -1), (-1, 1, 1), (1, 1, 1)]
|
||||||
|
texCoord2f[] primvars:UVMap = [] (
|
||||||
|
interpolation = "faceVarying"
|
||||||
|
)
|
||||||
|
int[] primvars:UVMap:indices = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35]
|
||||||
|
uniform token subdivisionScheme = "none"
|
||||||
|
token visibility.timeSamples = {
|
||||||
|
0: "inherited",
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
def "_materials"
|
||||||
|
{
|
||||||
|
def Material "Material_white_box"
|
||||||
|
{
|
||||||
|
token outputs:surface.connect = </World/_materials/Material_white_box/Principled_BSDF.outputs:surface>
|
||||||
|
|
||||||
|
def Shader "Principled_BSDF"
|
||||||
|
{
|
||||||
|
uniform token info:id = "UsdPreviewSurface"
|
||||||
|
color3f inputs:diffuseColor = (1, 1, 1)
|
||||||
|
float inputs:metallic = 0.5
|
||||||
|
float inputs:opacity = 1
|
||||||
|
float inputs:roughness = 0.5
|
||||||
|
token outputs:surface
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
+14
-126
@@ -15,6 +15,7 @@
|
|||||||
from typing import List, Optional, Tuple
|
from typing import List, Optional, Tuple
|
||||||
|
|
||||||
import mujoco
|
import mujoco
|
||||||
|
import mujoco.usd.utils
|
||||||
import numpy as np
|
import numpy as np
|
||||||
|
|
||||||
# TODO: b/288149332 - Remove once USD Python Binding works well with pytype.
|
# TODO: b/288149332 - Remove once USD Python Binding works well with pytype.
|
||||||
@@ -38,7 +39,7 @@ class USDMesh:
|
|||||||
geom: mujoco.MjvGeom,
|
geom: mujoco.MjvGeom,
|
||||||
obj_name: str,
|
obj_name: str,
|
||||||
dataid: int,
|
dataid: int,
|
||||||
rgba: Tuple[int, ...] = (1, 1, 1, 1),
|
rgba: np.ndarray = np.array([1, 1, 1, 1]),
|
||||||
texture_file: Optional[str] = None,
|
texture_file: Optional[str] = None,
|
||||||
):
|
):
|
||||||
self.stage = stage
|
self.stage = stage
|
||||||
@@ -236,7 +237,7 @@ class USDPrimitiveMesh:
|
|||||||
stage: Usd.Stage,
|
stage: Usd.Stage,
|
||||||
geom: mujoco.MjvGeom,
|
geom: mujoco.MjvGeom,
|
||||||
obj_name: str,
|
obj_name: str,
|
||||||
rgba: Tuple[int, ...] = (1, 1, 1, 1),
|
rgba: np.ndarray = np.array([1, 1, 1, 1]),
|
||||||
texture_file: Optional[str] = None,
|
texture_file: Optional[str] = None,
|
||||||
):
|
):
|
||||||
self.stage = stage
|
self.stage = stage
|
||||||
@@ -245,7 +246,10 @@ class USDPrimitiveMesh:
|
|||||||
self.rgba = rgba
|
self.rgba = rgba
|
||||||
self.texture_file = texture_file
|
self.texture_file = texture_file
|
||||||
|
|
||||||
|
self.usd_prim = Usd.Prim()
|
||||||
|
self.usd_mesh = UsdGeom.Mesh()
|
||||||
self.prim_mesh = None
|
self.prim_mesh = None
|
||||||
|
self.transform_op = Gf.Matrix4d(1.)
|
||||||
|
|
||||||
def _set_refinement_properties(self):
|
def _set_refinement_properties(self):
|
||||||
self.usd_prim.GetAttribute("subdivisionScheme").Set("none")
|
self.usd_prim.GetAttribute("subdivisionScheme").Set("none")
|
||||||
@@ -374,119 +378,6 @@ class USDPrimitiveMesh:
|
|||||||
self.usd_prim.GetAttribute("visibility").Set("invisible", frame)
|
self.usd_prim.GetAttribute("visibility").Set("invisible", frame)
|
||||||
|
|
||||||
|
|
||||||
class USDPrimitive:
|
|
||||||
|
|
||||||
def __init__(
|
|
||||||
self,
|
|
||||||
stage: Usd.Stage,
|
|
||||||
geom: mujoco.MjvGeom,
|
|
||||||
obj_name: str,
|
|
||||||
rgba: Tuple[int, ...] = (1, 1, 1, 1),
|
|
||||||
texture_file: Optional[str] = None,
|
|
||||||
):
|
|
||||||
self.stage = stage
|
|
||||||
self.geom = geom
|
|
||||||
self.obj_name = obj_name
|
|
||||||
self.rgba = rgba
|
|
||||||
self.texture_file = texture_file
|
|
||||||
|
|
||||||
def _set_refinement_properties(self):
|
|
||||||
self.usd_prim.GetAttribute("subdivisionScheme").Set("none")
|
|
||||||
|
|
||||||
def _attach_material(self):
|
|
||||||
mtl_path = Sdf.Path(f"/World/_materials/Material_{self.obj_name}")
|
|
||||||
mtl = UsdShade.Material.Define(self.stage, mtl_path)
|
|
||||||
if self.texture_file:
|
|
||||||
bsdf_shader = UsdShade.Shader.Define(
|
|
||||||
self.stage, mtl_path.AppendPath("Principled_BSDF")
|
|
||||||
)
|
|
||||||
image_shader = UsdShade.Shader.Define(
|
|
||||||
self.stage, mtl_path.AppendPath("Image_Texture")
|
|
||||||
)
|
|
||||||
uvmap_shader = UsdShade.Shader.Define(
|
|
||||||
self.stage, mtl_path.AppendPath("uvmap")
|
|
||||||
)
|
|
||||||
|
|
||||||
# settings the bsdf shader attributes
|
|
||||||
bsdf_shader.CreateIdAttr("UsdPreviewSurface")
|
|
||||||
bsdf_shader.CreateInput(
|
|
||||||
"diffuseColor", Sdf.ValueTypeNames.Color3f
|
|
||||||
).ConnectToSource(image_shader.ConnectableAPI(), "rgb")
|
|
||||||
bsdf_shader.CreateInput("opacity", Sdf.ValueTypeNames.Float).Set(
|
|
||||||
float(self.rgba[-1])
|
|
||||||
)
|
|
||||||
bsdf_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(
|
|
||||||
self.geom.shininess
|
|
||||||
)
|
|
||||||
bsdf_shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(
|
|
||||||
1.0 - self.geom.shininess
|
|
||||||
)
|
|
||||||
|
|
||||||
mtl.CreateSurfaceOutput().ConnectToSource(
|
|
||||||
bsdf_shader.ConnectableAPI(), "surface"
|
|
||||||
)
|
|
||||||
|
|
||||||
self.usd_primitive_shape.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
|
|
||||||
UsdShade.MaterialBindingAPI(self.usd_primitive_shape).Bind(mtl)
|
|
||||||
|
|
||||||
# setting the image texture attributes
|
|
||||||
image_shader.CreateIdAttr("UsdUVTexture")
|
|
||||||
image_shader.CreateInput("file", Sdf.ValueTypeNames.Asset).Set(
|
|
||||||
self.texture_file
|
|
||||||
)
|
|
||||||
image_shader.CreateInput(
|
|
||||||
"sourceColorSpace", Sdf.ValueTypeNames.Token
|
|
||||||
).Set("sRGB")
|
|
||||||
image_shader.CreateInput("st", Sdf.ValueTypeNames.Float2).ConnectToSource(
|
|
||||||
uvmap_shader.ConnectableAPI(), "result"
|
|
||||||
)
|
|
||||||
image_shader.CreateOutput("rgb", Sdf.ValueTypeNames.Float3)
|
|
||||||
|
|
||||||
# setting uvmap shader attributes
|
|
||||||
uvmap_shader.CreateIdAttr("UsdPrimvarReader_float2")
|
|
||||||
uvmap_shader.CreateInput("varname", Sdf.ValueTypeNames.Token).Set("UVMap")
|
|
||||||
uvmap_shader.CreateOutput("results", Sdf.ValueTypeNames.Float2)
|
|
||||||
else:
|
|
||||||
bsdf_shader = UsdShade.Shader.Define(
|
|
||||||
self.stage, mtl_path.AppendPath("Principled_BSDF")
|
|
||||||
)
|
|
||||||
|
|
||||||
# settings the bsdf shader attributes
|
|
||||||
bsdf_shader.CreateIdAttr("UsdPreviewSurface")
|
|
||||||
bsdf_shader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).Set(
|
|
||||||
tuple(self.rgba[:3])
|
|
||||||
)
|
|
||||||
bsdf_shader.CreateInput("opacity", Sdf.ValueTypeNames.Float).Set(
|
|
||||||
float(self.rgba[-1])
|
|
||||||
)
|
|
||||||
bsdf_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(
|
|
||||||
self.geom.shininess
|
|
||||||
)
|
|
||||||
bsdf_shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(
|
|
||||||
1.0 - self.geom.shininess
|
|
||||||
)
|
|
||||||
|
|
||||||
mtl.CreateSurfaceOutput().ConnectToSource(
|
|
||||||
bsdf_shader.ConnectableAPI(), "surface"
|
|
||||||
)
|
|
||||||
|
|
||||||
self.usd_primitive_shape.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
|
|
||||||
UsdShade.MaterialBindingAPI(self.usd_primitive_shape).Bind(mtl)
|
|
||||||
|
|
||||||
def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int):
|
|
||||||
transformation_mat = mujoco.usd.utils.create_transform_matrix(
|
|
||||||
rotation_matrix=mat, translation_vector=pos
|
|
||||||
).T
|
|
||||||
self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
|
|
||||||
self.update_visibility(visible, frame)
|
|
||||||
|
|
||||||
def update_visibility(self, visible: bool, frame: int):
|
|
||||||
if visible:
|
|
||||||
self.usd_prim.GetAttribute("visibility").Set("inherited", frame)
|
|
||||||
else:
|
|
||||||
self.usd_prim.GetAttribute("visibility").Set("invisible", frame)
|
|
||||||
|
|
||||||
|
|
||||||
class USDCapsule(USDPrimitive):
|
class USDCapsule(USDPrimitive):
|
||||||
|
|
||||||
def __init__(
|
def __init__(
|
||||||
@@ -494,7 +385,7 @@ class USDCapsule(USDPrimitive):
|
|||||||
stage: Usd.Stage,
|
stage: Usd.Stage,
|
||||||
geom: mujoco.MjvGeom,
|
geom: mujoco.MjvGeom,
|
||||||
obj_name: str,
|
obj_name: str,
|
||||||
rgba: Tuple[int, ...] = (1, 1, 1, 1),
|
rgba: np.ndarray = np.array([1, 1, 1, 1]),
|
||||||
texture_file: Optional[str] = None,
|
texture_file: Optional[str] = None,
|
||||||
):
|
):
|
||||||
|
|
||||||
@@ -514,7 +405,7 @@ class USDCapsule(USDPrimitive):
|
|||||||
self._set_size_attributes()
|
self._set_size_attributes()
|
||||||
self._attach_material()
|
self._attach_material()
|
||||||
|
|
||||||
self._set_refinement_properties()
|
# self._set_refinement_properties()
|
||||||
|
|
||||||
def _set_size_attributes(self):
|
def _set_size_attributes(self):
|
||||||
self.usd_primitive_shape.GetRadiusAttr().Set(float(self.geom.size[0]))
|
self.usd_primitive_shape.GetRadiusAttr().Set(float(self.geom.size[0]))
|
||||||
@@ -530,7 +421,7 @@ class USDEllipsoid(USDPrimitive):
|
|||||||
stage: Usd.Stage,
|
stage: Usd.Stage,
|
||||||
geom: mujoco.MjvGeom,
|
geom: mujoco.MjvGeom,
|
||||||
obj_name: str,
|
obj_name: str,
|
||||||
rgba: Tuple[int, ...] = (1, 1, 1, 1),
|
rgba: np.ndarray = np.array([1, 1, 1, 1]),
|
||||||
texture_file: Optional[str] = None,
|
texture_file: Optional[str] = None,
|
||||||
):
|
):
|
||||||
|
|
||||||
@@ -550,7 +441,7 @@ class USDEllipsoid(USDPrimitive):
|
|||||||
self._set_size_attributes()
|
self._set_size_attributes()
|
||||||
self._attach_material()
|
self._attach_material()
|
||||||
|
|
||||||
self._set_refinement_properties()
|
# self._set_refinement_properties()
|
||||||
|
|
||||||
def _set_size_attributes(self):
|
def _set_size_attributes(self):
|
||||||
self.scale_op.Set(Gf.Vec3d(self.geom.size.tolist()))
|
self.scale_op.Set(Gf.Vec3d(self.geom.size.tolist()))
|
||||||
@@ -563,7 +454,7 @@ class USDCubeMesh(USDPrimitiveMesh):
|
|||||||
stage: Usd.Stage,
|
stage: Usd.Stage,
|
||||||
geom: mujoco.MjvGeom,
|
geom: mujoco.MjvGeom,
|
||||||
obj_name: str,
|
obj_name: str,
|
||||||
rgba: Tuple[int, ...] = (1, 1, 1, 1),
|
rgba: np.ndarray = np.array([1, 1, 1, 1]),
|
||||||
texture_file: Optional[str] = None,
|
texture_file: Optional[str] = None,
|
||||||
):
|
):
|
||||||
|
|
||||||
@@ -579,8 +470,6 @@ class USDCubeMesh(USDPrimitiveMesh):
|
|||||||
width=self.geom.size[0] * 2,
|
width=self.geom.size[0] * 2,
|
||||||
height=self.geom.size[1] * 2,
|
height=self.geom.size[1] * 2,
|
||||||
depth=self.geom.size[2] * 2,
|
depth=self.geom.size[2] * 2,
|
||||||
create_uv_map=True,
|
|
||||||
map_texture_to_each_face=True,
|
|
||||||
)
|
)
|
||||||
|
|
||||||
self.prim_mesh.translate(-self.prim_mesh.get_center())
|
self.prim_mesh.translate(-self.prim_mesh.get_center())
|
||||||
@@ -617,7 +506,7 @@ class USDSphereMesh(USDPrimitiveMesh):
|
|||||||
stage: Usd.Stage,
|
stage: Usd.Stage,
|
||||||
geom: mujoco.MjvGeom,
|
geom: mujoco.MjvGeom,
|
||||||
obj_name: str,
|
obj_name: str,
|
||||||
rgba: Tuple[int, ...] = (1, 1, 1, 1),
|
rgba: np.ndarray = np.array([1, 1, 1, 1]),
|
||||||
texture_file: Optional[str] = None,
|
texture_file: Optional[str] = None,
|
||||||
):
|
):
|
||||||
|
|
||||||
@@ -667,7 +556,7 @@ class USDCylinderMesh(USDPrimitiveMesh):
|
|||||||
stage: Usd.Stage,
|
stage: Usd.Stage,
|
||||||
geom: mujoco.MjvGeom,
|
geom: mujoco.MjvGeom,
|
||||||
obj_name: str,
|
obj_name: str,
|
||||||
rgba: Tuple[int, ...] = (1, 1, 1, 1),
|
rgba: np.ndarray = np.array([1, 1, 1, 1]),
|
||||||
texture_file: Optional[str] = None,
|
texture_file: Optional[str] = None,
|
||||||
):
|
):
|
||||||
|
|
||||||
@@ -719,7 +608,7 @@ class USDPlaneMesh(USDPrimitiveMesh):
|
|||||||
stage: Usd.Stage,
|
stage: Usd.Stage,
|
||||||
geom: mujoco.MjvGeom,
|
geom: mujoco.MjvGeom,
|
||||||
obj_name: str,
|
obj_name: str,
|
||||||
rgba: Tuple[int, ...] = (1, 1, 1, 1),
|
rgba: np.ndarray = np.array([1, 1, 1, 1]),
|
||||||
texture_file: Optional[str] = None,
|
texture_file: Optional[str] = None,
|
||||||
):
|
):
|
||||||
|
|
||||||
@@ -814,7 +703,6 @@ class USDDomeLight:
|
|||||||
self.usd_light.GetNormalizeAttr().Set(True)
|
self.usd_light.GetNormalizeAttr().Set(True)
|
||||||
|
|
||||||
def update(self, intensity: int, color: np.ndarray, frame: int):
|
def update(self, intensity: int, color: np.ndarray, frame: int):
|
||||||
|
|
||||||
self.usd_light.GetIntensityAttr().Set(intensity)
|
self.usd_light.GetIntensityAttr().Set(intensity)
|
||||||
self.usd_light.GetExposureAttr().Set(0.0)
|
self.usd_light.GetExposureAttr().Set(0.0)
|
||||||
self.usd_light.GetColorAttr().Set(Gf.Vec3d(color.tolist()))
|
self.usd_light.GetColorAttr().Set(Gf.Vec3d(color.tolist()))
|
||||||
|
|||||||
@@ -14,6 +14,6 @@ if __name__ == "__main__":
|
|||||||
|
|
||||||
exp.update_scene(d)
|
exp.update_scene(d)
|
||||||
|
|
||||||
exp.save_scene(filetype="usd")
|
exp.save_scene(filetype="usda")
|
||||||
|
|
||||||
|
|
||||||
|
|||||||
@@ -15,6 +15,7 @@
|
|||||||
import os
|
import os
|
||||||
|
|
||||||
import mujoco
|
import mujoco
|
||||||
|
import mujoco.usd.component as component_module
|
||||||
import numpy as np
|
import numpy as np
|
||||||
import scipy
|
import scipy
|
||||||
import termcolor
|
import termcolor
|
||||||
@@ -235,7 +236,7 @@ class USDExporter:
|
|||||||
|
|
||||||
# handles meshes in scene
|
# handles meshes in scene
|
||||||
if geom.type == mujoco.mjtGeom.mjGEOM_MESH:
|
if geom.type == mujoco.mjtGeom.mjGEOM_MESH:
|
||||||
usd_geom = mujoco.usd.component.USDMesh(
|
usd_geom = component_module.USDMesh(
|
||||||
stage=self.stage,
|
stage=self.stage,
|
||||||
model=self.model,
|
model=self.model,
|
||||||
geom=geom,
|
geom=geom,
|
||||||
@@ -245,7 +246,7 @@ class USDExporter:
|
|||||||
texture_file=texture_file,
|
texture_file=texture_file,
|
||||||
)
|
)
|
||||||
elif geom.type == mujoco.mjtGeom.mjGEOM_PLANE:
|
elif geom.type == mujoco.mjtGeom.mjGEOM_PLANE:
|
||||||
usd_geom = mujoco.usd.component.USDPlaneMesh(
|
usd_geom = component_module.USDPlaneMesh(
|
||||||
stage=self.stage,
|
stage=self.stage,
|
||||||
geom=geom,
|
geom=geom,
|
||||||
obj_name=geom_name,
|
obj_name=geom_name,
|
||||||
@@ -253,7 +254,7 @@ class USDExporter:
|
|||||||
texture_file=texture_file,
|
texture_file=texture_file,
|
||||||
)
|
)
|
||||||
elif geom.type == mujoco.mjtGeom.mjGEOM_SPHERE:
|
elif geom.type == mujoco.mjtGeom.mjGEOM_SPHERE:
|
||||||
usd_geom = mujoco.usd.component.USDSphereMesh(
|
usd_geom = component_module.USDSphereMesh(
|
||||||
stage=self.stage,
|
stage=self.stage,
|
||||||
geom=geom,
|
geom=geom,
|
||||||
obj_name=geom_name,
|
obj_name=geom_name,
|
||||||
@@ -261,7 +262,7 @@ class USDExporter:
|
|||||||
texture_file=texture_file,
|
texture_file=texture_file,
|
||||||
)
|
)
|
||||||
elif geom.type == mujoco.mjtGeom.mjGEOM_CAPSULE:
|
elif geom.type == mujoco.mjtGeom.mjGEOM_CAPSULE:
|
||||||
usd_geom = mujoco.usd.component.USDCapsule(
|
usd_geom = component_module.USDCapsule(
|
||||||
stage=self.stage,
|
stage=self.stage,
|
||||||
geom=geom,
|
geom=geom,
|
||||||
obj_name=geom_name,
|
obj_name=geom_name,
|
||||||
@@ -269,7 +270,7 @@ class USDExporter:
|
|||||||
texture_file=texture_file,
|
texture_file=texture_file,
|
||||||
)
|
)
|
||||||
elif geom.type == mujoco.mjtGeom.mjGEOM_ELLIPSOID:
|
elif geom.type == mujoco.mjtGeom.mjGEOM_ELLIPSOID:
|
||||||
usd_geom = mujoco.usd.component.USDEllipsoid(
|
usd_geom = component_module.USDEllipsoid(
|
||||||
stage=self.stage,
|
stage=self.stage,
|
||||||
geom=geom,
|
geom=geom,
|
||||||
obj_name=geom_name,
|
obj_name=geom_name,
|
||||||
@@ -277,7 +278,7 @@ class USDExporter:
|
|||||||
texture_file=texture_file,
|
texture_file=texture_file,
|
||||||
)
|
)
|
||||||
elif geom.type == mujoco.mjtGeom.mjGEOM_CYLINDER:
|
elif geom.type == mujoco.mjtGeom.mjGEOM_CYLINDER:
|
||||||
usd_geom = mujoco.usd.component.USDCylinderMesh(
|
usd_geom = component_module.USDCylinderMesh(
|
||||||
stage=self.stage,
|
stage=self.stage,
|
||||||
geom=geom,
|
geom=geom,
|
||||||
obj_name=geom_name,
|
obj_name=geom_name,
|
||||||
@@ -285,7 +286,7 @@ class USDExporter:
|
|||||||
texture_file=texture_file,
|
texture_file=texture_file,
|
||||||
)
|
)
|
||||||
elif geom.type == mujoco.mjtGeom.mjGEOM_BOX:
|
elif geom.type == mujoco.mjtGeom.mjGEOM_BOX:
|
||||||
usd_geom = mujoco.usd.component.USDCubeMesh(
|
usd_geom = component_module.USDCubeMesh(
|
||||||
stage=self.stage,
|
stage=self.stage,
|
||||||
geom=geom,
|
geom=geom,
|
||||||
obj_name=geom_name,
|
obj_name=geom_name,
|
||||||
@@ -331,7 +332,8 @@ class USDExporter:
|
|||||||
for i in range(self.scene.nlight):
|
for i in range(self.scene.nlight):
|
||||||
light = self.scene.lights[i]
|
light = self.scene.lights[i]
|
||||||
if not np.allclose(light.pos, [0, 0, 0]):
|
if not np.allclose(light.pos, [0, 0, 0]):
|
||||||
self.usd_lights.append(mujoco.usd.component.USDSphereLight(stage=self.stage, obj_name=i))
|
self.usd_lights.append
|
||||||
|
(component_module.USDSphereLight(stage=self.stage, obj_name=str(i)))
|
||||||
else:
|
else:
|
||||||
self.usd_lights.append(None)
|
self.usd_lights.append(None)
|
||||||
|
|
||||||
@@ -342,7 +344,7 @@ class USDExporter:
|
|||||||
if np.allclose(light.pos, [0, 0, 0]):
|
if np.allclose(light.pos, [0, 0, 0]):
|
||||||
continue
|
continue
|
||||||
|
|
||||||
if self.usd_lights[i] is None:
|
if i >= len(self.usd_lights) or self.usd_lights[i] is None:
|
||||||
continue
|
continue
|
||||||
|
|
||||||
self.usd_lights[i].update(
|
self.usd_lights[i].update(
|
||||||
@@ -356,7 +358,8 @@ class USDExporter:
|
|||||||
self.usd_cameras = []
|
self.usd_cameras = []
|
||||||
if self.camera_names is not None:
|
if self.camera_names is not None:
|
||||||
for name in self.camera_names:
|
for name in self.camera_names:
|
||||||
self.usd_cameras.append(mujoco.usd.USDCamera(stage=self.stage, obj_name=name))
|
self.usd_cameras.append(
|
||||||
|
component_module.USDCamera(stage=self.stage, obj_name=name))
|
||||||
|
|
||||||
def _update_cameras(
|
def _update_cameras(
|
||||||
self,
|
self,
|
||||||
@@ -372,7 +375,8 @@ class USDExporter:
|
|||||||
data, scene_option=scene_option, camera=camera_name
|
data, scene_option=scene_option, camera=camera_name
|
||||||
)
|
)
|
||||||
|
|
||||||
avg_camera = mujoco.mjv_averageCamera(self.scene.camera[0], self.scene.camera[1])
|
avg_camera = mujoco.mjv_averageCamera(
|
||||||
|
self.scene.camera[0], self.scene.camera[1])
|
||||||
|
|
||||||
forward = avg_camera.forward
|
forward = avg_camera.forward
|
||||||
up = avg_camera.up
|
up = avg_camera.up
|
||||||
@@ -396,11 +400,12 @@ class USDExporter:
|
|||||||
):
|
):
|
||||||
|
|
||||||
if light_type == "sphere":
|
if light_type == "sphere":
|
||||||
new_light = mujoco.usd.component.USDSphereLight(stage=self.stage, obj_name=obj_name, radius=radius)
|
new_light = component_module.USDSphereLight(stage=self.stage, obj_name=str(objid), radius=radius)
|
||||||
|
|
||||||
new_light.update(pos=pos, intensity=intensity, color=color, frame=0)
|
new_light.update(pos=np.array(pos), intensity=intensity, color=color, frame=0)
|
||||||
elif light_type == "dome":
|
elif light_type == "dome":
|
||||||
new_light = mujoco.usd.component.USDDomeLight(stage=self.stage, obj_name=obj_name)
|
new_light = component_module.USDDomeLight(
|
||||||
|
stage=self.stage, obj_name=str(objid))
|
||||||
|
|
||||||
new_light.update(intensity=intensity, color=color, frame=0)
|
new_light.update(intensity=intensity, color=color, frame=0)
|
||||||
|
|
||||||
@@ -410,11 +415,12 @@ class USDExporter:
|
|||||||
rotation_xyz: List[float],
|
rotation_xyz: List[float],
|
||||||
obj_name: Optional[str] = "camera_1",
|
obj_name: Optional[str] = "camera_1",
|
||||||
):
|
):
|
||||||
new_camera = mujoco.usd.component.USDCamera(stage=self.stage, obj_name=obj_name)
|
new_camera = component_module.USDCamera(
|
||||||
|
stage=self.stage, obj_name=str(objid))
|
||||||
|
|
||||||
r = scipy.spatial.transform.Rotation.from_euler(
|
r = scipy.spatial.transform.Rotation.from_euler(
|
||||||
"xyz", rotation_xyz, degrees=True)
|
"xyz", rotation_xyz, degrees=True)
|
||||||
new_camera.update(cam_pos=pos, cam_mat=r.as_matrix(), frame=0)
|
new_camera.update(cam_pos=np.array(pos), cam_mat=r.as_matrix(), frame=0)
|
||||||
|
|
||||||
def save_scene(self, filetype: str = "usd"):
|
def save_scene(self, filetype: str = "usd"):
|
||||||
self.stage.SetEndTimeCode(self.frame_count)
|
self.stage.SetEndTimeCode(self.frame_count)
|
||||||
|
|||||||
@@ -0,0 +1,70 @@
|
|||||||
|
# Copyright 2024 DeepMind Technologies Limited
|
||||||
|
#
|
||||||
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
# you may not use this file except in compliance with the License.
|
||||||
|
# You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
# See the License for the specific language governing permissions and
|
||||||
|
# limitations under the License.
|
||||||
|
# ==============================================================================
|
||||||
|
"""Tests for the MuJoCo USD Exporter."""
|
||||||
|
|
||||||
|
import logging
|
||||||
|
import os
|
||||||
|
|
||||||
|
import mujoco
|
||||||
|
|
||||||
|
from absl.testing import absltest
|
||||||
|
from etils import epath
|
||||||
|
|
||||||
|
# Open3D and USD are not fully supported on all MuJoCo architectures.
|
||||||
|
# pylint: disable=python.style(g-import-not-at-top)
|
||||||
|
execute_test = True
|
||||||
|
try:
|
||||||
|
from mujoco.usd import exporter as exporter_module
|
||||||
|
from pxr import Usd
|
||||||
|
except ImportError:
|
||||||
|
logging.warning('Skipping test due to missing import')
|
||||||
|
execute_test = False
|
||||||
|
# pylint: enable=python.style(g-import-not-at-top)
|
||||||
|
|
||||||
|
class ExporterTest(absltest.TestCase):
|
||||||
|
|
||||||
|
def test_usd_export(self):
|
||||||
|
if not execute_test:
|
||||||
|
return
|
||||||
|
|
||||||
|
output_dir = os.getenv('TEST_UNDECLARED_OUTPUTS_DIR')
|
||||||
|
xml = """
|
||||||
|
<mujoco>
|
||||||
|
<worldbody>
|
||||||
|
<camera name="closeup" pos="0 -6 0" xyaxes="1 0 0 0 1 100"/>
|
||||||
|
<geom name="white_box" type="box" size="1 1 1" rgba="1 1 1 1"/>
|
||||||
|
</worldbody>
|
||||||
|
</mujoco>
|
||||||
|
"""
|
||||||
|
model = mujoco.MjModel.from_xml_string(xml)
|
||||||
|
data = mujoco.MjData(model)
|
||||||
|
exporter = exporter_module.USDExporter(
|
||||||
|
model,
|
||||||
|
output_directory_name="mujoco_usdpkg",
|
||||||
|
output_directory_root=output_dir,
|
||||||
|
)
|
||||||
|
exporter.update_scene(data)
|
||||||
|
exporter.save_scene("export.usda")
|
||||||
|
|
||||||
|
with open(os.path.join(
|
||||||
|
output_dir, "mujoco_usdpkg/frames", "frame_1_.export.usda"), "r") as f:
|
||||||
|
golden_path = os.path.join(
|
||||||
|
epath.resource_path("mujoco"), "testdata", "usd_golden.usda")
|
||||||
|
with open(golden_path, "r") as golden_file:
|
||||||
|
self.assertEqual(f.read(), golden_file.read())
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
absltest.main()
|
||||||
@@ -169,6 +169,9 @@ def _file_loader(path: str) -> _LoaderWithPathType:
|
|||||||
"""Loads an MJCF model from file path."""
|
"""Loads an MJCF model from file path."""
|
||||||
|
|
||||||
def load(path=path) -> Tuple[mujoco.MjModel, mujoco.MjData, str]:
|
def load(path=path) -> Tuple[mujoco.MjModel, mujoco.MjData, str]:
|
||||||
|
if len(path) >= 4 and path[-4:] == '.mjb':
|
||||||
|
m = mujoco.MjModel.from_binary_path(path)
|
||||||
|
else:
|
||||||
m = mujoco.MjModel.from_xml_path(path)
|
m = mujoco.MjModel.from_xml_path(path)
|
||||||
d = mujoco.MjData(m)
|
d = mujoco.MjData(m)
|
||||||
return m, d, path
|
return m, d, path
|
||||||
@@ -199,6 +202,9 @@ def _reload(
|
|||||||
path = load_tuple[2] if len(load_tuple) == 3 else ''
|
path = load_tuple[2] if len(load_tuple) == 3 else ''
|
||||||
simulate.load(m, d, path)
|
simulate.load(m, d, path)
|
||||||
|
|
||||||
|
# Make sure any load_error message is cleared
|
||||||
|
simulate.load_error = ''
|
||||||
|
|
||||||
if notify_loaded:
|
if notify_loaded:
|
||||||
notify_loaded()
|
notify_loaded()
|
||||||
|
|
||||||
|
|||||||
@@ -638,7 +638,7 @@ int mjc_BoxBox(const mjModel* M, const mjData* D, mjContact* con, int g1, int g2
|
|||||||
mju_sub3(tmp1, pos1, pos2);
|
mju_sub3(tmp1, pos1, pos2);
|
||||||
mju_rotVecMatT(pos12, tmp1, mat2);
|
mju_rotVecMatT(pos12, tmp1, mat2);
|
||||||
|
|
||||||
mju_mulMatTMat(rot, mat1, mat2, 3, 3, 3);
|
mju_mulMatTMat3(rot, mat1, mat2);
|
||||||
mju_transpose(rott, rot, 3, 3);
|
mju_transpose(rott, rot, 3, 3);
|
||||||
|
|
||||||
for (i = 0; i < 9; i++)
|
for (i = 0; i < 9; i++)
|
||||||
@@ -804,7 +804,7 @@ int mjc_BoxBox(const mjModel* M, const mjData* D, mjContact* con, int g1, int g2
|
|||||||
}
|
}
|
||||||
|
|
||||||
if (q2) {
|
if (q2) {
|
||||||
mju_mulMatMatT(r, rotmore, rot, 3, 3, 3);
|
mju_mulMatMatT3(r, rotmore, rot);
|
||||||
|
|
||||||
// mju_rotVecMat(p,pos12,rotmore);
|
// mju_rotVecMat(p,pos12,rotmore);
|
||||||
// mju_rotVecMat(tmp1,size2,rotmore);
|
// mju_rotVecMat(tmp1,size2,rotmore);
|
||||||
@@ -956,7 +956,7 @@ int mjc_BoxBox(const mjModel* M, const mjData* D, mjContact* con, int g1, int g2
|
|||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
mju_mulMatMatT(r, q2 ? mat2 : mat1, rotmore, 3, 3, 3);
|
mju_mulMatMatT3(r, q2 ? mat2 : mat1, rotmore);
|
||||||
mju_copy3(p, q2 ? pos2 : pos1);
|
mju_copy3(p, q2 ? pos2 : pos1);
|
||||||
|
|
||||||
tmp2[0] = (q2 ? -1 : 1) * r[2];
|
tmp2[0] = (q2 ? -1 : 1) * r[2];
|
||||||
@@ -1319,7 +1319,7 @@ edgeedge:
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
mju_mulMatMatT(r, mat1, rotmore, 3, 3, 3);
|
mju_mulMatMatT3(r, mat1, rotmore);
|
||||||
|
|
||||||
mju_rotVecMat(tmp1, rnorm, r);
|
mju_rotVecMat(tmp1, rnorm, r);
|
||||||
|
|
||||||
|
|||||||
@@ -318,7 +318,7 @@ static void mju_rotateFrame(const mjtNum origin[3], const mjtNum rot[9],
|
|||||||
mjtNum mat[9], vec[3], rel[3];
|
mjtNum mat[9], vec[3], rel[3];
|
||||||
|
|
||||||
// rotate frame: xmat = rot*xmat
|
// rotate frame: xmat = rot*xmat
|
||||||
mju_mulMatMat(mat, rot, xmat, 3, 3, 3);
|
mju_mulMatMat3(mat, rot, xmat);
|
||||||
mju_copy(xmat, mat, 9);
|
mju_copy(xmat, mat, 9);
|
||||||
|
|
||||||
// vector to rotation origin: rel = origin - xpos
|
// vector to rotation origin: rel = origin - xpos
|
||||||
@@ -682,7 +682,7 @@ int mjc_ConvexHField(const mjModel* m, const mjData* d,
|
|||||||
}
|
}
|
||||||
|
|
||||||
// express geom2 mat in heightfield frame
|
// express geom2 mat in heightfield frame
|
||||||
mju_mulMatTMat(mat, mat1, mat2, 3, 3, 3);
|
mju_mulMatTMat3(mat, mat1, mat2);
|
||||||
|
|
||||||
//------------------------------------- AABB computation, box-box test
|
//------------------------------------- AABB computation, box-box test
|
||||||
|
|
||||||
|
|||||||
@@ -140,9 +140,18 @@ static void geomGradient(mjtNum gradient[3], const mjModel* m, const mjData* d,
|
|||||||
b[2] = a[2] / size[2];
|
b[2] = a[2] / size[2];
|
||||||
mjtNum k0 = mju_norm3(a);
|
mjtNum k0 = mju_norm3(a);
|
||||||
mjtNum k1 = mju_norm3(b);
|
mjtNum k1 = mju_norm3(b);
|
||||||
gradient[0] = a[0]*(2.*k0 - 1.) / k1 + k0*(k0 - 1.) * b[0]/(k1*k1);
|
mjtNum invK0 = 1. / k0;
|
||||||
gradient[1] = a[1]*(2.*k0 - 1.) / k1 + k0*(k0 - 1.) * b[1]/(k1*k1);
|
mjtNum invK1 = 1. / k1;
|
||||||
gradient[2] = a[2]*(2.*k0 - 1.) / k1 + k0*(k0 - 1.) * b[2]/(k1*k1);
|
mjtNum gk0[3] = {b[0]*invK0, b[1]*invK0, b[2]*invK0};
|
||||||
|
mjtNum gk1[3] = {b[0]*invK1/(size[0]*size[0]),
|
||||||
|
b[1]*invK1/(size[1]*size[1]),
|
||||||
|
b[2]*invK1/(size[2]*size[2])};
|
||||||
|
mjtNum df_dk0 = (2.*k0 - 1.) * invK1;
|
||||||
|
mjtNum df_dk1 = k0*(k0 - 1.) * invK1 * invK1;
|
||||||
|
gradient[0] = gk0[0]*df_dk0 - gk1[0]*df_dk1;
|
||||||
|
gradient[1] = gk0[1]*df_dk0 - gk1[1]*df_dk1;
|
||||||
|
gradient[2] = gk0[2]*df_dk0 - gk1[2]*df_dk1;
|
||||||
|
mju_normalize3(gradient);
|
||||||
break;
|
break;
|
||||||
case mjGEOM_CYLINDER:
|
case mjGEOM_CYLINDER:
|
||||||
c = mju_sqrt(x[0]*x[0]+x[1]*x[1]);
|
c = mju_sqrt(x[0]*x[0]+x[1]*x[1]);
|
||||||
|
|||||||
@@ -251,7 +251,7 @@ void mjd_subQuat(const mjtNum qa[4], const mjtNum qb[4], mjtNum Da[9], mjtNum Db
|
|||||||
|
|
||||||
// add term linear in K * K
|
// add term linear in K * K
|
||||||
mjtNum KK[9];
|
mjtNum KK[9];
|
||||||
mju_mulMatMat(KK, K, K, 3, 3, 3);
|
mju_mulMatMat3(KK, K, K);
|
||||||
mjtNum coef = 1.0 - (half_angle < 6e-8 ? 1.0 : half_angle / mju_tan(half_angle));
|
mjtNum coef = 1.0 - (half_angle < 6e-8 ? 1.0 : half_angle / mju_tan(half_angle));
|
||||||
mju_addToScl(Da_tmp, KK, coef, 9);
|
mju_addToScl(Da_tmp, KK, coef, 9);
|
||||||
|
|
||||||
|
|||||||
+53
-26
@@ -243,6 +243,19 @@ static mjtNum nextActivation(const mjModel* m, const mjData* d,
|
|||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
// clamp vector to range
|
||||||
|
static void clampVec(mjtNum* vec, const mjtNum* range, const mjtByte* limited, int n,
|
||||||
|
const int* index) {
|
||||||
|
for (int i=0; i < n; i++) {
|
||||||
|
int j = index ? index[i] : i;
|
||||||
|
if (limited[i]) {
|
||||||
|
vec[j] = mju_clip(vec[j], range[2*i], range[2*i + 1]);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// (qpos, qvel, ctrl, act) => (qfrc_actuator, actuator_force, act_dot)
|
// (qpos, qvel, ctrl, act) => (qfrc_actuator, actuator_force, act_dot)
|
||||||
void mj_fwdActuation(const mjModel* m, mjData* d) {
|
void mj_fwdActuation(const mjModel* m, mjData* d) {
|
||||||
TM_START;
|
TM_START;
|
||||||
@@ -262,18 +275,9 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
|
|||||||
// local, clamped copy of ctrl
|
// local, clamped copy of ctrl
|
||||||
mj_markStack(d);
|
mj_markStack(d);
|
||||||
mjtNum *ctrl = mj_stackAllocNum(d, nu);
|
mjtNum *ctrl = mj_stackAllocNum(d, nu);
|
||||||
if (mjDISABLED(mjDSBL_CLAMPCTRL)) {
|
|
||||||
mju_copy(ctrl, d->ctrl, nu);
|
mju_copy(ctrl, d->ctrl, nu);
|
||||||
} else {
|
if (!mjDISABLED(mjDSBL_CLAMPCTRL)) {
|
||||||
for (int i=0; i < nu; i++) {
|
clampVec(ctrl, m->actuator_ctrlrange, m->actuator_ctrllimited, nu, NULL);
|
||||||
// clamp ctrl
|
|
||||||
if (m->actuator_ctrllimited[i]) {
|
|
||||||
mjtNum *ctrlrange = m->actuator_ctrlrange + 2*i;
|
|
||||||
ctrl[i] = mju_clip(d->ctrl[i], ctrlrange[0], ctrlrange[1]);
|
|
||||||
} else {
|
|
||||||
ctrl[i] = d->ctrl[i];
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|
||||||
// check controls, set all to 0 if any are bad
|
// check controls, set all to 0 if any are bad
|
||||||
@@ -459,25 +463,47 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
// clamp actuator_force
|
// clamp actuator_force
|
||||||
for (int i=0; i < nu; i++) {
|
clampVec(force, m->actuator_forcerange, m->actuator_forcelimited, nu, NULL);
|
||||||
if (m->actuator_forcelimited[i]) {
|
|
||||||
mjtNum *forcerange = m->actuator_forcerange + 2*i;
|
|
||||||
force[i] = mju_clip(force[i], forcerange[0], forcerange[1]);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// qfrc_actuator = moment' * force
|
// qfrc_actuator = moment' * force
|
||||||
mju_mulMatTVec(d->qfrc_actuator, moment, force, nu, nv);
|
mju_mulMatTVec(d->qfrc_actuator, moment, force, nu, nv);
|
||||||
|
|
||||||
// clamp qfrc_actuator
|
// actuator-level gravity compensation
|
||||||
|
if (!mjDISABLED(mjDSBL_GRAVITY) && mju_norm3(m->opt.gravity)) {
|
||||||
int njnt = m->njnt;
|
int njnt = m->njnt;
|
||||||
for (int i=0; i < njnt; i++) {
|
for (int i=0; i < njnt; i++) {
|
||||||
if (m->jnt_actfrclimited[i]) {
|
// skip if gravcomp added as passive force
|
||||||
mjtNum *forcerange = m->jnt_actfrcrange + 2*i;
|
if (!m->jnt_actgravcomp[i]) {
|
||||||
mjtNum *qfrc = d->qfrc_actuator + m->jnt_dofadr[i];
|
continue;
|
||||||
qfrc[0] = mju_clip(qfrc[0], forcerange[0], forcerange[1]);
|
}
|
||||||
|
|
||||||
|
// get number of dofs for this joint
|
||||||
|
int dofnum;
|
||||||
|
switch (m->jnt_type[i]) {
|
||||||
|
case mjJNT_HINGE:
|
||||||
|
case mjJNT_SLIDE:
|
||||||
|
dofnum = 1;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case mjJNT_BALL:
|
||||||
|
dofnum = 3;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case mjJNT_FREE:
|
||||||
|
dofnum = 6;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
// add gravcomp force
|
||||||
|
int dofadr = m->jnt_dofadr[i];
|
||||||
|
for (int j=0; j < dofnum; j++) {
|
||||||
|
d->qfrc_actuator[dofadr+j] += d->qfrc_gravcomp[dofadr+j];
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// clamp qfrc_actuator to joint-level actuator force limits
|
||||||
|
clampVec(d->qfrc_actuator, m->jnt_actfrcrange, m->jnt_actfrclimited, m->njnt, m->jnt_dofadr);
|
||||||
|
|
||||||
mj_freeStack(d);
|
mj_freeStack(d);
|
||||||
TM_END(mjTIMER_ACTUATION);
|
TM_END(mjTIMER_ACTUATION);
|
||||||
@@ -489,13 +515,13 @@ void mj_fwdActuation(const mjModel* m, mjData* d) {
|
|||||||
void mj_fwdAcceleration(const mjModel* m, mjData* d) {
|
void mj_fwdAcceleration(const mjModel* m, mjData* d) {
|
||||||
int nv = m->nv;
|
int nv = m->nv;
|
||||||
|
|
||||||
// qforce = sum of all non-constraint forces
|
// qfrc_smooth = sum of all non-constraint forces
|
||||||
mju_sub(d->qfrc_smooth, d->qfrc_passive, d->qfrc_bias, nv); // qfrc_bias is negative
|
mju_sub(d->qfrc_smooth, d->qfrc_passive, d->qfrc_bias, nv); // qfrc_bias is negative
|
||||||
mju_addTo(d->qfrc_smooth, d->qfrc_applied, nv);
|
mju_addTo(d->qfrc_smooth, d->qfrc_applied, nv);
|
||||||
mju_addTo(d->qfrc_smooth, d->qfrc_actuator, nv);
|
mju_addTo(d->qfrc_smooth, d->qfrc_actuator, nv);
|
||||||
mj_xfrcAccumulate(m, d, d->qfrc_smooth);
|
mj_xfrcAccumulate(m, d, d->qfrc_smooth);
|
||||||
|
|
||||||
// qacc_smooth = M \ qfr_smooth
|
// qacc_smooth = M \ qfrc_smooth
|
||||||
mj_solveM(m, d, d->qacc_smooth, d->qfrc_smooth, 1);
|
mj_solveM(m, d, d->qacc_smooth, d->qfrc_smooth, 1);
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -706,9 +732,10 @@ void mj_fwdConstraint(const mjModel* m, mjData* d) {
|
|||||||
// advance state and time given activation derivatives, acceleration, and optional velocity
|
// advance state and time given activation derivatives, acceleration, and optional velocity
|
||||||
static void mj_advance(const mjModel* m, mjData* d,
|
static void mj_advance(const mjModel* m, mjData* d,
|
||||||
const mjtNum* act_dot, const mjtNum* qacc, const mjtNum* qvel) {
|
const mjtNum* act_dot, const mjtNum* qacc, const mjtNum* qvel) {
|
||||||
// advance activations and clamp
|
// advance activations
|
||||||
if (m->na && !mjDISABLED(mjDSBL_ACTUATION)) {
|
if (m->na && !mjDISABLED(mjDSBL_ACTUATION)) {
|
||||||
for (int i=0; i < m->nu; i++) {
|
int nu = m->nu;
|
||||||
|
for (int i=0; i < nu; i++) {
|
||||||
int actadr = m->actuator_actadr[i];
|
int actadr = m->actuator_actadr[i];
|
||||||
int actadr_end = actadr + m->actuator_actnum[i];
|
int actadr_end = actadr + m->actuator_actnum[i];
|
||||||
for (int j=actadr; j < actadr_end; j++) {
|
for (int j=actadr; j < actadr_end; j++) {
|
||||||
|
|||||||
@@ -255,8 +255,39 @@ void mj_passive(const mjModel* m, mjData* d) {
|
|||||||
|
|
||||||
// add passive forces into qfrc_passive
|
// add passive forces into qfrc_passive
|
||||||
mju_add(d->qfrc_passive, d->qfrc_spring, d->qfrc_damper, nv);
|
mju_add(d->qfrc_passive, d->qfrc_spring, d->qfrc_damper, nv);
|
||||||
if (has_gravcomp) mju_addTo(d->qfrc_passive, d->qfrc_gravcomp, nv);
|
|
||||||
if (has_fluid) mju_addTo(d->qfrc_passive, d->qfrc_fluid, nv);
|
if (has_fluid) mju_addTo(d->qfrc_passive, d->qfrc_fluid, nv);
|
||||||
|
if (has_gravcomp) {
|
||||||
|
int njnt = m->njnt;
|
||||||
|
for (int i=0; i < njnt; i++) {
|
||||||
|
// skip if gravcomp added via actuators
|
||||||
|
if (m->jnt_actgravcomp[i]) {
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
// get number of dofs for this joint
|
||||||
|
int dofnum;
|
||||||
|
switch (m->jnt_type[i]) {
|
||||||
|
case mjJNT_HINGE:
|
||||||
|
case mjJNT_SLIDE:
|
||||||
|
dofnum = 1;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case mjJNT_BALL:
|
||||||
|
dofnum = 3;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case mjJNT_FREE:
|
||||||
|
dofnum = 6;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
// add gravcomp force
|
||||||
|
int dofadr = m->jnt_dofadr[i];
|
||||||
|
for (int j=0; j < dofnum; j++) {
|
||||||
|
d->qfrc_passive[dofadr+j] += d->qfrc_gravcomp[dofadr+j];
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
// user callback: add custom passive forces
|
// user callback: add custom passive forces
|
||||||
if (mjcb_passive) {
|
if (mjcb_passive) {
|
||||||
|
|||||||
@@ -361,14 +361,6 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
|
|||||||
}
|
}
|
||||||
if (m->nbody) fprintf(fp, "\n");
|
if (m->nbody) fprintf(fp, "\n");
|
||||||
|
|
||||||
// BVHs
|
|
||||||
for (int i=0; i < m->nbvh; i++) {
|
|
||||||
fprintf(fp, "\nBVH %d:\n", i);
|
|
||||||
object_class = &m->nbvh;
|
|
||||||
MJMODEL_POINTERS
|
|
||||||
}
|
|
||||||
if (m->nbvh) fprintf(fp, "\n");
|
|
||||||
|
|
||||||
// joints
|
// joints
|
||||||
for (int i=0; i < m->njnt; i++) {
|
for (int i=0; i < m->njnt; i++) {
|
||||||
fprintf(fp, "\nJOINT %d:\n", i);
|
fprintf(fp, "\nJOINT %d:\n", i);
|
||||||
@@ -732,6 +724,15 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
|
|||||||
|
|
||||||
#undef X
|
#undef X
|
||||||
|
|
||||||
|
// BVHs
|
||||||
|
fprintf(fp, "BVH:\n");
|
||||||
|
fprintf(fp, " %-8s%-8s%-8s%-10s%-s\n","id", "depth", "nodeid", "child[0]" ,"child[1]");
|
||||||
|
for (int i=0; i < m->nbvh; i++) {
|
||||||
|
fprintf(fp, " %-8d%-8d% -8d% -10d% -d\n",
|
||||||
|
i, m->bvh_depth[i], m->bvh_nodeid[i], m->bvh_child[2*i], m->bvh_child[2*i+1]);
|
||||||
|
}
|
||||||
|
fprintf(fp, "\n");
|
||||||
|
|
||||||
if (filename) {
|
if (filename) {
|
||||||
fclose(fp);
|
fclose(fp);
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -34,6 +34,7 @@
|
|||||||
#include <mujoco/mjplugin.h>
|
#include <mujoco/mjplugin.h>
|
||||||
#include "engine/engine_plugin.h"
|
#include "engine/engine_plugin.h"
|
||||||
#include "engine/engine_util_errmem.h"
|
#include "engine/engine_util_errmem.h"
|
||||||
|
#include "engine/engine_util_misc.h"
|
||||||
|
|
||||||
// internal helper for mju_fileToMemory (closes fp automatically)
|
// internal helper for mju_fileToMemory (closes fp automatically)
|
||||||
static void* _fileToMemory(FILE* fp, const char* filename, size_t* filesize);
|
static void* _fileToMemory(FILE* fp, const char* filename, size_t* filesize);
|
||||||
@@ -113,10 +114,8 @@ mjResource* mju_openResource(const char* name, char* error, size_t error_sz) {
|
|||||||
memcpy(&spec->mtime, &file_stat.st_mtime, sizeof(time_t));
|
memcpy(&spec->mtime, &file_stat.st_mtime, sizeof(time_t));
|
||||||
} else {
|
} else {
|
||||||
memset(&spec->mtime, 0, sizeof(time_t));
|
memset(&spec->mtime, 0, sizeof(time_t));
|
||||||
resource->timestamp[0] = '\0';
|
|
||||||
}
|
}
|
||||||
strftime(resource->timestamp, 512, "%Y-%m-%d-%H:%M:%S",
|
mju_encodeBase64(resource->timestamp, (uint8_t*) &spec->mtime, sizeof(time_t));
|
||||||
localtime(&(spec->mtime)));
|
|
||||||
return resource;
|
return resource;
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -199,19 +198,6 @@ void mju_getResourceDir(mjResource* resource, const char** dir, int* ndir) {
|
|||||||
|
|
||||||
|
|
||||||
|
|
||||||
// modified callback for OS filesystem
|
|
||||||
static int mju_isModifiedFile(const char* name, const file_spec* spec) {
|
|
||||||
if (spec != NULL) {
|
|
||||||
struct stat file_stat;
|
|
||||||
if (stat(name, &file_stat) == 0) {
|
|
||||||
return difftime(spec->mtime, file_stat.st_mtime) < 0;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
return 1; // modified (default)
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// return 0 if the resource's timestamp matches the provided timestamp
|
// return 0 if the resource's timestamp matches the provided timestamp
|
||||||
// return > 0 if the the resource is younger than the given timestamp
|
// return > 0 if the the resource is younger than the given timestamp
|
||||||
// return < 0 if the resource is older than the given timestamp
|
// return < 0 if the resource is older than the given timestamp
|
||||||
@@ -224,7 +210,18 @@ int mju_isModifiedResource(const mjResource* resource, const char* timestamp) {
|
|||||||
return 1; // default (modified)
|
return 1; // default (modified)
|
||||||
}
|
}
|
||||||
|
|
||||||
return mju_isModifiedFile(resource->name, (file_spec*) resource->data);
|
// fallback to OS filesystem
|
||||||
|
if (mju_isValidBase64(timestamp) != sizeof(time_t)) {
|
||||||
|
return 1; // error (assume modified)
|
||||||
|
}
|
||||||
|
|
||||||
|
time_t time1, time2;
|
||||||
|
mju_decodeBase64((uint8_t*) &time1, timestamp);
|
||||||
|
time2 = ((file_spec*) resource->data)->mtime;
|
||||||
|
double diff = difftime(time2, time1);
|
||||||
|
if (diff < 0) return -1;
|
||||||
|
if (diff > 0) return 1;
|
||||||
|
return 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|||||||
@@ -32,78 +32,9 @@
|
|||||||
#include "engine/engine_util_spatial.h"
|
#include "engine/engine_util_spatial.h"
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
//-------------------------------- utility ---------------------------------------------------------
|
//-------------------------------- utility ---------------------------------------------------------
|
||||||
|
|
||||||
// add sensor noise after each stage
|
|
||||||
static void add_noise(const mjModel* m, mjData* d, mjtStage stage) {
|
|
||||||
int adr, dim;
|
|
||||||
mjtNum rnd[4], noise, quat[4], res[4];
|
|
||||||
|
|
||||||
// process sensors matching stage and having positive noise
|
|
||||||
for (int i=0; i < m->nsensor; i++) {
|
|
||||||
if (m->sensor_needstage[i] == stage && m->sensor_noise[i] > 0) {
|
|
||||||
// get sensor info
|
|
||||||
adr = m->sensor_adr[i];
|
|
||||||
dim = m->sensor_dim[i];
|
|
||||||
noise = m->sensor_noise[i];
|
|
||||||
|
|
||||||
// real or positive: add noise directly, with clamp for positive
|
|
||||||
if (m->sensor_datatype[i] == mjDATATYPE_REAL ||
|
|
||||||
m->sensor_datatype[i] == mjDATATYPE_POSITIVE) {
|
|
||||||
for (int j=0; j < dim; j++) {
|
|
||||||
// get random numbers; use only the first one
|
|
||||||
rnd[0] = mju_standardNormal(rnd+1);
|
|
||||||
|
|
||||||
// positive
|
|
||||||
if (m->sensor_datatype[i] == mjDATATYPE_POSITIVE) {
|
|
||||||
// add noise only if positive, keep it positive
|
|
||||||
if (d->sensordata[adr+j] > 0) {
|
|
||||||
d->sensordata[adr+j] = mju_max(0, d->sensordata[adr+j]+rnd[0]*noise);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// real
|
|
||||||
else {
|
|
||||||
d->sensordata[adr+j] += rnd[0]*noise;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// axis or quat: rotate around random axis by random angle
|
|
||||||
else {
|
|
||||||
// get four random numbers
|
|
||||||
rnd[0] = mju_standardNormal(rnd+1);
|
|
||||||
rnd[2] = mju_standardNormal(rnd+3);
|
|
||||||
|
|
||||||
// scale angle, normalize axis, make quaternion
|
|
||||||
rnd[0] *= noise;
|
|
||||||
mju_normalize3(rnd+1);
|
|
||||||
mju_axisAngle2Quat(quat, rnd+1, rnd[0]);
|
|
||||||
|
|
||||||
// axis
|
|
||||||
if (m->sensor_datatype[i] == mjDATATYPE_AXIS) {
|
|
||||||
// apply quaternion rotation to axis, assign
|
|
||||||
mju_rotVecQuat(res, d->sensordata+adr, quat);
|
|
||||||
mju_copy3(d->sensordata+adr, res);
|
|
||||||
}
|
|
||||||
|
|
||||||
// quaternion
|
|
||||||
else if (m->sensor_datatype[i] == mjDATATYPE_QUATERNION) {
|
|
||||||
// apply quaternion rotation to quaternion, assign
|
|
||||||
mju_mulQuat(d->sensordata+adr, d->sensordata+adr, quat);
|
|
||||||
}
|
|
||||||
|
|
||||||
// unknown datatype
|
|
||||||
else {
|
|
||||||
mjERROR("unknown datatype in sensor %d", i);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// apply cutoff after each stage
|
// apply cutoff after each stage
|
||||||
static void apply_cutoff(const mjModel* m, mjData* d, mjtStage stage) {
|
static void apply_cutoff(const mjModel* m, mjData* d, mjtStage stage) {
|
||||||
// process sensors matching stage and having positive cutoff
|
// process sensors matching stage and having positive cutoff
|
||||||
@@ -442,11 +373,6 @@ void mj_sensorPos(const mjModel* m, mjData* d) {
|
|||||||
mjcb_sensor(m, d, mjSTAGE_POS);
|
mjcb_sensor(m, d, mjSTAGE_POS);
|
||||||
}
|
}
|
||||||
|
|
||||||
// add noise if enabled
|
|
||||||
if (mjENABLED(mjENBL_SENSORNOISE)) {
|
|
||||||
add_noise(m, d, mjSTAGE_POS);
|
|
||||||
}
|
|
||||||
|
|
||||||
// compute plugin sensor values
|
// compute plugin sensor values
|
||||||
if (m->nplugin) {
|
if (m->nplugin) {
|
||||||
const int nslot = mjp_pluginCount();
|
const int nslot = mjp_pluginCount();
|
||||||
@@ -623,11 +549,6 @@ void mj_sensorVel(const mjModel* m, mjData* d) {
|
|||||||
mjcb_sensor(m, d, mjSTAGE_VEL);
|
mjcb_sensor(m, d, mjSTAGE_VEL);
|
||||||
}
|
}
|
||||||
|
|
||||||
// add noise if enabled
|
|
||||||
if (mjENABLED(mjENBL_SENSORNOISE)) {
|
|
||||||
add_noise(m, d, mjSTAGE_VEL);
|
|
||||||
}
|
|
||||||
|
|
||||||
// trigger computation of plugins
|
// trigger computation of plugins
|
||||||
if (m->nplugin) {
|
if (m->nplugin) {
|
||||||
const int nslot = mjp_pluginCount();
|
const int nslot = mjp_pluginCount();
|
||||||
@@ -839,11 +760,6 @@ void mj_sensorAcc(const mjModel* m, mjData* d) {
|
|||||||
mjcb_sensor(m, d, mjSTAGE_ACC);
|
mjcb_sensor(m, d, mjSTAGE_ACC);
|
||||||
}
|
}
|
||||||
|
|
||||||
// add noise if enabled
|
|
||||||
if (mjENABLED(mjENBL_SENSORNOISE)) {
|
|
||||||
add_noise(m, d, mjSTAGE_ACC);
|
|
||||||
}
|
|
||||||
|
|
||||||
// trigger computation of plugins
|
// trigger computation of plugins
|
||||||
if (m->nplugin) {
|
if (m->nplugin) {
|
||||||
const int nslot = mjp_pluginCount();
|
const int nslot = mjp_pluginCount();
|
||||||
|
|||||||
@@ -66,7 +66,6 @@ const char* mjENABLESTRING[mjNENABLE] = {
|
|||||||
"Override",
|
"Override",
|
||||||
"Energy",
|
"Energy",
|
||||||
"Fwdinv",
|
"Fwdinv",
|
||||||
"Sensornoise",
|
|
||||||
"InvDiscrete",
|
"InvDiscrete",
|
||||||
"MultiCCD",
|
"MultiCCD",
|
||||||
"Island"
|
"Island"
|
||||||
@@ -815,8 +814,8 @@ void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body) {
|
|||||||
|
|
||||||
// term1 = body angular momentum about self COM in world frame
|
// term1 = body angular momentum about self COM in world frame
|
||||||
mjtNum tmp1[9], tmp2[9];
|
mjtNum tmp1[9], tmp2[9];
|
||||||
mju_mulMatMat(tmp1, ximat, inertia, 3, 3, 3); // tmp1 = ximat * inertia
|
mju_mulMatMat3(tmp1, ximat, inertia); // tmp1 = ximat * inertia
|
||||||
mju_mulMatMatT(tmp2, tmp1, ximat, 3, 3, 3); // tmp2 = ximat * inertia * ximat^T
|
mju_mulMatMatT3(tmp2, tmp1, ximat); // tmp2 = ximat * inertia * ximat^T
|
||||||
mju_mulMatMat(term1, tmp2, jacr, 3, 3, nv); // term1 = ximat * inertia * ximat^T * jacr
|
mju_mulMatMat(term1, tmp2, jacr, 3, 3, nv); // term1 = ximat * inertia * ximat^T * jacr
|
||||||
|
|
||||||
// location of body COM w.r.t subtree COM
|
// location of body COM w.r.t subtree COM
|
||||||
@@ -1050,11 +1049,11 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
// get string hash, see http://www.cse.yorku.ca/~oz/hash.html
|
// get string hash, see http://www.cse.yorku.ca/~oz/hash.html
|
||||||
uint64_t mj_hashdjb2(const char* s, uint64_t n) {
|
uint64_t mj_hashString(const char* s, uint64_t n) {
|
||||||
uint64_t h = 5381;
|
uint64_t h = 5381;
|
||||||
int c;
|
int c;
|
||||||
while ((c = *s++)) {
|
while ((c = *s++)) {
|
||||||
h = ((h << 5) + h) + c;
|
h = ((h << 5) + h) ^ c;
|
||||||
}
|
}
|
||||||
return h % n;
|
return h % n;
|
||||||
}
|
}
|
||||||
@@ -1070,7 +1069,7 @@ int mj_name2id(const mjModel* m, int type, const char* name) {
|
|||||||
|
|
||||||
// search
|
// search
|
||||||
if (num) { // look up at hash address
|
if (num) { // look up at hash address
|
||||||
uint64_t hash = mj_hashdjb2(name, num);
|
uint64_t hash = mj_hashString(name, num);
|
||||||
uint64_t i = hash;
|
uint64_t i = hash;
|
||||||
|
|
||||||
do {
|
do {
|
||||||
|
|||||||
@@ -114,7 +114,7 @@ MJAPI void mj_angmomMat(const mjModel* m, mjData* d, mjtNum* mat, int body);
|
|||||||
//-------------------------- name functions --------------------------------------------------------
|
//-------------------------- name functions --------------------------------------------------------
|
||||||
|
|
||||||
// get string hash, see http://www.cse.yorku.ca/~oz/hash.html
|
// get string hash, see http://www.cse.yorku.ca/~oz/hash.html
|
||||||
uint64_t mj_hashdjb2(const char* s, uint64_t n);
|
uint64_t mj_hashString(const char* s, uint64_t n);
|
||||||
|
|
||||||
// get id of object with the specified mjtObj type and name, returns -1 if id not found
|
// get id of object with the specified mjtObj type and name, returns -1 if id not found
|
||||||
MJAPI int mj_name2id(const mjModel* m, int type, const char* name);
|
MJAPI int mj_name2id(const mjModel* m, int type, const char* name);
|
||||||
|
|||||||
@@ -180,6 +180,51 @@ void mju_rotVecMatT(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]) {
|
|||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
// multiply 3x3 matrices,
|
||||||
|
void mju_mulMatMat3(mjtNum res[9], const mjtNum a[9], const mjtNum b[9]) {
|
||||||
|
res[0] = a[0]*b[0] + a[1]*b[3] + a[2]*b[6];
|
||||||
|
res[1] = a[0]*b[1] + a[1]*b[4] + a[2]*b[7];
|
||||||
|
res[2] = a[0]*b[2] + a[1]*b[5] + a[2]*b[8];
|
||||||
|
res[3] = a[3]*b[0] + a[4]*b[3] + a[5]*b[6];
|
||||||
|
res[4] = a[3]*b[1] + a[4]*b[4] + a[5]*b[7];
|
||||||
|
res[5] = a[3]*b[2] + a[4]*b[5] + a[5]*b[8];
|
||||||
|
res[6] = a[6]*b[0] + a[7]*b[3] + a[8]*b[6];
|
||||||
|
res[7] = a[6]*b[1] + a[7]*b[4] + a[8]*b[7];
|
||||||
|
res[8] = a[6]*b[2] + a[7]*b[5] + a[8]*b[8];
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
// multiply 3x3 matrices, first argument transposed
|
||||||
|
void mju_mulMatTMat3(mjtNum res[9], const mjtNum a[9], const mjtNum b[9]) {
|
||||||
|
res[0] = a[0]*b[0] + a[3]*b[3] + a[6]*b[6];
|
||||||
|
res[1] = a[0]*b[1] + a[3]*b[4] + a[6]*b[7];
|
||||||
|
res[2] = a[0]*b[2] + a[3]*b[5] + a[6]*b[8];
|
||||||
|
res[3] = a[1]*b[0] + a[4]*b[3] + a[7]*b[6];
|
||||||
|
res[4] = a[1]*b[1] + a[4]*b[4] + a[7]*b[7];
|
||||||
|
res[5] = a[1]*b[2] + a[4]*b[5] + a[7]*b[8];
|
||||||
|
res[6] = a[2]*b[0] + a[5]*b[3] + a[8]*b[6];
|
||||||
|
res[7] = a[2]*b[1] + a[5]*b[4] + a[8]*b[7];
|
||||||
|
res[8] = a[2]*b[2] + a[5]*b[5] + a[8]*b[8];
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
// multiply 3x3 matrices, second argument transposed
|
||||||
|
void mju_mulMatMatT3(mjtNum res[9], const mjtNum a[9], const mjtNum b[9]) {
|
||||||
|
res[0] = a[0]*b[0] + a[1]*b[1] + a[2]*b[2];
|
||||||
|
res[1] = a[0]*b[3] + a[1]*b[4] + a[2]*b[5];
|
||||||
|
res[2] = a[0]*b[6] + a[1]*b[7] + a[2]*b[8];
|
||||||
|
res[3] = a[3]*b[0] + a[4]*b[1] + a[5]*b[2];
|
||||||
|
res[4] = a[3]*b[3] + a[4]*b[4] + a[5]*b[5];
|
||||||
|
res[5] = a[3]*b[6] + a[4]*b[7] + a[5]*b[8];
|
||||||
|
res[6] = a[6]*b[0] + a[7]*b[1] + a[8]*b[2];
|
||||||
|
res[7] = a[6]*b[3] + a[7]*b[4] + a[8]*b[5];
|
||||||
|
res[8] = a[6]*b[6] + a[7]*b[7] + a[8]*b[8];
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
//------------------------------ 4D vector and matrix-vector operations ----------------------------
|
//------------------------------ 4D vector and matrix-vector operations ----------------------------
|
||||||
|
|
||||||
// res = 0
|
// res = 0
|
||||||
|
|||||||
@@ -109,6 +109,14 @@ MJAPI void mju_rotVecMat(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]
|
|||||||
// multiply vector by transposed 3D rotation matrix
|
// multiply vector by transposed 3D rotation matrix
|
||||||
MJAPI void mju_rotVecMatT(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]);
|
MJAPI void mju_rotVecMatT(mjtNum res[3], const mjtNum vec[3], const mjtNum mat[9]);
|
||||||
|
|
||||||
|
// multiply 3x3 matrices
|
||||||
|
MJAPI void mju_mulMatMat3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9]);
|
||||||
|
|
||||||
|
// multiply 3x3 matrices, first argument transposed
|
||||||
|
MJAPI void mju_mulMatTMat3(mjtNum res[9], const mjtNum a[9], const mjtNum b[9]);
|
||||||
|
|
||||||
|
// multiply 3x3 matrices, second argument transposed
|
||||||
|
MJAPI void mju_mulMatMatT3(mjtNum res[9], const mjtNum mat1[9], const mjtNum mat2[9]);
|
||||||
|
|
||||||
//------------------------------ 4D/quaternion operations ------------------------------------------
|
//------------------------------ 4D/quaternion operations ------------------------------------------
|
||||||
|
|
||||||
|
|||||||
@@ -639,7 +639,7 @@ static uint32_t _decode(char ch) {
|
|||||||
// returns number of chars written in buf: 4 * [(ndata + 2) / 3] + 1
|
// returns number of chars written in buf: 4 * [(ndata + 2) / 3] + 1
|
||||||
size_t mju_encodeBase64(char* buf, const uint8_t* data, size_t ndata) {
|
size_t mju_encodeBase64(char* buf, const uint8_t* data, size_t ndata) {
|
||||||
static const char *table =
|
static const char *table =
|
||||||
"ABCDEFGHIJKLMNOPQRSTUBWXYZabcdefghijklmnopqrstuvwxyz0123456789+/";
|
"ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/";
|
||||||
|
|
||||||
int i = 0, j = 0;
|
int i = 0, j = 0;
|
||||||
|
|
||||||
|
|||||||
@@ -721,8 +721,8 @@ int mju_eig3(mjtNum eigval[3], mjtNum eigvec[9], mjtNum quat[4], const mjtNum ma
|
|||||||
for (iter=0; iter < 500; iter++) {
|
for (iter=0; iter < 500; iter++) {
|
||||||
// make quaternion matrix eigvec, compute D = eigvec'*mat*eigvec
|
// make quaternion matrix eigvec, compute D = eigvec'*mat*eigvec
|
||||||
mju_quat2Mat(eigvec, quat);
|
mju_quat2Mat(eigvec, quat);
|
||||||
mju_mulMatTMat(tmp, eigvec, mat, 3, 3, 3);
|
mju_mulMatTMat3(tmp, eigvec, mat);
|
||||||
mju_mulMatMat(D, tmp, eigvec, 3, 3, 3);
|
mju_mulMatMat3(D, tmp, eigvec);
|
||||||
|
|
||||||
// assign eigenvalues
|
// assign eigenvalues
|
||||||
eigval[0] = D[0];
|
eigval[0] = D[0];
|
||||||
|
|||||||
+24
-1
@@ -347,6 +347,29 @@ static void vfs_getdir_callback(mjResource* resource, const char** dir, int* ndi
|
|||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
// modified callback for the VFS resource provider
|
||||||
|
// return > 0 if modified and 0 if unmodified
|
||||||
|
static int vfs_modified_callback(const mjResource* resource, const char* timestamp) {
|
||||||
|
uint64_t filestamp;
|
||||||
|
if (mju_isValidBase64(timestamp) > sizeof(uint64_t)) {
|
||||||
|
return 2; // error (assume modified)
|
||||||
|
}
|
||||||
|
|
||||||
|
mju_decodeBase64((uint8_t*) &filestamp, timestamp);
|
||||||
|
if (!filestamp) return 3; // no hash (assume modified)
|
||||||
|
|
||||||
|
if (resource) {
|
||||||
|
const mjVFS* vfs = (const mjVFS*) resource->data;
|
||||||
|
int i = mj_findFileVFS(vfs, resource->name);
|
||||||
|
if (i < 0) return 4; // missing file (assume modified)
|
||||||
|
if (!vfs->filestamp[i]) return 5; // missing filestamp (assume modified)
|
||||||
|
|
||||||
|
if (vfs->filestamp[i] == filestamp) {
|
||||||
|
return 0; // unmodified
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return 1; // modified
|
||||||
|
}
|
||||||
|
|
||||||
// open VFS resource
|
// open VFS resource
|
||||||
mjResource* mju_openVfsResource(const char* name, const mjVFS* vfs) {
|
mjResource* mju_openVfsResource(const char* name, const mjVFS* vfs) {
|
||||||
@@ -362,7 +385,7 @@ mjResource* mju_openVfsResource(const char* name, const mjVFS* vfs) {
|
|||||||
.read = &vfs_read_callback,
|
.read = &vfs_read_callback,
|
||||||
.close = &vfs_close_callback,
|
.close = &vfs_close_callback,
|
||||||
.getdir = &vfs_getdir_callback,
|
.getdir = &vfs_getdir_callback,
|
||||||
.modified = NULL
|
.modified = &vfs_modified_callback,
|
||||||
};
|
};
|
||||||
|
|
||||||
// create resource
|
// create resource
|
||||||
|
|||||||
@@ -15,6 +15,8 @@
|
|||||||
set(MUJOCO_USER_SRCS
|
set(MUJOCO_USER_SRCS
|
||||||
user_api.cc
|
user_api.cc
|
||||||
user_api.h
|
user_api.h
|
||||||
|
user_cache.cc
|
||||||
|
user_cache.h
|
||||||
user_composite.cc
|
user_composite.cc
|
||||||
user_composite.h
|
user_composite.h
|
||||||
user_flexcomp.cc
|
user_flexcomp.cc
|
||||||
|
|||||||
+204
-136
@@ -13,80 +13,121 @@
|
|||||||
// limitations under the License.
|
// limitations under the License.
|
||||||
|
|
||||||
#include "user/user_api.h"
|
#include "user/user_api.h"
|
||||||
|
|
||||||
|
#include <cstddef>
|
||||||
#include <functional>
|
#include <functional>
|
||||||
#include <map>
|
#include <map>
|
||||||
|
#include <new>
|
||||||
#include <string>
|
#include <string>
|
||||||
|
#include <string_view>
|
||||||
#include <utility>
|
#include <utility>
|
||||||
#include <vector>
|
#include <vector>
|
||||||
|
|
||||||
#include <mujoco/mujoco.h>
|
#include <mujoco/mujoco.h>
|
||||||
#include "user/user_model.h"
|
#include "user/user_model.h"
|
||||||
#include "user/user_objects.h"
|
#include "user/user_objects.h"
|
||||||
|
#include "user/user_cache.h"
|
||||||
#include "xml/xml_util.h"
|
#include "xml/xml_util.h"
|
||||||
|
|
||||||
|
|
||||||
|
// prepend prefix
|
||||||
|
template <typename T>
|
||||||
|
static T& operator+(std::string_view prefix, T& base) {
|
||||||
|
base.prefix = std::string(prefix);
|
||||||
|
return base;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
// append suffix
|
||||||
|
template <typename T>
|
||||||
|
static T& operator+(T& base, std::string_view suffix) {
|
||||||
|
base.suffix = std::string(suffix);
|
||||||
|
return base;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// create model
|
// create model
|
||||||
mjSpec* mjm_createSpec() {
|
mjSpec* mjs_createSpec() {
|
||||||
mjCModel* modelC = new mjCModel;
|
mjCModel* modelC = new mjCModel;
|
||||||
return &modelC->spec;
|
return &modelC->spec;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
// copy model
|
||||||
|
mjSpec* mjs_copySpec(const mjSpec* s) {
|
||||||
|
mjCModel* modelC = new mjCModel(*static_cast<mjCModel*>(s->element));
|
||||||
|
return &modelC->spec;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// copy back model
|
// copy back model
|
||||||
void mjm_copyBack(mjSpec* s, const mjModel* m) {
|
void mjs_copyBack(mjSpec* s, const mjModel* m) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
modelC->CopyBack(m);
|
modelC->CopyBack(m);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// compile model
|
// compile model
|
||||||
mjModel* mjm_compile(mjSpec* s, const mjVFS* vfs) {
|
mjModel* mjs_compile(mjSpec* s, const mjVFS* vfs) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
return modelC->Compile(vfs);
|
return modelC->Compile(vfs);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
// attach body to a frame of the parent
|
||||||
|
int mjs_attachBody(mjsFrame* parent, const mjsBody* child,
|
||||||
|
const char* prefix, const char* suffix) {
|
||||||
|
mjCFrame* frame_parent = static_cast<mjCFrame*>(parent->element);
|
||||||
|
mjCBody* child_body = static_cast<mjCBody*>(child->element);
|
||||||
|
*frame_parent += std::string(prefix) + *child_body + std::string(suffix);
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// get error message from model
|
// get error message from model
|
||||||
const char* mjm_getError(mjSpec* s) {
|
const char* mjs_getError(mjSpec* s) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
return modelC->GetError().message;
|
return modelC->GetError().message;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// check if model has warnings
|
// check if model has warnings
|
||||||
int mjm_isWarning(mjSpec* s) {
|
int mjs_isWarning(mjSpec* s) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
return modelC->GetError().warning;
|
return modelC->GetError().warning;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// delete model
|
// delete model
|
||||||
void mjm_deleteSpec(mjSpec* s) {
|
void mjs_deleteSpec(mjSpec* s) {
|
||||||
mjCModel* model = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* model = static_cast<mjCModel*>(s->element);
|
||||||
delete model;
|
delete model;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// add child body to body, return child spec
|
// add child body to body, return child spec
|
||||||
mjmBody* mjm_addBody(mjmBody* bodyspec, mjmDefault* defspec) {
|
mjsBody* mjs_addBody(mjsBody* bodyspec, mjsDefault* defspec) {
|
||||||
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
|
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
|
||||||
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element)->AddBody(def);
|
mjCBody* body = static_cast<mjCBody*>(bodyspec->element)->AddBody(def);
|
||||||
return &body->spec;
|
return &body->spec;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// add site to body, return site spec
|
// add site to body, return site spec
|
||||||
mjmSite* mjm_addSite(mjmBody* bodyspec, mjmDefault* defspec) {
|
mjsSite* mjs_addSite(mjsBody* bodyspec, mjsDefault* defspec) {
|
||||||
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
|
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
|
||||||
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
|
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
|
||||||
mjCSite* site = body->AddSite(def);
|
mjCSite* site = body->AddSite(def);
|
||||||
return &site->spec;
|
return &site->spec;
|
||||||
}
|
}
|
||||||
@@ -94,9 +135,9 @@ mjmSite* mjm_addSite(mjmBody* bodyspec, mjmDefault* defspec) {
|
|||||||
|
|
||||||
|
|
||||||
// add joint to body
|
// add joint to body
|
||||||
mjmJoint* mjm_addJoint(mjmBody* bodyspec, mjmDefault* defspec) {
|
mjsJoint* mjs_addJoint(mjsBody* bodyspec, mjsDefault* defspec) {
|
||||||
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
|
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
|
||||||
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
|
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
|
||||||
mjCJoint* joint = body->AddJoint(def);
|
mjCJoint* joint = body->AddJoint(def);
|
||||||
return &joint->spec;
|
return &joint->spec;
|
||||||
}
|
}
|
||||||
@@ -104,8 +145,8 @@ mjmJoint* mjm_addJoint(mjmBody* bodyspec, mjmDefault* defspec) {
|
|||||||
|
|
||||||
|
|
||||||
// add free joint to body
|
// add free joint to body
|
||||||
mjmJoint* mjm_addFreeJoint(mjmBody* bodyspec) {
|
mjsJoint* mjs_addFreeJoint(mjsBody* bodyspec) {
|
||||||
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
|
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
|
||||||
mjCJoint* joint = body->AddFreeJoint();
|
mjCJoint* joint = body->AddFreeJoint();
|
||||||
return &joint->spec;
|
return &joint->spec;
|
||||||
}
|
}
|
||||||
@@ -113,9 +154,9 @@ mjmJoint* mjm_addFreeJoint(mjmBody* bodyspec) {
|
|||||||
|
|
||||||
|
|
||||||
// add geom to body
|
// add geom to body
|
||||||
mjmGeom* mjm_addGeom(mjmBody* bodyspec, mjmDefault* defspec) {
|
mjsGeom* mjs_addGeom(mjsBody* bodyspec, mjsDefault* defspec) {
|
||||||
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
|
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
|
||||||
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
|
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
|
||||||
mjCGeom* geom = body->AddGeom(def);
|
mjCGeom* geom = body->AddGeom(def);
|
||||||
return &geom->spec;
|
return &geom->spec;
|
||||||
}
|
}
|
||||||
@@ -123,9 +164,9 @@ mjmGeom* mjm_addGeom(mjmBody* bodyspec, mjmDefault* defspec) {
|
|||||||
|
|
||||||
|
|
||||||
// add camera to body
|
// add camera to body
|
||||||
mjmCamera* mjm_addCamera(mjmBody* bodyspec, mjmDefault* defspec) {
|
mjsCamera* mjs_addCamera(mjsBody* bodyspec, mjsDefault* defspec) {
|
||||||
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
|
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
|
||||||
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
|
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
|
||||||
mjCCamera* camera = body->AddCamera(def);
|
mjCCamera* camera = body->AddCamera(def);
|
||||||
return &camera->spec;
|
return &camera->spec;
|
||||||
}
|
}
|
||||||
@@ -133,9 +174,9 @@ mjmCamera* mjm_addCamera(mjmBody* bodyspec, mjmDefault* defspec) {
|
|||||||
|
|
||||||
|
|
||||||
// add light to body
|
// add light to body
|
||||||
mjmLight* mjm_addLight(mjmBody* bodyspec, mjmDefault* defspec) {
|
mjsLight* mjs_addLight(mjsBody* bodyspec, mjsDefault* defspec) {
|
||||||
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
|
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
|
||||||
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
|
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
|
||||||
mjCLight* light = body->AddLight(def);
|
mjCLight* light = body->AddLight(def);
|
||||||
return &light->spec;
|
return &light->spec;
|
||||||
}
|
}
|
||||||
@@ -143,8 +184,8 @@ mjmLight* mjm_addLight(mjmBody* bodyspec, mjmDefault* defspec) {
|
|||||||
|
|
||||||
|
|
||||||
// add flex to model
|
// add flex to model
|
||||||
mjmFlex* mjm_addFlex(mjSpec* s) {
|
mjsFlex* mjs_addFlex(mjSpec* s) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
mjCFlex* flex = modelC->AddFlex();
|
mjCFlex* flex = modelC->AddFlex();
|
||||||
return &flex->spec;
|
return &flex->spec;
|
||||||
}
|
}
|
||||||
@@ -152,22 +193,23 @@ mjmFlex* mjm_addFlex(mjSpec* s) {
|
|||||||
|
|
||||||
|
|
||||||
// add frame to body
|
// add frame to body
|
||||||
mjmFrame* mjm_addFrame(mjmBody* bodyspec, mjmFrame* parentframe) {
|
mjsFrame* mjs_addFrame(mjsBody* bodyspec, mjsFrame* parentframe) {
|
||||||
mjCFrame* parentframeC = 0;
|
mjCFrame* parentframeC = 0;
|
||||||
if (parentframe) {
|
if (parentframe) {
|
||||||
parentframeC = reinterpret_cast<mjCFrame*>(parentframe->element);
|
parentframeC = static_cast<mjCFrame*>(parentframe->element);
|
||||||
}
|
}
|
||||||
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
|
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
|
||||||
mjCFrame* frameC = body->AddFrame(parentframeC);
|
mjCFrame* frameC = body->AddFrame(parentframeC);
|
||||||
|
frameC->SetParent(body);
|
||||||
return &frameC->spec;
|
return &frameC->spec;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// add mesh to model
|
// add mesh to model
|
||||||
mjmMesh* mjm_addMesh(mjSpec* s, mjmDefault* defspec) {
|
mjsMesh* mjs_addMesh(mjSpec* s, mjsDefault* defspec) {
|
||||||
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
|
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
mjCMesh* mesh = modelC->AddMesh(def);
|
mjCMesh* mesh = modelC->AddMesh(def);
|
||||||
return &mesh->spec;
|
return &mesh->spec;
|
||||||
}
|
}
|
||||||
@@ -175,8 +217,8 @@ mjmMesh* mjm_addMesh(mjSpec* s, mjmDefault* defspec) {
|
|||||||
|
|
||||||
|
|
||||||
// add height field to model
|
// add height field to model
|
||||||
mjmHField* mjm_addHField(mjSpec* s) {
|
mjsHField* mjs_addHField(mjSpec* s) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
mjCHField* heightField = modelC->AddHField();
|
mjCHField* heightField = modelC->AddHField();
|
||||||
return &heightField->spec;
|
return &heightField->spec;
|
||||||
}
|
}
|
||||||
@@ -184,8 +226,8 @@ mjmHField* mjm_addHField(mjSpec* s) {
|
|||||||
|
|
||||||
|
|
||||||
// add skin to model
|
// add skin to model
|
||||||
mjmSkin* mjm_addSkin(mjSpec* s) {
|
mjsSkin* mjs_addSkin(mjSpec* s) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
mjCSkin* skin = modelC->AddSkin();
|
mjCSkin* skin = modelC->AddSkin();
|
||||||
return &skin->spec;
|
return &skin->spec;
|
||||||
}
|
}
|
||||||
@@ -193,8 +235,8 @@ mjmSkin* mjm_addSkin(mjSpec* s) {
|
|||||||
|
|
||||||
|
|
||||||
// add texture to model
|
// add texture to model
|
||||||
mjmTexture* mjm_addTexture(mjSpec* s) {
|
mjsTexture* mjs_addTexture(mjSpec* s) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
mjCTexture* texture = modelC->AddTexture();
|
mjCTexture* texture = modelC->AddTexture();
|
||||||
return &texture->spec;
|
return &texture->spec;
|
||||||
}
|
}
|
||||||
@@ -202,9 +244,9 @@ mjmTexture* mjm_addTexture(mjSpec* s) {
|
|||||||
|
|
||||||
|
|
||||||
// add material to model
|
// add material to model
|
||||||
mjmMaterial* mjm_addMaterial(mjSpec* s, mjmDefault* defspec) {
|
mjsMaterial* mjs_addMaterial(mjSpec* s, mjsDefault* defspec) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
|
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
|
||||||
mjCMaterial* material = modelC->AddMaterial(def);
|
mjCMaterial* material = modelC->AddMaterial(def);
|
||||||
return &material->spec;
|
return &material->spec;
|
||||||
}
|
}
|
||||||
@@ -212,9 +254,9 @@ mjmMaterial* mjm_addMaterial(mjSpec* s, mjmDefault* defspec) {
|
|||||||
|
|
||||||
|
|
||||||
// add pair to model
|
// add pair to model
|
||||||
mjmPair* mjm_addPair(mjSpec* s, mjmDefault* defspec) {
|
mjsPair* mjs_addPair(mjSpec* s, mjsDefault* defspec) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
|
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
|
||||||
mjCPair* pair = modelC->AddPair(def);
|
mjCPair* pair = modelC->AddPair(def);
|
||||||
return &pair->spec;
|
return &pair->spec;
|
||||||
}
|
}
|
||||||
@@ -222,8 +264,8 @@ mjmPair* mjm_addPair(mjSpec* s, mjmDefault* defspec) {
|
|||||||
|
|
||||||
|
|
||||||
// add pair exclusion to model
|
// add pair exclusion to model
|
||||||
mjmExclude* mjm_addExclude(mjSpec* s) {
|
mjsExclude* mjs_addExclude(mjSpec* s) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
mjCBodyPair* bodypair = modelC->AddExclude();
|
mjCBodyPair* bodypair = modelC->AddExclude();
|
||||||
return &bodypair->spec;
|
return &bodypair->spec;
|
||||||
}
|
}
|
||||||
@@ -231,9 +273,9 @@ mjmExclude* mjm_addExclude(mjSpec* s) {
|
|||||||
|
|
||||||
|
|
||||||
// add equality to model
|
// add equality to model
|
||||||
mjmEquality* mjm_addEquality(mjSpec* s, mjmDefault* defspec) {
|
mjsEquality* mjs_addEquality(mjSpec* s, mjsDefault* defspec) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
|
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
|
||||||
mjCEquality* equality = modelC->AddEquality(def);
|
mjCEquality* equality = modelC->AddEquality(def);
|
||||||
return &equality->spec;
|
return &equality->spec;
|
||||||
}
|
}
|
||||||
@@ -241,9 +283,9 @@ mjmEquality* mjm_addEquality(mjSpec* s, mjmDefault* defspec) {
|
|||||||
|
|
||||||
|
|
||||||
// add tendon to model
|
// add tendon to model
|
||||||
mjmTendon* mjm_addTendon(mjSpec* s, mjmDefault* defspec) {
|
mjsTendon* mjs_addTendon(mjSpec* s, mjsDefault* defspec) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
|
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
|
||||||
mjCTendon* tendon = modelC->AddTendon(def);
|
mjCTendon* tendon = modelC->AddTendon(def);
|
||||||
return &tendon->spec;
|
return &tendon->spec;
|
||||||
}
|
}
|
||||||
@@ -251,8 +293,8 @@ mjmTendon* mjm_addTendon(mjSpec* s, mjmDefault* defspec) {
|
|||||||
|
|
||||||
|
|
||||||
// wrap site using tendon
|
// wrap site using tendon
|
||||||
MJAPI mjmWrap* mjm_wrapSite(mjmTendon* tendonspec, const char* name) {
|
MJAPI mjsWrap* mjs_wrapSite(mjsTendon* tendonspec, const char* name) {
|
||||||
mjCTendon* tendon = reinterpret_cast<mjCTendon*>(tendonspec->element);
|
mjCTendon* tendon = static_cast<mjCTendon*>(tendonspec->element);
|
||||||
tendon->WrapSite(name);
|
tendon->WrapSite(name);
|
||||||
return &tendon->path.back()->spec;
|
return &tendon->path.back()->spec;
|
||||||
}
|
}
|
||||||
@@ -260,8 +302,8 @@ MJAPI mjmWrap* mjm_wrapSite(mjmTendon* tendonspec, const char* name) {
|
|||||||
|
|
||||||
|
|
||||||
// wrap geom using tendon
|
// wrap geom using tendon
|
||||||
mjmWrap* mjm_wrapGeom(mjmTendon* tendonspec, const char* name, const char* sidesite) {
|
mjsWrap* mjs_wrapGeom(mjsTendon* tendonspec, const char* name, const char* sidesite) {
|
||||||
mjCTendon* tendon = reinterpret_cast<mjCTendon*>(tendonspec->element);
|
mjCTendon* tendon = static_cast<mjCTendon*>(tendonspec->element);
|
||||||
tendon->WrapGeom(name, sidesite);
|
tendon->WrapGeom(name, sidesite);
|
||||||
return &tendon->path.back()->spec;
|
return &tendon->path.back()->spec;
|
||||||
}
|
}
|
||||||
@@ -269,8 +311,8 @@ mjmWrap* mjm_wrapGeom(mjmTendon* tendonspec, const char* name, const char* sides
|
|||||||
|
|
||||||
|
|
||||||
// wrap joint using tendon
|
// wrap joint using tendon
|
||||||
mjmWrap* mjm_wrapJoint(mjmTendon* tendonspec, const char* name, double coef) {
|
mjsWrap* mjs_wrapJoint(mjsTendon* tendonspec, const char* name, double coef) {
|
||||||
mjCTendon* tendon = reinterpret_cast<mjCTendon*>(tendonspec->element);
|
mjCTendon* tendon = static_cast<mjCTendon*>(tendonspec->element);
|
||||||
tendon->WrapJoint(name, coef);
|
tendon->WrapJoint(name, coef);
|
||||||
return &tendon->path.back()->spec;
|
return &tendon->path.back()->spec;
|
||||||
}
|
}
|
||||||
@@ -278,8 +320,8 @@ mjmWrap* mjm_wrapJoint(mjmTendon* tendonspec, const char* name, double coef) {
|
|||||||
|
|
||||||
|
|
||||||
// wrap pulley using tendon
|
// wrap pulley using tendon
|
||||||
mjmWrap* mjm_wrapPulley(mjmTendon* tendonspec, double divisor) {
|
mjsWrap* mjs_wrapPulley(mjsTendon* tendonspec, double divisor) {
|
||||||
mjCTendon* tendon = reinterpret_cast<mjCTendon*>(tendonspec->element);
|
mjCTendon* tendon = static_cast<mjCTendon*>(tendonspec->element);
|
||||||
tendon->WrapPulley(divisor);
|
tendon->WrapPulley(divisor);
|
||||||
return &tendon->path.back()->spec;
|
return &tendon->path.back()->spec;
|
||||||
}
|
}
|
||||||
@@ -287,9 +329,9 @@ mjmWrap* mjm_wrapPulley(mjmTendon* tendonspec, double divisor) {
|
|||||||
|
|
||||||
|
|
||||||
// add actuator to model
|
// add actuator to model
|
||||||
mjmActuator* mjm_addActuator(mjSpec* s, mjmDefault* defspec) {
|
mjsActuator* mjs_addActuator(mjSpec* s, mjsDefault* defspec) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
mjCDef* def = defspec ? reinterpret_cast<mjCDef*>(defspec->element) : 0;
|
mjCDef* def = defspec ? static_cast<mjCDef*>(defspec->element) : 0;
|
||||||
mjCActuator* actuator = modelC->AddActuator(def);
|
mjCActuator* actuator = modelC->AddActuator(def);
|
||||||
return &actuator->spec;
|
return &actuator->spec;
|
||||||
}
|
}
|
||||||
@@ -297,8 +339,8 @@ mjmActuator* mjm_addActuator(mjSpec* s, mjmDefault* defspec) {
|
|||||||
|
|
||||||
|
|
||||||
// add sensor to model
|
// add sensor to model
|
||||||
mjmSensor* mjm_addSensor(mjSpec* s) {
|
mjsSensor* mjs_addSensor(mjSpec* s) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
mjCSensor* sensor = modelC->AddSensor();
|
mjCSensor* sensor = modelC->AddSensor();
|
||||||
return &sensor->spec;
|
return &sensor->spec;
|
||||||
}
|
}
|
||||||
@@ -306,8 +348,8 @@ mjmSensor* mjm_addSensor(mjSpec* s) {
|
|||||||
|
|
||||||
|
|
||||||
// add numeric to model
|
// add numeric to model
|
||||||
mjmNumeric* mjm_addNumeric(mjSpec* s) {
|
mjsNumeric* mjs_addNumeric(mjSpec* s) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
mjCNumeric* numeric = modelC->AddNumeric();
|
mjCNumeric* numeric = modelC->AddNumeric();
|
||||||
return &numeric->spec;
|
return &numeric->spec;
|
||||||
}
|
}
|
||||||
@@ -315,8 +357,8 @@ mjmNumeric* mjm_addNumeric(mjSpec* s) {
|
|||||||
|
|
||||||
|
|
||||||
// add text to model
|
// add text to model
|
||||||
mjmText* mjm_addText(mjSpec* s) {
|
mjsText* mjs_addText(mjSpec* s) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
mjCText* text = modelC->AddText();
|
mjCText* text = modelC->AddText();
|
||||||
return &text->spec;
|
return &text->spec;
|
||||||
}
|
}
|
||||||
@@ -324,8 +366,8 @@ mjmText* mjm_addText(mjSpec* s) {
|
|||||||
|
|
||||||
|
|
||||||
// add tuple to model
|
// add tuple to model
|
||||||
mjmTuple* mjm_addTuple(mjSpec* s) {
|
mjsTuple* mjs_addTuple(mjSpec* s) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
mjCTuple* tuple = modelC->AddTuple();
|
mjCTuple* tuple = modelC->AddTuple();
|
||||||
return &tuple->spec;
|
return &tuple->spec;
|
||||||
}
|
}
|
||||||
@@ -333,8 +375,8 @@ mjmTuple* mjm_addTuple(mjSpec* s) {
|
|||||||
|
|
||||||
|
|
||||||
// add keyframe to model
|
// add keyframe to model
|
||||||
mjmKey* mjm_addKey(mjSpec* s) {
|
mjsKey* mjs_addKey(mjSpec* s) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
mjCKey* key = modelC->AddKey();
|
mjCKey* key = modelC->AddKey();
|
||||||
return &key->spec;
|
return &key->spec;
|
||||||
}
|
}
|
||||||
@@ -342,18 +384,18 @@ mjmKey* mjm_addKey(mjSpec* s) {
|
|||||||
|
|
||||||
|
|
||||||
// add plugin to model
|
// add plugin to model
|
||||||
mjmPlugin* mjm_addPlugin(mjSpec* s) {
|
mjsPlugin* mjs_addPlugin(mjSpec* s) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
mjCPlugin* plugin = modelC->AddPlugin();
|
mjCPlugin* plugin = modelC->AddPlugin();
|
||||||
plugin->spec.instance = (mjElement)plugin;
|
plugin->spec.instance = static_cast<mjElement*>(plugin);
|
||||||
return &plugin->spec;
|
return &plugin->spec;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// add default to model
|
// add default to model
|
||||||
mjmDefault* mjm_addDefault(mjSpec* s, const char* classname, int parentid, int* id) {
|
mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, int parentid, int* id) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
*id = (int)modelC->defaults.size();
|
*id = (int)modelC->defaults.size();
|
||||||
mjCDef* def = modelC->AddDef(classname, parentid);
|
mjCDef* def = modelC->AddDef(classname, parentid);
|
||||||
if (def) {
|
if (def) {
|
||||||
@@ -366,22 +408,22 @@ mjmDefault* mjm_addDefault(mjSpec* s, const char* classname, int parentid, int*
|
|||||||
|
|
||||||
|
|
||||||
// get objects
|
// get objects
|
||||||
mjSpec* mjm_getSpec(mjmBody* body) {
|
mjSpec* mjs_getSpec(mjsBody* body) {
|
||||||
return &(reinterpret_cast<mjCBody*>(body->element)->model->spec);
|
return &(static_cast<mjCBody*>(body->element)->model->spec);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// get default
|
// get default
|
||||||
mjmDefault* mjm_getDefault(mjElement element) {
|
mjsDefault* mjs_getDefault(mjElement* element) {
|
||||||
return &(reinterpret_cast<mjCBase*>(element)->def->spec);
|
return &(static_cast<mjCBase*>(element)->def->spec);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// Find default with given name in model.
|
// Find default with given name in model.
|
||||||
mjmDefault* mjm_findDefault(mjSpec* s, const char* classname) {
|
mjsDefault* mjs_findDefault(mjSpec* s, const char* classname) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
mjCDef* cdef = modelC->FindDef(classname);
|
mjCDef* cdef = modelC->FindDef(classname);
|
||||||
if (!cdef) {
|
if (!cdef) {
|
||||||
return nullptr;
|
return nullptr;
|
||||||
@@ -392,8 +434,8 @@ mjmDefault* mjm_findDefault(mjSpec* s, const char* classname) {
|
|||||||
|
|
||||||
|
|
||||||
// get default[0] from model
|
// get default[0] from model
|
||||||
mjmDefault* mjm_getSpecDefault(mjSpec* s) {
|
mjsDefault* mjs_getSpecDefault(mjSpec* s) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
mjCDef* def = modelC->defaults[0];
|
mjCDef* def = modelC->defaults[0];
|
||||||
if (!def) {
|
if (!def) {
|
||||||
return nullptr;
|
return nullptr;
|
||||||
@@ -404,70 +446,83 @@ mjmDefault* mjm_getSpecDefault(mjSpec* s) {
|
|||||||
|
|
||||||
|
|
||||||
// find body in model by name
|
// find body in model by name
|
||||||
mjmBody* mjm_findBody(mjSpec* s, const char* name) {
|
mjsBody* mjs_findBody(mjSpec* s, const char* name) {
|
||||||
mjCModel* model = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* model = static_cast<mjCModel*>(s->element);
|
||||||
mjCBase* body = model->FindObject(mjOBJ_BODY, std::string(name));
|
mjCBase* body = 0;
|
||||||
if (!body) {
|
if (model->IsCompiled()) {
|
||||||
return 0;
|
body = model->FindObject(mjOBJ_BODY, std::string(name)); // fast lookup
|
||||||
|
} else {
|
||||||
|
body = model->FindBody(model->GetWorld(), std::string(name)); // recursive search
|
||||||
}
|
}
|
||||||
return &(static_cast<mjCBody*>(body)->spec);
|
return body ? &(static_cast<mjCBody*>(body)->spec) : nullptr;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// find child of a body by name
|
// find child of a body by name
|
||||||
mjmBody* mjm_findChild(mjmBody* bodyspec, const char* name) {
|
mjsBody* mjs_findChild(mjsBody* bodyspec, const char* name) {
|
||||||
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
|
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
|
||||||
mjCBase* child = body->FindObject(mjOBJ_BODY, std::string(name));
|
mjCBase* child = body->FindObject(mjOBJ_BODY, std::string(name));
|
||||||
if (!child) {
|
return child ? &(static_cast<mjCBody*>(child)->spec) : nullptr;
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
return &(static_cast<mjCBody*>(child)->spec);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// find mesh by name
|
// find mesh by name
|
||||||
mjmMesh* mjm_findMesh(mjSpec* s, const char* name) {
|
mjsMesh* mjs_findMesh(mjSpec* s, const char* name) {
|
||||||
mjCModel* model = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* model = static_cast<mjCModel*>(s->element);
|
||||||
mjCMesh* mesh = (mjCMesh*)model->FindObject(mjOBJ_MESH, std::string(name));
|
mjCMesh* mesh = (mjCMesh*)model->FindObject(mjOBJ_MESH, std::string(name));
|
||||||
if (!mesh) {
|
return mesh ? &(static_cast<mjCMesh*>(mesh)->spec) : nullptr;
|
||||||
return nullptr;
|
|
||||||
}
|
}
|
||||||
return &(static_cast<mjCMesh*>(mesh)->spec);
|
|
||||||
|
|
||||||
|
|
||||||
|
// find frame by name
|
||||||
|
mjsFrame* mjs_findFrame(mjSpec* s, const char* name) {
|
||||||
|
mjCModel* model = static_cast<mjCModel*>(s->element);
|
||||||
|
mjCFrame* frame = (mjCFrame*)model->FindFrame(model->GetWorld(), std::string(name));
|
||||||
|
return frame ? &(static_cast<mjCFrame*>(frame)->spec) : nullptr;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// set frame
|
// set frame
|
||||||
void mjm_setFrame(mjElement dest, mjmFrame* frame) {
|
void mjs_setFrame(mjElement* dest, mjsFrame* frame) {
|
||||||
if (!frame) {
|
if (!frame) {
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
mjCFrame* frameC = reinterpret_cast<mjCFrame*>(frame->element);
|
mjCFrame* frameC = static_cast<mjCFrame*>(frame->element);
|
||||||
mjCBase* baseC = reinterpret_cast<mjCBase*>(dest);
|
mjCBase* baseC = static_cast<mjCBase*>(dest);
|
||||||
baseC->SetFrame(frameC);
|
baseC->SetFrame(frameC);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
// Resolve alternative orientations.
|
||||||
|
const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
|
||||||
|
const mjsOrientation* orientation) {
|
||||||
|
return ResolveOrientation(quat, degree, sequence, *orientation);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// get id
|
// get id
|
||||||
int mjm_getId(mjElement element) {
|
int mjs_getId(mjElement* element) {
|
||||||
return reinterpret_cast<mjCBase*>(element)->id;
|
return static_cast<mjCBase*>(element)->id;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// set default
|
// set default
|
||||||
void mjm_setDefault(mjElement element, mjmDefault* defspec) {
|
void mjs_setDefault(mjElement* element, mjsDefault* defspec) {
|
||||||
mjCBase* baseC = reinterpret_cast<mjCBase*>(element);
|
mjCBase* baseC = static_cast<mjCBase*>(element);
|
||||||
baseC->def = reinterpret_cast<mjCDef*>(defspec->element);
|
baseC->def = static_cast<mjCDef*>(defspec->element);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// set string
|
// set string
|
||||||
void mjm_setString(mjString dest, const char* text) {
|
void mjs_setString(mjString dest, const char* text) {
|
||||||
std::string* str = reinterpret_cast<std::string*>(dest);
|
std::string* str = reinterpret_cast<std::string*>(dest);
|
||||||
*str = std::string(text);
|
*str = std::string(text);
|
||||||
}
|
}
|
||||||
@@ -475,10 +530,10 @@ void mjm_setString(mjString dest, const char* text) {
|
|||||||
|
|
||||||
|
|
||||||
// Set specific entry in destination string vector.
|
// Set specific entry in destination string vector.
|
||||||
mjtByte mjm_setInStringVec(mjStringVec dest, int i, const char* text) {
|
mjtByte mjs_setInStringVec(mjStringVec dest, int i, const char* text) {
|
||||||
std::vector<std::string>* v = reinterpret_cast<std::vector<std::string>*>(dest);
|
std::vector<std::string>* v = reinterpret_cast<std::vector<std::string>*>(dest);
|
||||||
if (v->size() <= i) {
|
if (v->size() <= i) {
|
||||||
mju_error("Requested index in mjm_setInStringVec is out of bounds");
|
mju_error("Requested index in mjs_setInStringVec is out of bounds");
|
||||||
return 0;
|
return 0;
|
||||||
}
|
}
|
||||||
v->at(i) = std::string(text);
|
v->at(i) = std::string(text);
|
||||||
@@ -488,7 +543,7 @@ mjtByte mjm_setInStringVec(mjStringVec dest, int i, const char* text) {
|
|||||||
|
|
||||||
|
|
||||||
// split text and copy into string array
|
// split text and copy into string array
|
||||||
void mjm_setStringVec(mjStringVec dest, const char* text) {
|
void mjs_setStringVec(mjStringVec dest, const char* text) {
|
||||||
std::vector<std::string>* v = reinterpret_cast<std::vector<std::string>*>(dest);
|
std::vector<std::string>* v = reinterpret_cast<std::vector<std::string>*>(dest);
|
||||||
*v = mjXUtil::String2Vector<std::string>(text);
|
*v = mjXUtil::String2Vector<std::string>(text);
|
||||||
}
|
}
|
||||||
@@ -496,14 +551,14 @@ void mjm_setStringVec(mjStringVec dest, const char* text) {
|
|||||||
|
|
||||||
|
|
||||||
// add text entry to destination string vector
|
// add text entry to destination string vector
|
||||||
void mjm_appendString(mjStringVec dest, const char* text) {
|
void mjs_appendString(mjStringVec dest, const char* text) {
|
||||||
std::vector<std::string>* v = reinterpret_cast<std::vector<std::string>*>(dest);
|
std::vector<std::string>* v = reinterpret_cast<std::vector<std::string>*>(dest);
|
||||||
v->push_back(std::string(text));
|
v->push_back(std::string(text));
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
// copy int array to vector
|
// copy int array to vector
|
||||||
void mjm_setInt(mjIntVec dest, const int* array, int size) {
|
void mjs_setInt(mjIntVec dest, const int* array, int size) {
|
||||||
std::vector<int>* v = reinterpret_cast<std::vector<int>*>(dest);
|
std::vector<int>* v = reinterpret_cast<std::vector<int>*>(dest);
|
||||||
v->assign(size, 0.0);
|
v->assign(size, 0.0);
|
||||||
for (int i = 0; i < size; ++i) {
|
for (int i = 0; i < size; ++i) {
|
||||||
@@ -514,7 +569,7 @@ void mjm_setInt(mjIntVec dest, const int* array, int size) {
|
|||||||
|
|
||||||
|
|
||||||
// append int array to vector of arrays
|
// append int array to vector of arrays
|
||||||
void mjm_appendIntVec(mjIntVecVec dest, const int* array, int size) {
|
void mjs_appendIntVec(mjIntVecVec dest, const int* array, int size) {
|
||||||
std::vector<std::vector<int>>* v = reinterpret_cast<std::vector<std::vector<int>>*>(dest);
|
std::vector<std::vector<int>>* v = reinterpret_cast<std::vector<std::vector<int>>*>(dest);
|
||||||
v->push_back(std::vector<int>(array, array + size));
|
v->push_back(std::vector<int>(array, array + size));
|
||||||
}
|
}
|
||||||
@@ -522,7 +577,7 @@ void mjm_appendIntVec(mjIntVecVec dest, const int* array, int size) {
|
|||||||
|
|
||||||
|
|
||||||
// copy float array to vector
|
// copy float array to vector
|
||||||
void mjm_setFloat(mjFloatVec dest, const float* array, int size) {
|
void mjs_setFloat(mjFloatVec dest, const float* array, int size) {
|
||||||
std::vector<float>* v = reinterpret_cast<std::vector<float>*>(dest);
|
std::vector<float>* v = reinterpret_cast<std::vector<float>*>(dest);
|
||||||
v->assign(size, 0.0);
|
v->assign(size, 0.0);
|
||||||
for (int i = 0; i < size; ++i) {
|
for (int i = 0; i < size; ++i) {
|
||||||
@@ -534,7 +589,7 @@ void mjm_setFloat(mjFloatVec dest, const float* array, int size) {
|
|||||||
|
|
||||||
|
|
||||||
// append float array to vector of arrays
|
// append float array to vector of arrays
|
||||||
void mjm_appendFloatVec(mjFloatVecVec dest, const float* array, int size) {
|
void mjs_appendFloatVec(mjFloatVecVec dest, const float* array, int size) {
|
||||||
std::vector<std::vector<float>>* v = reinterpret_cast<std::vector<std::vector<float>>*>(dest);
|
std::vector<std::vector<float>>* v = reinterpret_cast<std::vector<std::vector<float>>*>(dest);
|
||||||
v->push_back(std::vector<float>(array, array + size));
|
v->push_back(std::vector<float>(array, array + size));
|
||||||
}
|
}
|
||||||
@@ -542,7 +597,7 @@ void mjm_appendFloatVec(mjFloatVecVec dest, const float* array, int size) {
|
|||||||
|
|
||||||
|
|
||||||
// copy double array to vector
|
// copy double array to vector
|
||||||
void mjm_setDouble(mjDoubleVec dest, const double* array, int size) {
|
void mjs_setDouble(mjDoubleVec dest, const double* array, int size) {
|
||||||
std::vector<double>* v = reinterpret_cast<std::vector<double>*>(dest);
|
std::vector<double>* v = reinterpret_cast<std::vector<double>*>(dest);
|
||||||
v->assign(size, 0.0);
|
v->assign(size, 0.0);
|
||||||
for (int i = 0; i < size; ++i) {
|
for (int i = 0; i < size; ++i) {
|
||||||
@@ -553,7 +608,7 @@ void mjm_setDouble(mjDoubleVec dest, const double* array, int size) {
|
|||||||
|
|
||||||
|
|
||||||
// get string
|
// get string
|
||||||
const char* mjm_getString(const mjString source) {
|
const char* mjs_getString(const mjString source) {
|
||||||
std::string* str = reinterpret_cast<std::string*>(source);
|
std::string* str = reinterpret_cast<std::string*>(source);
|
||||||
if (!str) {
|
if (!str) {
|
||||||
return nullptr;
|
return nullptr;
|
||||||
@@ -564,7 +619,7 @@ const char* mjm_getString(const mjString source) {
|
|||||||
|
|
||||||
|
|
||||||
// get double array
|
// get double array
|
||||||
const double* mjm_getDouble(const mjDoubleVec source, int* size) {
|
const double* mjs_getDouble(const mjDoubleVec source, int* size) {
|
||||||
std::vector<double>* v = reinterpret_cast<std::vector<double>*>(source);
|
std::vector<double>* v = reinterpret_cast<std::vector<double>*>(source);
|
||||||
if (size) {
|
if (size) {
|
||||||
*size = v->size();
|
*size = v->size();
|
||||||
@@ -575,8 +630,8 @@ const double* mjm_getDouble(const mjDoubleVec source, int* size) {
|
|||||||
|
|
||||||
|
|
||||||
// set plugin attributes
|
// set plugin attributes
|
||||||
void mjm_setPluginAttributes(mjmPlugin* plugin, void* attributes) {
|
void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes) {
|
||||||
mjCPlugin* pluginC = reinterpret_cast<mjCPlugin*>(plugin->instance);
|
mjCPlugin* pluginC = static_cast<mjCPlugin*>(plugin->instance);
|
||||||
std::map<std::string, std::string, std::less<>>* config_attribs =
|
std::map<std::string, std::string, std::less<>>* config_attribs =
|
||||||
reinterpret_cast<std::map<std::string, std::string, std::less<>>*>(attributes);
|
reinterpret_cast<std::map<std::string, std::string, std::less<>>*>(attributes);
|
||||||
pluginC->config_attribs = std::move(*config_attribs);
|
pluginC->config_attribs = std::move(*config_attribs);
|
||||||
@@ -585,8 +640,8 @@ void mjm_setPluginAttributes(mjmPlugin* plugin, void* attributes) {
|
|||||||
|
|
||||||
|
|
||||||
// Set active plugins.
|
// Set active plugins.
|
||||||
void mjm_setActivePlugins(mjSpec* s, void* activeplugins) {
|
void mjs_setActivePlugins(mjSpec* s, void* activeplugins) {
|
||||||
mjCModel* modelC = reinterpret_cast<mjCModel*>(s->element);
|
mjCModel* modelC = static_cast<mjCModel*>(s->element);
|
||||||
std::vector<std::pair<const mjpPlugin*, int>>* active_plugins =
|
std::vector<std::pair<const mjpPlugin*, int>>* active_plugins =
|
||||||
reinterpret_cast<std::vector<std::pair<const mjpPlugin*, int>>*>(activeplugins);
|
reinterpret_cast<std::vector<std::pair<const mjpPlugin*, int>>*>(activeplugins);
|
||||||
modelC->active_plugins = std::move(*active_plugins);
|
modelC->active_plugins = std::move(*active_plugins);
|
||||||
@@ -595,9 +650,22 @@ void mjm_setActivePlugins(mjSpec* s, void* activeplugins) {
|
|||||||
|
|
||||||
|
|
||||||
// compute full inertia
|
// compute full inertia
|
||||||
const char* mjm_setFullInertia(mjmBody* bodyspec, double quat[4], double inertia[3]) {
|
const char* mjs_setFullInertia(mjsBody* bodyspec, double quat[4], double inertia[3]) {
|
||||||
mjCBody* body = reinterpret_cast<mjCBody*>(bodyspec->element);
|
mjCBody* body = static_cast<mjCBody*>(bodyspec->element);
|
||||||
return body->FullInertia(quat, inertia);
|
return body->FullInertia(quat, inertia);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// -------------------------- GLOBAL ASSET CACHE -------------------------------
|
||||||
|
|
||||||
|
void mj_setCacheSize(mjCache cache, std::size_t size) {
|
||||||
|
mjCCache* ccache = reinterpret_cast<mjCCache*>(cache);
|
||||||
|
if (ccache) {
|
||||||
|
ccache->SetMaxSize(size);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
mjCache mj_globalCache() {
|
||||||
|
return NULL; // currently disabled
|
||||||
|
}
|
||||||
|
|||||||
+222
-190
@@ -29,7 +29,6 @@ extern "C" {
|
|||||||
|
|
||||||
//---------------------------------- handles to internal objects -----------------------------------
|
//---------------------------------- handles to internal objects -----------------------------------
|
||||||
|
|
||||||
typedef struct _mjElement* mjElement;
|
|
||||||
typedef struct _mjString* mjString;
|
typedef struct _mjString* mjString;
|
||||||
typedef struct _mjStringVec* mjStringVec;
|
typedef struct _mjStringVec* mjStringVec;
|
||||||
typedef struct _mjIntVec* mjIntVec;
|
typedef struct _mjIntVec* mjIntVec;
|
||||||
@@ -77,10 +76,15 @@ typedef enum _mjtInertiaFromGeom {
|
|||||||
} mjtInertiaFromGeom;
|
} mjtInertiaFromGeom;
|
||||||
|
|
||||||
|
|
||||||
//---------------------------------- attribute structs (mjm) ---------------------------------------
|
//---------------------------------- attribute structs (mjs) ---------------------------------------
|
||||||
|
|
||||||
|
typedef struct _mjElement { // element type, do not modify
|
||||||
|
mjtObj elemtype; // element type
|
||||||
|
} mjElement;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjSpec { // model specification
|
typedef struct _mjSpec { // model specification
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjStatistic stat; // statistics override (if defined)
|
mjStatistic stat; // statistics override (if defined)
|
||||||
|
|
||||||
// compiler settings
|
// compiler settings
|
||||||
@@ -135,40 +139,40 @@ typedef struct _mjSpec { // model specification
|
|||||||
} mjSpec;
|
} mjSpec;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmOrientation { // alternative orientation specifiers
|
typedef struct _mjsOrientation { // alternative orientation specifiers
|
||||||
double axisangle[4]; // rotation axis and angle
|
double axisangle[4]; // rotation axis and angle
|
||||||
double xyaxes[6]; // x and y axes
|
double xyaxes[6]; // x and y axes
|
||||||
double zaxis[3]; // z axis (use minimal rotation)
|
double zaxis[3]; // z axis (use minimal rotation)
|
||||||
double euler[3]; // euler angles
|
double euler[3]; // euler angles
|
||||||
} mjmOrientation;
|
} mjsOrientation;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmPlugin { // plugin specification
|
typedef struct _mjsPlugin { // plugin specification
|
||||||
mjElement instance; // internal, do not modify
|
mjElement* instance; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjString instance_name; // instance name
|
mjString instance_name; // instance name
|
||||||
int plugin_slot; // global registered slot number of the plugin
|
int plugin_slot; // global registered slot number of the plugin
|
||||||
mjtByte active; // is the plugin active
|
mjtByte active; // is the plugin active
|
||||||
mjString info; // message appended to compiler errors
|
mjString info; // message appended to compiler errors
|
||||||
} mjmPlugin;
|
} mjsPlugin;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmBody { // body specification
|
typedef struct _mjsBody { // body specification
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjString childclass; // childclass name
|
mjString childclass; // childclass name
|
||||||
|
|
||||||
// body frame
|
// body frame
|
||||||
double pos[3]; // frame position
|
double pos[3]; // frame position
|
||||||
double quat[4]; // frame orientation
|
double quat[4]; // frame orientation
|
||||||
mjmOrientation alt; // frame alternative orientation
|
mjsOrientation alt; // frame alternative orientation
|
||||||
|
|
||||||
// inertial frame
|
// inertial frame
|
||||||
double mass; // mass
|
double mass; // mass
|
||||||
double ipos[3]; // inertial frame position
|
double ipos[3]; // inertial frame position
|
||||||
double iquat[4]; // inertial frame orientation
|
double iquat[4]; // inertial frame orientation
|
||||||
double inertia[3]; // diagonal inertia (in i-frame)
|
double inertia[3]; // diagonal inertia (in i-frame)
|
||||||
mjmOrientation ialt; // inertial frame alternative orientation
|
mjsOrientation ialt; // inertial frame alternative orientation
|
||||||
double fullinertia[6]; // non-axis-aligned inertia matrix
|
double fullinertia[6]; // non-axis-aligned inertia matrix
|
||||||
|
|
||||||
// other
|
// other
|
||||||
@@ -176,24 +180,24 @@ typedef struct _mjmBody { // body specification
|
|||||||
double gravcomp; // gravity compensation
|
double gravcomp; // gravity compensation
|
||||||
mjDoubleVec userdata; // user data
|
mjDoubleVec userdata; // user data
|
||||||
mjtByte explicitinertial; // whether to save the body with explicit inertial clause
|
mjtByte explicitinertial; // whether to save the body with explicit inertial clause
|
||||||
mjmPlugin plugin; // passive force plugin
|
mjsPlugin plugin; // passive force plugin
|
||||||
mjString info; // message appended to compiler errors
|
mjString info; // message appended to compiler errors
|
||||||
} mjmBody;
|
} mjsBody;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmFrame { // frame specification
|
typedef struct _mjsFrame { // frame specification
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjString childclass; // childclass name
|
mjString childclass; // childclass name
|
||||||
double pos[3]; // position
|
double pos[3]; // position
|
||||||
double quat[4]; // orientation
|
double quat[4]; // orientation
|
||||||
mjmOrientation alt; // alternative orientation
|
mjsOrientation alt; // alternative orientation
|
||||||
mjString info; // message appended to compiler errors
|
mjString info; // message appended to compiler errors
|
||||||
} mjmFrame;
|
} mjsFrame;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmJoint { // joint specification
|
typedef struct _mjsJoint { // joint specification
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjString classname; // class name
|
mjString classname; // class name
|
||||||
mjtJoint type; // joint type
|
mjtJoint type; // joint type
|
||||||
@@ -226,14 +230,15 @@ typedef struct _mjmJoint { // joint specification
|
|||||||
|
|
||||||
// other
|
// other
|
||||||
int group; // group
|
int group; // group
|
||||||
|
mjtByte actgravcomp; // is gravcomp force applied via actuators
|
||||||
double urdfeffort; // effort (urdf)
|
double urdfeffort; // effort (urdf)
|
||||||
mjDoubleVec userdata; // user data
|
mjDoubleVec userdata; // user data
|
||||||
mjString info; // message appended to compiler errors
|
mjString info; // message appended to compiler errors
|
||||||
} mjmJoint;
|
} mjsJoint;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmGeom { // geom specification
|
typedef struct _mjsGeom { // geom specification
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjString classname; // classname
|
mjString classname; // classname
|
||||||
mjtGeom type; // geom type
|
mjtGeom type; // geom type
|
||||||
@@ -241,7 +246,7 @@ typedef struct _mjmGeom { // geom specification
|
|||||||
// frame, size
|
// frame, size
|
||||||
double pos[3]; // position
|
double pos[3]; // position
|
||||||
double quat[4]; // orientation
|
double quat[4]; // orientation
|
||||||
mjmOrientation alt; // alternative orientation
|
mjsOrientation alt; // alternative orientation
|
||||||
double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
|
double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
|
||||||
double size[3]; // type-specific size
|
double size[3]; // type-specific size
|
||||||
|
|
||||||
@@ -276,20 +281,20 @@ typedef struct _mjmGeom { // geom specification
|
|||||||
mjString meshname; // mesh attached to geom
|
mjString meshname; // mesh attached to geom
|
||||||
double fitscale; // scale mesh uniformly
|
double fitscale; // scale mesh uniformly
|
||||||
mjDoubleVec userdata; // user data
|
mjDoubleVec userdata; // user data
|
||||||
mjmPlugin plugin; // sdf plugin
|
mjsPlugin plugin; // sdf plugin
|
||||||
mjString info; // message appended to compiler errors
|
mjString info; // message appended to compiler errors
|
||||||
} mjmGeom;
|
} mjsGeom;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmSite { // site specification
|
typedef struct _mjsSite { // site specification
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjString classname; // class name
|
mjString classname; // class name
|
||||||
|
|
||||||
// frame, size
|
// frame, size
|
||||||
double pos[3]; // position
|
double pos[3]; // position
|
||||||
double quat[4]; // orientation
|
double quat[4]; // orientation
|
||||||
mjmOrientation alt; // alternative orientation
|
mjsOrientation alt; // alternative orientation
|
||||||
double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
|
double fromto[6]; // alternative for capsule, cylinder, box, ellipsoid
|
||||||
double size[3]; // geom size
|
double size[3]; // geom size
|
||||||
|
|
||||||
@@ -302,18 +307,18 @@ typedef struct _mjmSite { // site specification
|
|||||||
// other
|
// other
|
||||||
mjDoubleVec userdata; // user data
|
mjDoubleVec userdata; // user data
|
||||||
mjString info; // message appended to compiler errors
|
mjString info; // message appended to compiler errors
|
||||||
} mjmSite;
|
} mjsSite;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmCamera { // camera specification
|
typedef struct _mjsCamera { // camera specification
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjString classname; // class name
|
mjString classname; // class name
|
||||||
|
|
||||||
// extrinsics
|
// extrinsics
|
||||||
double pos[3]; // position
|
double pos[3]; // position
|
||||||
double quat[4]; // orientation
|
double quat[4]; // orientation
|
||||||
mjmOrientation alt; // alternative orientation
|
mjsOrientation alt; // alternative orientation
|
||||||
mjtCamLight mode; // tracking mode
|
mjtCamLight mode; // tracking mode
|
||||||
mjString targetbody; // target body for tracking/targeting
|
mjString targetbody; // target body for tracking/targeting
|
||||||
|
|
||||||
@@ -331,11 +336,11 @@ typedef struct _mjmCamera { // camera specification
|
|||||||
// other
|
// other
|
||||||
mjDoubleVec userdata; // user data
|
mjDoubleVec userdata; // user data
|
||||||
mjString info; // message appended to compiler errors
|
mjString info; // message appended to compiler errors
|
||||||
} mjmCamera;
|
} mjsCamera;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmLight { // light specification
|
typedef struct _mjsLight { // light specification
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjString classname; // class name
|
mjString classname; // class name
|
||||||
|
|
||||||
@@ -358,11 +363,11 @@ typedef struct _mjmLight { // light specification
|
|||||||
|
|
||||||
// other
|
// other
|
||||||
mjString info; // message appended to compiler errors
|
mjString info; // message appended to compiler errors
|
||||||
} mjmLight;
|
} mjsLight;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmFlex {
|
typedef struct _mjsFlex {
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjString classname; // class name
|
mjString classname; // class name
|
||||||
|
|
||||||
@@ -399,11 +404,11 @@ typedef struct _mjmFlex {
|
|||||||
|
|
||||||
// other
|
// other
|
||||||
mjString info; // message appended to compiler errors
|
mjString info; // message appended to compiler errors
|
||||||
} mjmFlex;
|
} mjsFlex;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmMesh { // mesh specification
|
typedef struct _mjsMesh { // mesh specification
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjString classname; // class name
|
mjString classname; // class name
|
||||||
mjString content_type; // content type of file
|
mjString content_type; // content type of file
|
||||||
@@ -418,13 +423,13 @@ typedef struct _mjmMesh { // mesh specification
|
|||||||
mjIntVec userface; // user vertex indices
|
mjIntVec userface; // user vertex indices
|
||||||
mjIntVec userfacenormal; // user normal indices
|
mjIntVec userfacenormal; // user normal indices
|
||||||
mjIntVec userfacetexcoord; // user texcoord indices
|
mjIntVec userfacetexcoord; // user texcoord indices
|
||||||
mjmPlugin plugin; // sdf plugin
|
mjsPlugin plugin; // sdf plugin
|
||||||
mjString info; // message appended to compiler errors
|
mjString info; // message appended to compiler errors
|
||||||
} mjmMesh;
|
} mjsMesh;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmHField { // height field specification
|
typedef struct _mjsHField { // height field specification
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjString content_type; // content type of file
|
mjString content_type; // content type of file
|
||||||
mjString file; // file: (nrow, ncol, [elevation data])
|
mjString file; // file: (nrow, ncol, [elevation data])
|
||||||
@@ -433,12 +438,12 @@ typedef struct _mjmHField { // height field specification
|
|||||||
int ncol; // number of columns
|
int ncol; // number of columns
|
||||||
mjFloatVec userdata; // user-provided elevation data
|
mjFloatVec userdata; // user-provided elevation data
|
||||||
mjString info; // message appended to compiler errors
|
mjString info; // message appended to compiler errors
|
||||||
} mjmHField;
|
} mjsHField;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmSkin { // skin specification
|
typedef struct _mjsSkin { // skin specification
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjString classname; // class name
|
mjString classname; // class name
|
||||||
mjString file; // skin file
|
mjString file; // skin file
|
||||||
@@ -461,11 +466,11 @@ typedef struct _mjmSkin { // skin specification
|
|||||||
|
|
||||||
// other
|
// other
|
||||||
mjString info; // message appended to compiler errors
|
mjString info; // message appended to compiler errors
|
||||||
} mjmSkin;
|
} mjsSkin;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmTexture { // texture specification
|
typedef struct _mjsTexture { // texture specification
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjString classname; // class name
|
mjString classname; // class name
|
||||||
mjtTexture type; // texture type
|
mjtTexture type; // texture type
|
||||||
@@ -495,11 +500,11 @@ typedef struct _mjmTexture { // texture specification
|
|||||||
|
|
||||||
// other
|
// other
|
||||||
mjString info; // message appended to compiler errors
|
mjString info; // message appended to compiler errors
|
||||||
} mjmTexture;
|
} mjsTexture;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmMaterial { // material specification
|
typedef struct _mjsMaterial { // material specification
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjString classname; // class name
|
mjString classname; // class name
|
||||||
mjString texture; // name of texture (empty: none)
|
mjString texture; // name of texture (empty: none)
|
||||||
@@ -511,11 +516,11 @@ typedef struct _mjmMaterial { // material specification
|
|||||||
float reflectance; // reflectance
|
float reflectance; // reflectance
|
||||||
float rgba[4]; // rgba
|
float rgba[4]; // rgba
|
||||||
mjString info; // message appended to compiler errors
|
mjString info; // message appended to compiler errors
|
||||||
} mjmMaterial;
|
} mjsMaterial;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmPair {
|
typedef struct _mjsPair {
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjString classname; // class name
|
mjString classname; // class name
|
||||||
mjString geomname1; // name of geom 1
|
mjString geomname1; // name of geom 1
|
||||||
@@ -530,20 +535,20 @@ typedef struct _mjmPair {
|
|||||||
double gap; // include in solver if dist<margin-gap
|
double gap; // include in solver if dist<margin-gap
|
||||||
double friction[5]; // full contact friction
|
double friction[5]; // full contact friction
|
||||||
mjString info; // message appended to errors
|
mjString info; // message appended to errors
|
||||||
} mjmPair;
|
} mjsPair;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmExclude {
|
typedef struct _mjsExclude {
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjString bodyname1; // name of geom 1
|
mjString bodyname1; // name of geom 1
|
||||||
mjString bodyname2; // name of geom 2
|
mjString bodyname2; // name of geom 2
|
||||||
mjString info; // message appended to errors
|
mjString info; // message appended to errors
|
||||||
} mjmExclude;
|
} mjsExclude;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmEquality { // equality specification
|
typedef struct _mjsEquality { // equality specification
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjString classname; // class name
|
mjString classname; // class name
|
||||||
mjtEq type; // constraint type
|
mjtEq type; // constraint type
|
||||||
@@ -554,11 +559,11 @@ typedef struct _mjmEquality { // equality specification
|
|||||||
mjtNum solref[mjNREF]; // solver reference
|
mjtNum solref[mjNREF]; // solver reference
|
||||||
mjtNum solimp[mjNIMP]; // solver impedance
|
mjtNum solimp[mjNIMP]; // solver impedance
|
||||||
mjString info; // message appended to errors
|
mjString info; // message appended to errors
|
||||||
} mjmEquality;
|
} mjsEquality;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmTendon { // tendon specification
|
typedef struct _mjsTendon { // tendon specification
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjString classname; // class name
|
mjString classname; // class name
|
||||||
|
|
||||||
@@ -586,17 +591,17 @@ typedef struct _mjmTendon { // tendon specification
|
|||||||
// other
|
// other
|
||||||
mjDoubleVec userdata; // user data
|
mjDoubleVec userdata; // user data
|
||||||
mjString info; // message appended to errors
|
mjString info; // message appended to errors
|
||||||
} mjmTendon;
|
} mjsTendon;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmWrap { // wrapping object specification
|
typedef struct _mjsWrap { // wrapping object specification
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString info; // message appended to errors
|
mjString info; // message appended to errors
|
||||||
} mjmWrap;
|
} mjsWrap;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmActuator { // actuator specification
|
typedef struct _mjsActuator { // actuator specification
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjString classname; // class name
|
mjString classname; // class name
|
||||||
|
|
||||||
@@ -634,13 +639,13 @@ typedef struct _mjmActuator { // actuator specification
|
|||||||
// other
|
// other
|
||||||
int group; // group
|
int group; // group
|
||||||
mjDoubleVec userdata; // user data
|
mjDoubleVec userdata; // user data
|
||||||
mjmPlugin plugin; // actuator plugin
|
mjsPlugin plugin; // actuator plugin
|
||||||
mjString info; // message appended to compiler errors
|
mjString info; // message appended to compiler errors
|
||||||
} mjmActuator;
|
} mjsActuator;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmSensor { // sensor specfication
|
typedef struct _mjsSensor { // sensor specification
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjString classname; // class name
|
mjString classname; // class name
|
||||||
|
|
||||||
@@ -662,40 +667,40 @@ typedef struct _mjmSensor { // sensor specfication
|
|||||||
|
|
||||||
// other
|
// other
|
||||||
mjDoubleVec userdata; // user data
|
mjDoubleVec userdata; // user data
|
||||||
mjmPlugin plugin; // sensor plugin
|
mjsPlugin plugin; // sensor plugin
|
||||||
mjString info; // message appended to compiler errors
|
mjString info; // message appended to compiler errors
|
||||||
} mjmSensor;
|
} mjsSensor;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmNumeric { // custom numeric field specification
|
typedef struct _mjsNumeric { // custom numeric field specification
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjDoubleVec data; // initialization data
|
mjDoubleVec data; // initialization data
|
||||||
int size; // array size, can be bigger than data size
|
int size; // array size, can be bigger than data size
|
||||||
mjString info; // message appended to compiler errors
|
mjString info; // message appended to compiler errors
|
||||||
} mjmNumeric;
|
} mjsNumeric;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmText { // custom text specification
|
typedef struct _mjsText { // custom text specification
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjString data; // text string
|
mjString data; // text string
|
||||||
mjString info; // message appended to compiler errors
|
mjString info; // message appended to compiler errors
|
||||||
} mjmText;
|
} mjsText;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmTuple { // tuple specification
|
typedef struct _mjsTuple { // tuple specification
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjIntVec objtype; // object types
|
mjIntVec objtype; // object types
|
||||||
mjStringVec objname; // object names
|
mjStringVec objname; // object names
|
||||||
mjDoubleVec objprm; // object parameters
|
mjDoubleVec objprm; // object parameters
|
||||||
mjString info; // message appended to compiler errors
|
mjString info; // message appended to compiler errors
|
||||||
} mjmTuple;
|
} mjsTuple;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmKey { // keyframe specification
|
typedef struct _mjsKey { // keyframe specification
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
double time; // time
|
double time; // time
|
||||||
mjDoubleVec qpos; // qpos
|
mjDoubleVec qpos; // qpos
|
||||||
@@ -705,283 +710,310 @@ typedef struct _mjmKey { // keyframe specification
|
|||||||
mjDoubleVec mquat; // mocap quat
|
mjDoubleVec mquat; // mocap quat
|
||||||
mjDoubleVec ctrl; // ctrl
|
mjDoubleVec ctrl; // ctrl
|
||||||
mjString info; // message appended to compiler errors
|
mjString info; // message appended to compiler errors
|
||||||
} mjmKey;
|
} mjsKey;
|
||||||
|
|
||||||
|
|
||||||
typedef struct _mjmDefault { // default specification
|
typedef struct _mjsDefault { // default specification
|
||||||
mjString name; // name
|
mjString name; // name
|
||||||
mjElement element; // internal, do not modify
|
mjElement* element; // object type
|
||||||
mjmJoint* joint; // joint defaults
|
mjsJoint* joint; // joint defaults
|
||||||
mjmGeom* geom; // geom defaults
|
mjsGeom* geom; // geom defaults
|
||||||
mjmSite* site; // site defaults
|
mjsSite* site; // site defaults
|
||||||
mjmCamera* camera; // camera defaults
|
mjsCamera* camera; // camera defaults
|
||||||
mjmLight* light; // light defaults
|
mjsLight* light; // light defaults
|
||||||
mjmFlex* flex; // flex defaults
|
mjsFlex* flex; // flex defaults
|
||||||
mjmMesh* mesh; // mesh defaults
|
mjsMesh* mesh; // mesh defaults
|
||||||
mjmMaterial* material; // material defaults
|
mjsMaterial* material; // material defaults
|
||||||
mjmPair* pair; // pair defaults
|
mjsPair* pair; // pair defaults
|
||||||
mjmEquality* equality; // equality defaults
|
mjsEquality* equality; // equality defaults
|
||||||
mjmTendon* tendon; // tendon defaults
|
mjsTendon* tendon; // tendon defaults
|
||||||
mjmActuator* actuator; // actuator defaults
|
mjsActuator* actuator; // actuator defaults
|
||||||
} mjmDefault;
|
} mjsDefault;
|
||||||
|
|
||||||
|
|
||||||
//---------------------------------- API functions -------------------------------------------------
|
//---------------------------------- API functions -------------------------------------------------
|
||||||
|
|
||||||
// Create model.
|
// Create model.
|
||||||
MJAPI mjSpec* mjm_createSpec();
|
MJAPI mjSpec* mjs_createSpec();
|
||||||
|
|
||||||
|
// Copy model.
|
||||||
|
MJAPI mjSpec* mjs_copySpec(const mjSpec* s);
|
||||||
|
|
||||||
// Copy back model.
|
// Copy back model.
|
||||||
MJAPI void mjm_copyBack(mjSpec* s, const mjModel* m);
|
MJAPI void mjs_copyBack(mjSpec* s, const mjModel* m);
|
||||||
|
|
||||||
// Compile model.
|
// Compile model.
|
||||||
MJAPI mjModel* mjm_compile(mjSpec* s, const mjVFS* vfs);
|
MJAPI mjModel* mjs_compile(mjSpec* s, const mjVFS* vfs);
|
||||||
|
|
||||||
|
// Attach child body to a frame of the parent, return 0 if success
|
||||||
|
MJAPI int mjs_attachBody(mjsFrame* parent, const mjsBody* child,
|
||||||
|
const char* prefix, const char* suffix);
|
||||||
|
|
||||||
// Get error message from model.
|
// Get error message from model.
|
||||||
MJAPI const char* mjm_getError(mjSpec* s);
|
MJAPI const char* mjs_getError(mjSpec* s);
|
||||||
|
|
||||||
// Return 1 if model has warnings.
|
// Return 1 if model has warnings.
|
||||||
MJAPI int mjm_isWarning(mjSpec* s);
|
MJAPI int mjs_isWarning(mjSpec* s);
|
||||||
|
|
||||||
// Delete model.
|
// Delete model.
|
||||||
MJAPI void mjm_deleteSpec(mjSpec* s);
|
MJAPI void mjs_deleteSpec(mjSpec* s);
|
||||||
|
|
||||||
// Add child body to body, return child spec.
|
// Add child body to body, return child spec.
|
||||||
MJAPI mjmBody* mjm_addBody(mjmBody* body, mjmDefault* def);
|
MJAPI mjsBody* mjs_addBody(mjsBody* body, mjsDefault* def);
|
||||||
|
|
||||||
// Add site to body, return site spec.
|
// Add site to body, return site spec.
|
||||||
MJAPI mjmSite* mjm_addSite(mjmBody* body, mjmDefault* def);
|
MJAPI mjsSite* mjs_addSite(mjsBody* body, mjsDefault* def);
|
||||||
|
|
||||||
// Add joint to body.
|
// Add joint to body.
|
||||||
MJAPI mjmJoint* mjm_addJoint(mjmBody* body, mjmDefault* def);
|
MJAPI mjsJoint* mjs_addJoint(mjsBody* body, mjsDefault* def);
|
||||||
|
|
||||||
// Add freejoint to body.
|
// Add freejoint to body.
|
||||||
MJAPI mjmJoint* mjm_addFreeJoint(mjmBody* body);
|
MJAPI mjsJoint* mjs_addFreeJoint(mjsBody* body);
|
||||||
|
|
||||||
// Add geom to body.
|
// Add geom to body.
|
||||||
MJAPI mjmGeom* mjm_addGeom(mjmBody* body, mjmDefault* def);
|
MJAPI mjsGeom* mjs_addGeom(mjsBody* body, mjsDefault* def);
|
||||||
|
|
||||||
// Add camera to body.
|
// Add camera to body.
|
||||||
MJAPI mjmCamera* mjm_addCamera(mjmBody* body, mjmDefault* def);
|
MJAPI mjsCamera* mjs_addCamera(mjsBody* body, mjsDefault* def);
|
||||||
|
|
||||||
// Add light to body.
|
// Add light to body.
|
||||||
MJAPI mjmLight* mjm_addLight(mjmBody* body, mjmDefault* def);
|
MJAPI mjsLight* mjs_addLight(mjsBody* body, mjsDefault* def);
|
||||||
|
|
||||||
// Add frame to body.
|
// Add frame to body.
|
||||||
MJAPI mjmFrame* mjm_addFrame(mjmBody* body, mjmFrame* parentframe);
|
MJAPI mjsFrame* mjs_addFrame(mjsBody* body, mjsFrame* parentframe);
|
||||||
|
|
||||||
// Add flex to model.
|
// Add flex to model.
|
||||||
MJAPI mjmFlex* mjm_addFlex(mjSpec* s);
|
MJAPI mjsFlex* mjs_addFlex(mjSpec* s);
|
||||||
|
|
||||||
// Add mesh to model.
|
// Add mesh to model.
|
||||||
MJAPI mjmMesh* mjm_addMesh(mjSpec* s, mjmDefault* def);
|
MJAPI mjsMesh* mjs_addMesh(mjSpec* s, mjsDefault* def);
|
||||||
|
|
||||||
// Add height field to model.
|
// Add height field to model.
|
||||||
MJAPI mjmHField* mjm_addHField(mjSpec* s);
|
MJAPI mjsHField* mjs_addHField(mjSpec* s);
|
||||||
|
|
||||||
// Add skin to model.
|
// Add skin to model.
|
||||||
MJAPI mjmSkin* mjm_addSkin(mjSpec* s);
|
MJAPI mjsSkin* mjs_addSkin(mjSpec* s);
|
||||||
|
|
||||||
// Add texture to model.
|
// Add texture to model.
|
||||||
MJAPI mjmTexture* mjm_addTexture(mjSpec* s);
|
MJAPI mjsTexture* mjs_addTexture(mjSpec* s);
|
||||||
|
|
||||||
// Add material to model.
|
// Add material to model.
|
||||||
MJAPI mjmMaterial* mjm_addMaterial(mjSpec* s, mjmDefault* def);
|
MJAPI mjsMaterial* mjs_addMaterial(mjSpec* s, mjsDefault* def);
|
||||||
|
|
||||||
// Add pair to model.
|
// Add pair to model.
|
||||||
MJAPI mjmPair* mjm_addPair(mjSpec* s, mjmDefault* def);
|
MJAPI mjsPair* mjs_addPair(mjSpec* s, mjsDefault* def);
|
||||||
|
|
||||||
// Add excluded body pair to model.
|
// Add excluded body pair to model.
|
||||||
MJAPI mjmExclude* mjm_addExclude(mjSpec* s);
|
MJAPI mjsExclude* mjs_addExclude(mjSpec* s);
|
||||||
|
|
||||||
// Add equality to model.
|
// Add equality to model.
|
||||||
MJAPI mjmEquality* mjm_addEquality(mjSpec* s, mjmDefault* def);
|
MJAPI mjsEquality* mjs_addEquality(mjSpec* s, mjsDefault* def);
|
||||||
|
|
||||||
// Add tendon to model.
|
// Add tendon to model.
|
||||||
MJAPI mjmTendon* mjm_addTendon(mjSpec* s, mjmDefault* def);
|
MJAPI mjsTendon* mjs_addTendon(mjSpec* s, mjsDefault* def);
|
||||||
|
|
||||||
// Wrap site using tendon.
|
// Wrap site using tendon.
|
||||||
MJAPI mjmWrap* mjm_wrapSite(mjmTendon* tendon, const char* name);
|
MJAPI mjsWrap* mjs_wrapSite(mjsTendon* tendon, const char* name);
|
||||||
|
|
||||||
// Wrap geom using tendon.
|
// Wrap geom using tendon.
|
||||||
MJAPI mjmWrap* mjm_wrapGeom(mjmTendon* tendon, const char* name, const char* sidesite);
|
MJAPI mjsWrap* mjs_wrapGeom(mjsTendon* tendon, const char* name, const char* sidesite);
|
||||||
|
|
||||||
// Wrap joint using tendon.
|
// Wrap joint using tendon.
|
||||||
MJAPI mjmWrap* mjm_wrapJoint(mjmTendon* tendon, const char* name, double coef);
|
MJAPI mjsWrap* mjs_wrapJoint(mjsTendon* tendon, const char* name, double coef);
|
||||||
|
|
||||||
// Wrap pulley using tendon.
|
// Wrap pulley using tendon.
|
||||||
MJAPI mjmWrap* mjm_wrapPulley(mjmTendon* tendon, double divisor);
|
MJAPI mjsWrap* mjs_wrapPulley(mjsTendon* tendon, double divisor);
|
||||||
|
|
||||||
// Add actuator to model.
|
// Add actuator to model.
|
||||||
MJAPI mjmActuator* mjm_addActuator(mjSpec* s, mjmDefault* def);
|
MJAPI mjsActuator* mjs_addActuator(mjSpec* s, mjsDefault* def);
|
||||||
|
|
||||||
// Add sensor to model.
|
// Add sensor to model.
|
||||||
MJAPI mjmSensor* mjm_addSensor(mjSpec* s);
|
MJAPI mjsSensor* mjs_addSensor(mjSpec* s);
|
||||||
|
|
||||||
// Add numeric to model.
|
// Add numeric to model.
|
||||||
MJAPI mjmNumeric* mjm_addNumeric(mjSpec* s);
|
MJAPI mjsNumeric* mjs_addNumeric(mjSpec* s);
|
||||||
|
|
||||||
// Add text to model.
|
// Add text to model.
|
||||||
MJAPI mjmText* mjm_addText(mjSpec* s);
|
MJAPI mjsText* mjs_addText(mjSpec* s);
|
||||||
|
|
||||||
// Add tuple to model.
|
// Add tuple to model.
|
||||||
MJAPI mjmTuple* mjm_addTuple(mjSpec* s);
|
MJAPI mjsTuple* mjs_addTuple(mjSpec* s);
|
||||||
|
|
||||||
// Add keyframe to model.
|
// Add keyframe to model.
|
||||||
MJAPI mjmKey* mjm_addKey(mjSpec* s);
|
MJAPI mjsKey* mjs_addKey(mjSpec* s);
|
||||||
|
|
||||||
// Add plugin to model.
|
// Add plugin to model.
|
||||||
MJAPI mjmPlugin* mjm_addPlugin(mjSpec* s);
|
MJAPI mjsPlugin* mjs_addPlugin(mjSpec* s);
|
||||||
|
|
||||||
// Add default to model.
|
// Add default to model.
|
||||||
MJAPI mjmDefault* mjm_addDefault(mjSpec* s, const char* classname, int parentid, int* id);
|
MJAPI mjsDefault* mjs_addDefault(mjSpec* s, const char* classname, int parentid, int* id);
|
||||||
|
|
||||||
// Get model spec from body.
|
// Get model spec from body.
|
||||||
MJAPI mjSpec* mjm_getSpec(mjmBody* body);
|
MJAPI mjSpec* mjs_getSpec(mjsBody* body);
|
||||||
|
|
||||||
// Get default corresponding to an mjElement.
|
// Get default corresponding to an mjElement.
|
||||||
MJAPI mjmDefault* mjm_getDefault(mjElement element);
|
MJAPI mjsDefault* mjs_getDefault(mjElement* element);
|
||||||
|
|
||||||
// Find default in model by class name.
|
// Find default in model by class name.
|
||||||
MJAPI mjmDefault* mjm_findDefault(mjSpec* s, const char* classname);
|
MJAPI mjsDefault* mjs_findDefault(mjSpec* s, const char* classname);
|
||||||
|
|
||||||
// Get global default from model.
|
// Get global default from model.
|
||||||
MJAPI mjmDefault* mjm_getSpecDefault(mjSpec* s);
|
MJAPI mjsDefault* mjs_getSpecDefault(mjSpec* s);
|
||||||
|
|
||||||
// Find body in model by name.
|
// Find body in model by name.
|
||||||
MJAPI mjmBody* mjm_findBody(mjSpec* s, const char* name);
|
MJAPI mjsBody* mjs_findBody(mjSpec* s, const char* name);
|
||||||
|
|
||||||
// Find child body by name.
|
// Find child body by name.
|
||||||
MJAPI mjmBody* mjm_findChild(mjmBody* body, const char* name);
|
MJAPI mjsBody* mjs_findChild(mjsBody* body, const char* name);
|
||||||
|
|
||||||
// Find mesh by name.
|
// Find mesh by name.
|
||||||
MJAPI mjmMesh* mjm_findMesh(mjSpec* s, const char* name);
|
MJAPI mjsMesh* mjs_findMesh(mjSpec* s, const char* name);
|
||||||
|
|
||||||
|
// Find frame by name.
|
||||||
|
MJAPI mjsFrame* mjs_findFrame(mjSpec* s, const char* name);
|
||||||
|
|
||||||
// Get element id.
|
// Get element id.
|
||||||
MJAPI int mjm_getId(mjElement element);
|
MJAPI int mjs_getId(mjElement* element);
|
||||||
|
|
||||||
// Copy text to string.
|
// Copy text to string.
|
||||||
MJAPI void mjm_setString(mjString dest, const char* text);
|
MJAPI void mjs_setString(mjString dest, const char* text);
|
||||||
|
|
||||||
// Split text to entries and copy to string vector.
|
// Split text to entries and copy to string vector.
|
||||||
MJAPI void mjm_setStringVec(mjStringVec dest, const char* text);
|
MJAPI void mjs_setStringVec(mjStringVec dest, const char* text);
|
||||||
|
|
||||||
// Set entry in string vector.
|
// Set entry in string vector.
|
||||||
MJAPI mjtByte mjm_setInStringVec(mjStringVec dest, int i, const char* text);
|
MJAPI mjtByte mjs_setInStringVec(mjStringVec dest, int i, const char* text);
|
||||||
|
|
||||||
// Append text entry to string vector.
|
// Append text entry to string vector.
|
||||||
MJAPI void mjm_appendString(mjStringVec dest, const char* text);
|
MJAPI void mjs_appendString(mjStringVec dest, const char* text);
|
||||||
|
|
||||||
// Copy int array to vector.
|
// Copy int array to vector.
|
||||||
MJAPI void mjm_setInt(mjIntVec dest, const int* array, int size);
|
MJAPI void mjs_setInt(mjIntVec dest, const int* array, int size);
|
||||||
|
|
||||||
// Append int array to vector of arrays.
|
// Append int array to vector of arrays.
|
||||||
MJAPI void mjm_appendIntVec(mjIntVecVec dest, const int* array, int size);
|
MJAPI void mjs_appendIntVec(mjIntVecVec dest, const int* array, int size);
|
||||||
|
|
||||||
// Copy float array to vector.
|
// Copy float array to vector.
|
||||||
MJAPI void mjm_setFloat(mjFloatVec dest, const float* array, int size);
|
MJAPI void mjs_setFloat(mjFloatVec dest, const float* array, int size);
|
||||||
|
|
||||||
// Append float array to vector of arrays.
|
// Append float array to vector of arrays.
|
||||||
MJAPI void mjm_appendFloatVec(mjFloatVecVec dest, const float* array, int size);
|
MJAPI void mjs_appendFloatVec(mjFloatVecVec dest, const float* array, int size);
|
||||||
|
|
||||||
// Copy double array to vector.
|
// Copy double array to vector.
|
||||||
MJAPI void mjm_setDouble(mjDoubleVec dest, const double* array, int size);
|
MJAPI void mjs_setDouble(mjDoubleVec dest, const double* array, int size);
|
||||||
|
|
||||||
// Get string contents.
|
// Get string contents.
|
||||||
MJAPI const char* mjm_getString(mjString source);
|
MJAPI const char* mjs_getString(mjString source);
|
||||||
|
|
||||||
// Get double array contents and optionally its size.
|
// Get double array contents and optionally its size.
|
||||||
MJAPI const double* mjm_getDouble(mjDoubleVec source, int* size);
|
MJAPI const double* mjs_getDouble(mjDoubleVec source, int* size);
|
||||||
|
|
||||||
// Set plugin attributes.
|
// Set plugin attributes.
|
||||||
MJAPI void mjm_setPluginAttributes(mjmPlugin* plugin, void* attributes);
|
MJAPI void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes);
|
||||||
|
|
||||||
// Set active plugins.
|
// Set active plugins.
|
||||||
MJAPI void mjm_setActivePlugins(mjSpec* s, void* activeplugins);
|
MJAPI void mjs_setActivePlugins(mjSpec* s, void* activeplugins);
|
||||||
|
|
||||||
// Set default.
|
// Set default.
|
||||||
MJAPI void mjm_setDefault(mjElement element, mjmDefault* def);
|
MJAPI void mjs_setDefault(mjElement* element, mjsDefault* def);
|
||||||
|
|
||||||
// Set frame.
|
// Set frame.
|
||||||
MJAPI void mjm_setFrame(mjElement dest, mjmFrame* frame);
|
MJAPI void mjs_setFrame(mjElement* dest, mjsFrame* frame);
|
||||||
|
|
||||||
|
// Resolve alternative orientations to quat.
|
||||||
|
MJAPI const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,
|
||||||
|
const mjsOrientation* orientation);
|
||||||
|
|
||||||
// Compute quat and inertia from body->fullinertia.
|
// Compute quat and inertia from body->fullinertia.
|
||||||
MJAPI const char* mjm_setFullInertia(mjmBody* body, double quat[4], double inertia[3]);
|
MJAPI const char* mjs_setFullInertia(mjsBody* body, double quat[4], double inertia[3]);
|
||||||
|
|
||||||
|
|
||||||
//---------------------------------- Initialization functions --------------------------------------
|
//---------------------------------- Initialization functions --------------------------------------
|
||||||
|
|
||||||
// Default model attributes.
|
// Default model attributes.
|
||||||
MJAPI void mjm_defaultSpec(mjSpec& model);
|
MJAPI void mjs_defaultSpec(mjSpec& model);
|
||||||
|
|
||||||
|
// Default orientation attributes.
|
||||||
|
MJAPI void mjs_defaultOrientation(mjsOrientation& orient);
|
||||||
|
|
||||||
// Default body attributes.
|
// Default body attributes.
|
||||||
MJAPI void mjm_defaultBody(mjmBody& body);
|
MJAPI void mjs_defaultBody(mjsBody& body);
|
||||||
|
|
||||||
// Default frame attributes.
|
// Default frame attributes.
|
||||||
MJAPI void mjm_defaultFrame(mjmFrame& frame);
|
MJAPI void mjs_defaultFrame(mjsFrame& frame);
|
||||||
|
|
||||||
// Default joint attributes.
|
// Default joint attributes.
|
||||||
MJAPI void mjm_defaultJoint(mjmJoint& joint);
|
MJAPI void mjs_defaultJoint(mjsJoint& joint);
|
||||||
|
|
||||||
// Default geom attributes.
|
// Default geom attributes.
|
||||||
MJAPI void mjm_defaultGeom(mjmGeom& geom);
|
MJAPI void mjs_defaultGeom(mjsGeom& geom);
|
||||||
|
|
||||||
// Default site attributes.
|
// Default site attributes.
|
||||||
MJAPI void mjm_defaultSite(mjmSite& site);
|
MJAPI void mjs_defaultSite(mjsSite& site);
|
||||||
|
|
||||||
// Default camera attributes.
|
// Default camera attributes.
|
||||||
MJAPI void mjm_defaultCamera(mjmCamera& camera);
|
MJAPI void mjs_defaultCamera(mjsCamera& camera);
|
||||||
|
|
||||||
// Default light attributes.
|
// Default light attributes.
|
||||||
MJAPI void mjm_defaultLight(mjmLight& light);
|
MJAPI void mjs_defaultLight(mjsLight& light);
|
||||||
|
|
||||||
// Default flex attributes.
|
// Default flex attributes.
|
||||||
MJAPI void mjm_defaultFlex(mjmFlex& flex);
|
MJAPI void mjs_defaultFlex(mjsFlex& flex);
|
||||||
|
|
||||||
// Default mesh attributes.
|
// Default mesh attributes.
|
||||||
MJAPI void mjm_defaultMesh(mjmMesh& mesh);
|
MJAPI void mjs_defaultMesh(mjsMesh& mesh);
|
||||||
|
|
||||||
// Default height field attributes.
|
// Default height field attributes.
|
||||||
MJAPI void mjm_defaultHField(mjmHField& hfield);
|
MJAPI void mjs_defaultHField(mjsHField& hfield);
|
||||||
|
|
||||||
// Default skin attributes.
|
// Default skin attributes.
|
||||||
MJAPI void mjm_defaultSkin(mjmSkin& skin);
|
MJAPI void mjs_defaultSkin(mjsSkin& skin);
|
||||||
|
|
||||||
// Default texture attributes.
|
// Default texture attributes.
|
||||||
MJAPI void mjm_defaultTexture(mjmTexture& texture);
|
MJAPI void mjs_defaultTexture(mjsTexture& texture);
|
||||||
|
|
||||||
// Default material attributes.
|
// Default material attributes.
|
||||||
MJAPI void mjm_defaultMaterial(mjmMaterial& material);
|
MJAPI void mjs_defaultMaterial(mjsMaterial& material);
|
||||||
|
|
||||||
// Default pair attributes.
|
// Default pair attributes.
|
||||||
MJAPI void mjm_defaultPair(mjmPair& pair);
|
MJAPI void mjs_defaultPair(mjsPair& pair);
|
||||||
|
|
||||||
// Default equality attributes.
|
// Default equality attributes.
|
||||||
MJAPI void mjm_defaultEquality(mjmEquality& equality);
|
MJAPI void mjs_defaultEquality(mjsEquality& equality);
|
||||||
|
|
||||||
// Default tendon attributes.
|
// Default tendon attributes.
|
||||||
MJAPI void mjm_defaultTendon(mjmTendon& tendon);
|
MJAPI void mjs_defaultTendon(mjsTendon& tendon);
|
||||||
|
|
||||||
// Default actuator attributes.
|
// Default actuator attributes.
|
||||||
MJAPI void mjm_defaultActuator(mjmActuator& actuator);
|
MJAPI void mjs_defaultActuator(mjsActuator& actuator);
|
||||||
|
|
||||||
// Default sensor attributes.
|
// Default sensor attributes.
|
||||||
MJAPI void mjm_defaultSensor(mjmSensor& sensor);
|
MJAPI void mjs_defaultSensor(mjsSensor& sensor);
|
||||||
|
|
||||||
// Default numeric attributes.
|
// Default numeric attributes.
|
||||||
MJAPI void mjm_defaultNumeric(mjmNumeric& numeric);
|
MJAPI void mjs_defaultNumeric(mjsNumeric& numeric);
|
||||||
|
|
||||||
// Default text attributes.
|
// Default text attributes.
|
||||||
MJAPI void mjm_defaultText(mjmText& text);
|
MJAPI void mjs_defaultText(mjsText& text);
|
||||||
|
|
||||||
// Default tuple attributes.
|
// Default tuple attributes.
|
||||||
MJAPI void mjm_defaultTuple(mjmTuple& tuple);
|
MJAPI void mjs_defaultTuple(mjsTuple& tuple);
|
||||||
|
|
||||||
// Default keyframe attributes.
|
// Default keyframe attributes.
|
||||||
MJAPI void mjm_defaultKey(mjmKey& key);
|
MJAPI void mjs_defaultKey(mjsKey& key);
|
||||||
|
|
||||||
// Default plugin attributes.
|
// Default plugin attributes.
|
||||||
MJAPI void mjm_defaultPlugin(mjmPlugin& plugin);
|
MJAPI void mjs_defaultPlugin(mjsPlugin& plugin);
|
||||||
|
|
||||||
|
//------------------------- Cache functions ------------------------------------
|
||||||
|
|
||||||
|
typedef struct _mjCache* mjCache;
|
||||||
|
|
||||||
|
// Set the size of the cache in bytes.
|
||||||
|
MJAPI void mj_setCacheSize(mjCache cache, size_t size);
|
||||||
|
|
||||||
|
// Get internal global cache context.
|
||||||
|
MJAPI mjCache mj_globalCache();
|
||||||
|
|
||||||
#ifdef __cplusplus
|
#ifdef __cplusplus
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -39,7 +39,8 @@ template<typename T> std::size_t mjCAsset::Add(const std::string& name,
|
|||||||
const uint8_t* ptr = reinterpret_cast<const uint8_t*>(data);
|
const uint8_t* ptr = reinterpret_cast<const uint8_t*>(data);
|
||||||
mjCAssetData& block = it->second;
|
mjCAssetData& block = it->second;
|
||||||
|
|
||||||
block.bytes = std::make_shared<uint8_t[]>(nbytes);
|
block.bytes = std::shared_ptr<uint8_t>(new uint8_t[nbytes],
|
||||||
|
[](uint8_t *p) {delete [] p;});
|
||||||
std::copy(ptr, ptr + nbytes, block.bytes.get());
|
std::copy(ptr, ptr + nbytes, block.bytes.get());
|
||||||
block.nbytes = nbytes;
|
block.nbytes = nbytes;
|
||||||
nbytes_ += nbytes;
|
nbytes_ += nbytes;
|
||||||
|
|||||||
+18
-17
@@ -30,7 +30,7 @@
|
|||||||
|
|
||||||
// data associated with an asset
|
// data associated with an asset
|
||||||
struct mjCAssetData {
|
struct mjCAssetData {
|
||||||
std::shared_ptr<uint8_t[]> bytes; // raw serialized bytes of cached data
|
std::shared_ptr<uint8_t> bytes; // raw serialized bytes of cached data
|
||||||
std::size_t nbytes; // number of bytes stored
|
std::size_t nbytes; // number of bytes stored
|
||||||
};
|
};
|
||||||
|
|
||||||
@@ -80,6 +80,11 @@ class mjCAsset {
|
|||||||
return blocks_.find(name) != blocks_.end();
|
return blocks_.find(name) != blocks_.end();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
const std::string& Timestamp() const { return timestamp_; }
|
||||||
|
const std::string& Id() const { return id_; }
|
||||||
|
std::size_t InsertNum() const { return insert_num_; }
|
||||||
|
std::size_t AccessCount() const { return access_count_; }
|
||||||
|
|
||||||
private:
|
private:
|
||||||
mjCAsset() = default;
|
mjCAsset() = default;
|
||||||
|
|
||||||
@@ -105,10 +110,6 @@ class mjCAsset {
|
|||||||
void SetTimestamp(std::string timestamp) { timestamp_ = timestamp; }
|
void SetTimestamp(std::string timestamp) { timestamp_ = timestamp; }
|
||||||
|
|
||||||
// accessors
|
// accessors
|
||||||
const std::string& Id() const { return id_; }
|
|
||||||
const std::string& Timestamp() const { return timestamp_; }
|
|
||||||
std::size_t InsertNum() const { return insert_num_; }
|
|
||||||
std::size_t AccessCount() const { return access_count_; }
|
|
||||||
std::size_t BytesCount() const { return nbytes_; }
|
std::size_t BytesCount() const { return nbytes_; }
|
||||||
const std::unordered_map<std::string, mjCAssetData>& Blocks() const {
|
const std::unordered_map<std::string, mjCAssetData>& Blocks() const {
|
||||||
return blocks_;
|
return blocks_;
|
||||||
@@ -128,14 +129,23 @@ class mjCAsset {
|
|||||||
std::set<std::string> references_;
|
std::set<std::string> references_;
|
||||||
};
|
};
|
||||||
|
|
||||||
|
struct mjCAssetCompare {
|
||||||
|
bool operator()(const mjCAsset* e1, const mjCAsset* e2) const {
|
||||||
|
if (e1->AccessCount() != e2->AccessCount()) {
|
||||||
|
return e1->AccessCount() < e2->AccessCount();
|
||||||
|
}
|
||||||
|
return e1->InsertNum() < e2->InsertNum();
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
// the class container for a thread-safe asset cache
|
// the class container for a thread-safe asset cache
|
||||||
class mjCCache {
|
class mjCCache {
|
||||||
public:
|
public:
|
||||||
explicit mjCCache(std::size_t size) : max_size_(size) {}
|
explicit mjCCache(std::size_t size) : max_size_(size) {}
|
||||||
|
|
||||||
// move only
|
// move only
|
||||||
mjCCache(mjCCache&& other) = default;
|
mjCCache(mjCCache&& other) = delete;
|
||||||
mjCCache& operator=(mjCCache&& other) = default;
|
mjCCache& operator=(mjCCache&& other) = delete;
|
||||||
mjCCache(const mjCCache& other) = delete;
|
mjCCache(const mjCCache& other) = delete;
|
||||||
mjCCache& operator=(const mjCCache& other) = delete;
|
mjCCache& operator=(const mjCCache& other) = delete;
|
||||||
|
|
||||||
@@ -186,20 +196,11 @@ class mjCCache {
|
|||||||
std::size_t size_ = 0; // current size of the cache in bytes
|
std::size_t size_ = 0; // current size of the cache in bytes
|
||||||
std::size_t max_size_ = 0; // max size of the cache in bytes
|
std::size_t max_size_ = 0; // max size of the cache in bytes
|
||||||
|
|
||||||
// compare function for the priority queue
|
|
||||||
static constexpr auto compare_ = [](const mjCAsset* e1,
|
|
||||||
const mjCAsset* e2) {
|
|
||||||
if (e1->AccessCount() != e2->AccessCount()) {
|
|
||||||
return e1->AccessCount() < e2->AccessCount();
|
|
||||||
}
|
|
||||||
return e1->InsertNum() < e2->InsertNum();
|
|
||||||
};
|
|
||||||
|
|
||||||
// internal constant look up table for assets
|
// internal constant look up table for assets
|
||||||
std::unordered_map<std::string, mjCAsset> lookup_;
|
std::unordered_map<std::string, mjCAsset> lookup_;
|
||||||
|
|
||||||
// internal priority queue for the cache
|
// internal priority queue for the cache
|
||||||
std::set<mjCAsset*, decltype(compare_)> entries_;
|
std::set<mjCAsset*, mjCAssetCompare> entries_;
|
||||||
|
|
||||||
// models using the cache along with the assets they reference
|
// models using the cache along with the assets they reference
|
||||||
std::unordered_map<std::string, std::unordered_set<mjCAsset*>> models_;
|
std::unordered_map<std::string, std::unordered_set<mjCAsset*>> models_;
|
||||||
|
|||||||
+155
-155
@@ -66,7 +66,7 @@ mjCComposite::mjCComposite(void) {
|
|||||||
mj_defaultSolRefImp(solrefsmooth, solimpsmooth);
|
mj_defaultSolRefImp(solrefsmooth, solimpsmooth);
|
||||||
|
|
||||||
// plugin variables
|
// plugin variables
|
||||||
mjm_defaultPlugin(plugin);
|
mjs_defaultPlugin(plugin);
|
||||||
plugin_name = "";
|
plugin_name = "";
|
||||||
plugin_instance_name = "";
|
plugin_instance_name = "";
|
||||||
plugin.name = (mjString)&plugin_name;
|
plugin.name = (mjString)&plugin_name;
|
||||||
@@ -223,7 +223,7 @@ void mjCComposite::SetDefault(void) {
|
|||||||
|
|
||||||
|
|
||||||
// make composite object
|
// make composite object
|
||||||
bool mjCComposite::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
|
bool mjCComposite::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
|
||||||
mjCModel* model = (mjCModel*)spec->element;
|
mjCModel* model = (mjCModel*)spec->element;
|
||||||
|
|
||||||
// check geom type
|
// check geom type
|
||||||
@@ -306,7 +306,7 @@ bool mjCComposite::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz)
|
|||||||
// overwrite plugin name
|
// overwrite plugin name
|
||||||
if (plugin_instance_name.empty() && plugin.active) {
|
if (plugin_instance_name.empty() && plugin.active) {
|
||||||
plugin_instance_name = "composite" + prefix;
|
plugin_instance_name = "composite" + prefix;
|
||||||
((mjCPlugin*)plugin.instance)->name = plugin_instance_name;
|
(static_cast<mjCPlugin*>(plugin.instance))->name = plugin_instance_name;
|
||||||
}
|
}
|
||||||
|
|
||||||
// dispatch
|
// dispatch
|
||||||
@@ -350,7 +350,7 @@ bool mjCComposite::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz)
|
|||||||
|
|
||||||
|
|
||||||
|
|
||||||
bool mjCComposite::MakeParticle(mjCModel* model, mjmBody* body, char* error, int error_sz) {
|
bool mjCComposite::MakeParticle(mjCModel* model, mjsBody* body, char* error, int error_sz) {
|
||||||
char txt[100];
|
char txt[100];
|
||||||
std::vector<int> face;
|
std::vector<int> face;
|
||||||
|
|
||||||
@@ -432,7 +432,7 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjmBody* body, char* error, int
|
|||||||
mjtNum t = 1;
|
mjtNum t = 1;
|
||||||
if (dim == 2 && plugin.active) {
|
if (dim == 2 && plugin.active) {
|
||||||
try {
|
try {
|
||||||
mjCPlugin* pplugin = (mjCPlugin*)plugin.instance;
|
mjCPlugin* pplugin = static_cast<mjCPlugin*>(plugin.instance);
|
||||||
t = std::stod(pplugin->config_attribs["thickness"], nullptr);
|
t = std::stod(pplugin->config_attribs["thickness"], nullptr);
|
||||||
} catch (const std::invalid_argument& e) {
|
} catch (const std::invalid_argument& e) {
|
||||||
return comperr(error, "Invalid thickness attribute", error_sz);
|
return comperr(error, "Invalid thickness attribute", error_sz);
|
||||||
@@ -464,13 +464,13 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjmBody* body, char* error, int
|
|||||||
// create bodies and geoms
|
// create bodies and geoms
|
||||||
for (int i=0; i<uservert.size()/3; i++) {
|
for (int i=0; i<uservert.size()/3; i++) {
|
||||||
// create body
|
// create body
|
||||||
mjmBody* b = mjm_addBody(body, NULL);
|
mjsBody* b = mjs_addBody(body, NULL);
|
||||||
|
|
||||||
if (!username.empty()) {
|
if (!username.empty()) {
|
||||||
mjm_setString(b->name, username[i].c_str());
|
mjs_setString(b->name, username[i].c_str());
|
||||||
} else {
|
} else {
|
||||||
mju::sprintf_arr(txt, "%sB%d", prefix.c_str(), i);
|
mju::sprintf_arr(txt, "%sB%d", prefix.c_str(), i);
|
||||||
mjm_setString(b->name, txt);
|
mjs_setString(b->name, txt);
|
||||||
}
|
}
|
||||||
|
|
||||||
// set body position
|
// set body position
|
||||||
@@ -481,8 +481,8 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjmBody* body, char* error, int
|
|||||||
// add slider joints if none defined
|
// add slider joints if none defined
|
||||||
if (!add[mjCOMPKIND_PARTICLE]) {
|
if (!add[mjCOMPKIND_PARTICLE]) {
|
||||||
for (int i=0; i<3; i++) {
|
for (int i=0; i<3; i++) {
|
||||||
mjmJoint* jnt = mjm_addJoint(b, &defjoint[mjCOMPKIND_JOINT][0].spec);
|
mjsJoint* jnt = mjs_addJoint(b, &defjoint[mjCOMPKIND_JOINT][0].spec);
|
||||||
mjm_setDefault(jnt->element, mjm_getDefault(body->element));
|
mjs_setDefault(jnt->element, mjs_getDefault(body->element));
|
||||||
jnt->type = mjJNT_SLIDE;
|
jnt->type = mjJNT_SLIDE;
|
||||||
mjuu_setvec(jnt->pos, 0, 0, 0);
|
mjuu_setvec(jnt->pos, 0, 0, 0);
|
||||||
mjuu_setvec(jnt->axis, 0, 0, 0);
|
mjuu_setvec(jnt->axis, 0, 0, 0);
|
||||||
@@ -493,30 +493,30 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjmBody* body, char* error, int
|
|||||||
// add user-specified joints
|
// add user-specified joints
|
||||||
else {
|
else {
|
||||||
for (auto defjnt : defjoint[mjCOMPKIND_PARTICLE]) {
|
for (auto defjnt : defjoint[mjCOMPKIND_PARTICLE]) {
|
||||||
mjmJoint* jnt = mjm_addJoint(b, &defjnt.spec);
|
mjsJoint* jnt = mjs_addJoint(b, &defjnt.spec);
|
||||||
mjm_setDefault(jnt->element, mjm_getDefault(body->element));
|
mjs_setDefault(jnt->element, mjs_getDefault(body->element));
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// add geom
|
// add geom
|
||||||
mjmGeom* g = mjm_addGeom(b, &def[0].spec);
|
mjsGeom* g = mjs_addGeom(b, &def[0].spec);
|
||||||
mjm_setDefault(g->element, mjm_getDefault(body->element));
|
mjs_setDefault(g->element, mjs_getDefault(body->element));
|
||||||
|
|
||||||
// add site
|
// add site
|
||||||
mjmSite* s = mjm_addSite(b, &def[0].spec);
|
mjsSite* s = mjs_addSite(b, &def[0].spec);
|
||||||
mjm_setDefault(s->element, mjm_getDefault(body->element));
|
mjs_setDefault(s->element, mjs_getDefault(body->element));
|
||||||
s->type = mjGEOM_SPHERE;
|
s->type = mjGEOM_SPHERE;
|
||||||
mju::sprintf_arr(txt, "%sS%d", prefix.c_str(), i);
|
mju::sprintf_arr(txt, "%sS%d", prefix.c_str(), i);
|
||||||
mjm_setString(s->name, txt);
|
mjs_setString(s->name, txt);
|
||||||
|
|
||||||
// add plugin
|
// add plugin
|
||||||
if (plugin.active) {
|
if (plugin.active) {
|
||||||
mjmPlugin* pplugin = &b->plugin;
|
mjsPlugin* pplugin = &b->plugin;
|
||||||
mjCPlugin* cplugin = (mjCPlugin*)plugin.instance;
|
mjCPlugin* cplugin = static_cast<mjCPlugin*>(plugin.instance);
|
||||||
pplugin->active = true;
|
pplugin->active = true;
|
||||||
pplugin->instance = (mjElement)plugin.instance;
|
pplugin->instance = plugin.instance;
|
||||||
mjm_setString(pplugin->instance_name, plugin_instance_name.c_str());
|
mjs_setString(pplugin->instance_name, plugin_instance_name.c_str());
|
||||||
mjm_setString(pplugin->name, mjm_getString(plugin.name));
|
mjs_setString(pplugin->name, mjs_getString(plugin.name));
|
||||||
|
|
||||||
if (i==0 && !cplugin->config_attribs["face"].empty()) {
|
if (i==0 && !cplugin->config_attribs["face"].empty()) {
|
||||||
return comperr(error, "Face attribute already exists in plugin", error_sz);
|
return comperr(error, "Face attribute already exists in plugin", error_sz);
|
||||||
@@ -560,18 +560,18 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjmBody* body, char* error, int
|
|||||||
mju::sprintf_arr(txt2, "%sS%d", prefix.c_str(), v1);
|
mju::sprintf_arr(txt2, "%sS%d", prefix.c_str(), v1);
|
||||||
|
|
||||||
// create tendon
|
// create tendon
|
||||||
mjmTendon* ten = mjm_addTendon(&model->spec, &def[mjCOMPKIND_TENDON].spec);
|
mjsTendon* ten = mjs_addTendon(&model->spec, &def[mjCOMPKIND_TENDON].spec);
|
||||||
mjm_setDefault(ten->element, &model->defaults[0]->spec);
|
mjs_setDefault(ten->element, &model->defaults[0]->spec);
|
||||||
mjm_setString(ten->name, txt0);
|
mjs_setString(ten->name, txt0);
|
||||||
ten->group = 4;
|
ten->group = 4;
|
||||||
mjm_wrapSite(ten, txt1);
|
mjs_wrapSite(ten, txt1);
|
||||||
mjm_wrapSite(ten, txt2);
|
mjs_wrapSite(ten, txt2);
|
||||||
|
|
||||||
// add equality constraint
|
// add equality constraint
|
||||||
mjmEquality* eq = mjm_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
|
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
|
||||||
mjm_setDefault(eq->element, &model->defaults[0]->spec);
|
mjs_setDefault(eq->element, &model->defaults[0]->spec);
|
||||||
eq->type = mjEQ_TENDON;
|
eq->type = mjEQ_TENDON;
|
||||||
mjm_setString(eq->name1, mjm_getString(ten->name));
|
mjs_setString(eq->name1, mjs_getString(ten->name));
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -593,7 +593,7 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjmBody* body, char* error, int
|
|||||||
|
|
||||||
|
|
||||||
// make grid connected with tendons
|
// make grid connected with tendons
|
||||||
bool mjCComposite::MakeGrid(mjCModel* model, mjmBody* body, char* error, int error_sz) {
|
bool mjCComposite::MakeGrid(mjCModel* model, mjsBody* body, char* error, int error_sz) {
|
||||||
char txt[100], txt1[100], txt2[100];
|
char txt[100], txt1[100], txt2[100];
|
||||||
|
|
||||||
// check dimensionality
|
// check dimensionality
|
||||||
@@ -615,9 +615,9 @@ bool mjCComposite::MakeGrid(mjCModel* model, mjmBody* body, char* error, int err
|
|||||||
for (int ix=0; ix<count[0]; ix++) {
|
for (int ix=0; ix<count[0]; ix++) {
|
||||||
for (int iy=0; iy<count[1]; iy++) {
|
for (int iy=0; iy<count[1]; iy++) {
|
||||||
// create body
|
// create body
|
||||||
mjmBody* b = mjm_addBody(body, NULL);
|
mjsBody* b = mjs_addBody(body, NULL);
|
||||||
mju::sprintf_arr(txt, "%sB%d_%d", prefix.c_str(), ix, iy);
|
mju::sprintf_arr(txt, "%sB%d_%d", prefix.c_str(), ix, iy);
|
||||||
mjm_setString(b->name, txt);
|
mjs_setString(b->name, txt);
|
||||||
|
|
||||||
// set body position
|
// set body position
|
||||||
b->pos[0] = offset[0] + spacing*(ix - 0.5*count[0]);
|
b->pos[0] = offset[0] + spacing*(ix - 0.5*count[0]);
|
||||||
@@ -625,18 +625,18 @@ bool mjCComposite::MakeGrid(mjCModel* model, mjmBody* body, char* error, int err
|
|||||||
b->pos[2] = offset[2];
|
b->pos[2] = offset[2];
|
||||||
|
|
||||||
// add geom
|
// add geom
|
||||||
mjmGeom* g = mjm_addGeom(b, &def[0].spec);
|
mjsGeom* g = mjs_addGeom(b, &def[0].spec);
|
||||||
mjm_setDefault(g->element, mjm_getDefault(body->element));
|
mjs_setDefault(g->element, mjs_getDefault(body->element));
|
||||||
g->type = mjGEOM_SPHERE;
|
g->type = mjGEOM_SPHERE;
|
||||||
mju::sprintf_arr(txt, "%sG%d_%d", prefix.c_str(), ix, iy);
|
mju::sprintf_arr(txt, "%sG%d_%d", prefix.c_str(), ix, iy);
|
||||||
mjm_setString(g->name, txt);
|
mjs_setString(g->name, txt);
|
||||||
|
|
||||||
// add site
|
// add site
|
||||||
mjmSite* s = mjm_addSite(b, &def[0].spec);
|
mjsSite* s = mjs_addSite(b, &def[0].spec);
|
||||||
mjm_setDefault(s->element, mjm_getDefault(body->element));
|
mjs_setDefault(s->element, mjs_getDefault(body->element));
|
||||||
s->type = mjGEOM_SPHERE;
|
s->type = mjGEOM_SPHERE;
|
||||||
mju::sprintf_arr(txt, "%sS%d_%d", prefix.c_str(), ix, iy);
|
mju::sprintf_arr(txt, "%sS%d_%d", prefix.c_str(), ix, iy);
|
||||||
mjm_setString(s->name, txt);
|
mjs_setString(s->name, txt);
|
||||||
|
|
||||||
// skip pinned elements
|
// skip pinned elements
|
||||||
bool skip = false;
|
bool skip = false;
|
||||||
@@ -651,12 +651,12 @@ bool mjCComposite::MakeGrid(mjCModel* model, mjmBody* body, char* error, int err
|
|||||||
}
|
}
|
||||||
|
|
||||||
// add slider joint
|
// add slider joint
|
||||||
mjmJoint* jnt[3];
|
mjsJoint* jnt[3];
|
||||||
for (int i=0; i<3; i++) {
|
for (int i=0; i<3; i++) {
|
||||||
jnt[i] = mjm_addJoint(b, &defjoint[mjCOMPKIND_JOINT][0].spec);
|
jnt[i] = mjs_addJoint(b, &defjoint[mjCOMPKIND_JOINT][0].spec);
|
||||||
mjm_setDefault(jnt[i]->element, mjm_getDefault(body->element));
|
mjs_setDefault(jnt[i]->element, mjs_getDefault(body->element));
|
||||||
mju::sprintf_arr(txt, "%sJ%d_%d_%d", prefix.c_str(), i, ix, iy);
|
mju::sprintf_arr(txt, "%sJ%d_%d_%d", prefix.c_str(), i, ix, iy);
|
||||||
mjm_setString(jnt[i]->name, txt);
|
mjs_setString(jnt[i]->name, txt);
|
||||||
jnt[i]->type = mjJNT_SLIDE;
|
jnt[i]->type = mjJNT_SLIDE;
|
||||||
mjuu_setvec(jnt[i]->pos, 0, 0, 0);
|
mjuu_setvec(jnt[i]->pos, 0, 0, 0);
|
||||||
mjuu_setvec(jnt[i]->axis, 0, 0, 0);
|
mjuu_setvec(jnt[i]->axis, 0, 0, 0);
|
||||||
@@ -682,10 +682,10 @@ bool mjCComposite::MakeGrid(mjCModel* model, mjmBody* body, char* error, int err
|
|||||||
ten->WrapSite(txt2);
|
ten->WrapSite(txt2);
|
||||||
|
|
||||||
// add equality constraint
|
// add equality constraint
|
||||||
mjmEquality* eq = mjm_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
|
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
|
||||||
mjm_setDefault(eq->element, &model->defaults[0]->spec);
|
mjs_setDefault(eq->element, &model->defaults[0]->spec);
|
||||||
eq->type = mjEQ_TENDON;
|
eq->type = mjEQ_TENDON;
|
||||||
mjm_setString(eq->name1, ten->name.c_str());
|
mjs_setString(eq->name1, ten->name.c_str());
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -709,7 +709,7 @@ bool mjCComposite::MakeGrid(mjCModel* model, mjmBody* body, char* error, int err
|
|||||||
|
|
||||||
|
|
||||||
|
|
||||||
bool mjCComposite::MakeCable(mjCModel* model, mjmBody* body, char* error, int error_sz) {
|
bool mjCComposite::MakeCable(mjCModel* model, mjsBody* body, char* error, int error_sz) {
|
||||||
// check dim
|
// check dim
|
||||||
if (dim!=1) {
|
if (dim!=1) {
|
||||||
return comperr(error, "Cable must be one-dimensional", error_sz);
|
return comperr(error, "Cable must be one-dimensional", error_sz);
|
||||||
@@ -723,9 +723,9 @@ bool mjCComposite::MakeCable(mjCModel* model, mjmBody* body, char* error, int er
|
|||||||
}
|
}
|
||||||
|
|
||||||
// add name to model
|
// add name to model
|
||||||
mjmText* pte = mjm_addText(&model->spec);
|
mjsText* pte = mjs_addText(&model->spec);
|
||||||
mjm_setString(pte->name, ("composite_" + prefix).c_str());
|
mjs_setString(pte->name, ("composite_" + prefix).c_str());
|
||||||
mjm_setString(pte->data, ("rope_" + prefix).c_str());
|
mjs_setString(pte->data, ("rope_" + prefix).c_str());
|
||||||
|
|
||||||
// populate uservert if not specified
|
// populate uservert if not specified
|
||||||
if (uservert.empty()) {
|
if (uservert.empty()) {
|
||||||
@@ -780,7 +780,7 @@ bool mjCComposite::MakeCable(mjCModel* model, mjmBody* body, char* error, int er
|
|||||||
|
|
||||||
|
|
||||||
|
|
||||||
mjmBody* mjCComposite::AddCableBody(mjCModel* model, mjmBody* body, int ix, mjtNum normal[3], mjtNum prev_quat[4]) {
|
mjsBody* mjCComposite::AddCableBody(mjCModel* model, mjsBody* body, int ix, mjtNum normal[3], mjtNum prev_quat[4]) {
|
||||||
char txt_geom[100], txt_site[100], txt_slide[100];
|
char txt_geom[100], txt_site[100], txt_slide[100];
|
||||||
char this_body[100], next_body[100], this_joint[100];
|
char this_body[100], next_body[100], this_joint[100];
|
||||||
mjtNum dquat[4], this_quat[4];
|
mjtNum dquat[4], this_quat[4];
|
||||||
@@ -836,8 +836,8 @@ mjmBody* mjCComposite::AddCableBody(mjCModel* model, mjmBody* body, int ix, mjtN
|
|||||||
mju::sprintf_arr(txt_slide, "%sJs%d", prefix.c_str(), ix);
|
mju::sprintf_arr(txt_slide, "%sJs%d", prefix.c_str(), ix);
|
||||||
|
|
||||||
// add body
|
// add body
|
||||||
body = mjm_addBody(body, 0);
|
body = mjs_addBody(body, 0);
|
||||||
mjm_setString(body->name, this_body);
|
mjs_setString(body->name, this_body);
|
||||||
if (first) {
|
if (first) {
|
||||||
mjuu_setvec(body->pos, offset[0]+uservert[3*ix],
|
mjuu_setvec(body->pos, offset[0]+uservert[3*ix],
|
||||||
offset[1]+uservert[3*ix+1],
|
offset[1]+uservert[3*ix+1],
|
||||||
@@ -851,9 +851,9 @@ mjmBody* mjCComposite::AddCableBody(mjCModel* model, mjmBody* body, int ix, mjtN
|
|||||||
}
|
}
|
||||||
|
|
||||||
// add geom
|
// add geom
|
||||||
mjmGeom* geom = mjm_addGeom(body, &def[0].spec);
|
mjsGeom* geom = mjs_addGeom(body, &def[0].spec);
|
||||||
mjm_setDefault(geom->element, mjm_getDefault(body->element));
|
mjs_setDefault(geom->element, mjs_getDefault(body->element));
|
||||||
mjm_setString(geom->name, txt_geom);
|
mjs_setString(geom->name, txt_geom);
|
||||||
if (def[0].spec.geom->type==mjGEOM_CYLINDER ||
|
if (def[0].spec.geom->type==mjGEOM_CYLINDER ||
|
||||||
def[0].spec.geom->type==mjGEOM_CAPSULE) {
|
def[0].spec.geom->type==mjGEOM_CAPSULE) {
|
||||||
mjuu_zerovec(geom->fromto, 6);
|
mjuu_zerovec(geom->fromto, 6);
|
||||||
@@ -866,11 +866,11 @@ mjmBody* mjCComposite::AddCableBody(mjCModel* model, mjmBody* body, int ix, mjtN
|
|||||||
|
|
||||||
// add plugin
|
// add plugin
|
||||||
if (plugin.active) {
|
if (plugin.active) {
|
||||||
mjmPlugin* pplugin = &body->plugin;
|
mjsPlugin* pplugin = &body->plugin;
|
||||||
pplugin->active = true;
|
pplugin->active = true;
|
||||||
pplugin->instance = (mjElement)plugin.instance;
|
pplugin->instance = plugin.instance;
|
||||||
mjm_setString(pplugin->name, mjm_getString(plugin.name));
|
mjs_setString(pplugin->name, mjs_getString(plugin.name));
|
||||||
mjm_setString(pplugin->instance_name, plugin_instance_name.c_str());
|
mjs_setString(pplugin->instance_name, plugin_instance_name.c_str());
|
||||||
}
|
}
|
||||||
|
|
||||||
// update orientation
|
// update orientation
|
||||||
@@ -878,27 +878,27 @@ mjmBody* mjCComposite::AddCableBody(mjCModel* model, mjmBody* body, int ix, mjtN
|
|||||||
|
|
||||||
// add curvature joint
|
// add curvature joint
|
||||||
if (!first || strcmp(initial.c_str(), "none")) {
|
if (!first || strcmp(initial.c_str(), "none")) {
|
||||||
mjmJoint* jnt = mjm_addJoint(body, &defjoint[mjCOMPKIND_JOINT][0].spec);
|
mjsJoint* jnt = mjs_addJoint(body, &defjoint[mjCOMPKIND_JOINT][0].spec);
|
||||||
mjm_setDefault(jnt->element, mjm_getDefault(body->element));
|
mjs_setDefault(jnt->element, mjs_getDefault(body->element));
|
||||||
jnt->type = (first && strcmp(initial.c_str(), "free")==0) ? mjJNT_FREE : mjJNT_BALL;
|
jnt->type = (first && strcmp(initial.c_str(), "free")==0) ? mjJNT_FREE : mjJNT_BALL;
|
||||||
jnt->damping = jnt->type==mjJNT_FREE ? 0 : jnt->damping;
|
jnt->damping = jnt->type==mjJNT_FREE ? 0 : jnt->damping;
|
||||||
jnt->armature = jnt->type==mjJNT_FREE ? 0 : jnt->armature;
|
jnt->armature = jnt->type==mjJNT_FREE ? 0 : jnt->armature;
|
||||||
jnt->frictionloss = jnt->type==mjJNT_FREE ? 0 : jnt->frictionloss;
|
jnt->frictionloss = jnt->type==mjJNT_FREE ? 0 : jnt->frictionloss;
|
||||||
mjm_setString(jnt->name, this_joint);
|
mjs_setString(jnt->name, this_joint);
|
||||||
}
|
}
|
||||||
|
|
||||||
// exclude contact pair
|
// exclude contact pair
|
||||||
if (!last) {
|
if (!last) {
|
||||||
mjmExclude* exclude = mjm_addExclude(&model->spec);
|
mjsExclude* exclude = mjs_addExclude(&model->spec);
|
||||||
mjm_setString(exclude->bodyname1, std::string(this_body).c_str());
|
mjs_setString(exclude->bodyname1, std::string(this_body).c_str());
|
||||||
mjm_setString(exclude->bodyname2, std::string(next_body).c_str());
|
mjs_setString(exclude->bodyname2, std::string(next_body).c_str());
|
||||||
}
|
}
|
||||||
|
|
||||||
// add site at the boundary
|
// add site at the boundary
|
||||||
if (last || first) {
|
if (last || first) {
|
||||||
mjmSite* site = mjm_addSite(body, &def[0].spec);
|
mjsSite* site = mjs_addSite(body, &def[0].spec);
|
||||||
mjm_setDefault(site->element, mjm_getDefault(body->element));
|
mjs_setDefault(site->element, mjs_getDefault(body->element));
|
||||||
mjm_setString(site->name, txt_site);
|
mjs_setString(site->name, txt_site);
|
||||||
mjuu_setvec(site->pos, last ? length : 0, 0, 0);
|
mjuu_setvec(site->pos, last ? length : 0, 0, 0);
|
||||||
mjuu_setvec(site->quat, 1, 0, 0, 0);
|
mjuu_setvec(site->quat, 1, 0, 0, 0);
|
||||||
}
|
}
|
||||||
@@ -908,7 +908,7 @@ mjmBody* mjCComposite::AddCableBody(mjCModel* model, mjmBody* body, int ix, mjtN
|
|||||||
|
|
||||||
|
|
||||||
// make rope
|
// make rope
|
||||||
bool mjCComposite::MakeRope(mjCModel* model, mjmBody* body, char* error, int error_sz) {
|
bool mjCComposite::MakeRope(mjCModel* model, mjsBody* body, char* error, int error_sz) {
|
||||||
// check dim
|
// check dim
|
||||||
if (dim!=1) {
|
if (dim!=1) {
|
||||||
return comperr(error, "Rope must be one-dimensional", error_sz);
|
return comperr(error, "Rope must be one-dimensional", error_sz);
|
||||||
@@ -917,7 +917,7 @@ bool mjCComposite::MakeRope(mjCModel* model, mjmBody* body, char* error, int err
|
|||||||
// check root body name prefix
|
// check root body name prefix
|
||||||
char txt[200];
|
char txt[200];
|
||||||
mju::sprintf_arr(txt, "%sB", prefix.c_str());
|
mju::sprintf_arr(txt, "%sB", prefix.c_str());
|
||||||
std::string body_name = mjm_getString(body->name);
|
std::string body_name = mjs_getString(body->name);
|
||||||
if (std::strncmp(txt, body_name.substr(0, strlen(txt)).c_str(), mju::sizeof_arr(txt))) {
|
if (std::strncmp(txt, body_name.substr(0, strlen(txt)).c_str(), mju::sizeof_arr(txt))) {
|
||||||
mju::strcat_arr(txt, " must be the beginning of root body name");
|
mju::strcat_arr(txt, " must be the beginning of root body name");
|
||||||
return comperr(error, txt, error_sz);
|
return comperr(error, txt, error_sz);
|
||||||
@@ -937,7 +937,7 @@ bool mjCComposite::MakeRope(mjCModel* model, mjmBody* body, char* error, int err
|
|||||||
AddRopeBody(model, body, ox, ox);
|
AddRopeBody(model, body, ox, ox);
|
||||||
|
|
||||||
// add elements: right
|
// add elements: right
|
||||||
mjmBody* pbody = body;
|
mjsBody* pbody = body;
|
||||||
for (int ix=ox; ix<count[0]-1; ix++) {
|
for (int ix=ox; ix<count[0]-1; ix++) {
|
||||||
pbody = AddRopeBody(model, pbody, ix, ix+1);
|
pbody = AddRopeBody(model, pbody, ix, ix+1);
|
||||||
}
|
}
|
||||||
@@ -953,20 +953,20 @@ bool mjCComposite::MakeRope(mjCModel* model, mjmBody* body, char* error, int err
|
|||||||
char txt2[200];
|
char txt2[200];
|
||||||
|
|
||||||
// add equality constraint
|
// add equality constraint
|
||||||
mjmEquality* eq = mjm_addEquality(&model->spec, 0);
|
mjsEquality* eq = mjs_addEquality(&model->spec, 0);
|
||||||
eq->type = mjEQ_CONNECT;
|
eq->type = mjEQ_CONNECT;
|
||||||
mju::sprintf_arr(txt, "%sB0", prefix.c_str());
|
mju::sprintf_arr(txt, "%sB0", prefix.c_str());
|
||||||
mju::sprintf_arr(txt2, "%sB%d", prefix.c_str(), count[0]-1);
|
mju::sprintf_arr(txt2, "%sB%d", prefix.c_str(), count[0]-1);
|
||||||
mjm_setString(eq->name1, txt);
|
mjs_setString(eq->name1, txt);
|
||||||
mjm_setString(eq->name2, txt2);
|
mjs_setString(eq->name2, txt2);
|
||||||
mjuu_setvec(eq->data, -0.5*spacing, 0, 0);
|
mjuu_setvec(eq->data, -0.5*spacing, 0, 0);
|
||||||
mju_copy(eq->solref, solrefsmooth, mjNREF);
|
mju_copy(eq->solref, solrefsmooth, mjNREF);
|
||||||
mju_copy(eq->solimp, solimpsmooth, mjNIMP);
|
mju_copy(eq->solimp, solimpsmooth, mjNIMP);
|
||||||
|
|
||||||
// remove contact between connected bodies
|
// remove contact between connected bodies
|
||||||
mjmExclude* pair = mjm_addExclude(&model->spec);
|
mjsExclude* pair = mjs_addExclude(&model->spec);
|
||||||
mjm_setString(pair->bodyname1, std::string(txt).c_str());
|
mjs_setString(pair->bodyname1, std::string(txt).c_str());
|
||||||
mjm_setString(pair->bodyname2, std::string(txt2).c_str());
|
mjs_setString(pair->bodyname2, std::string(txt2).c_str());
|
||||||
}
|
}
|
||||||
|
|
||||||
return true;
|
return true;
|
||||||
@@ -975,16 +975,16 @@ bool mjCComposite::MakeRope(mjCModel* model, mjmBody* body, char* error, int err
|
|||||||
|
|
||||||
|
|
||||||
// add child body for cloth
|
// add child body for cloth
|
||||||
mjmBody* mjCComposite::AddRopeBody(mjCModel* model, mjmBody* body, int ix, int ix1) {
|
mjsBody* mjCComposite::AddRopeBody(mjCModel* model, mjsBody* body, int ix, int ix1) {
|
||||||
char txt[100];
|
char txt[100];
|
||||||
bool isroot = (ix==ix1);
|
bool isroot = (ix==ix1);
|
||||||
double dx = spacing*(ix1-ix);
|
double dx = spacing*(ix1-ix);
|
||||||
|
|
||||||
// add child if not root
|
// add child if not root
|
||||||
if (!isroot) {
|
if (!isroot) {
|
||||||
body = mjm_addBody(body, 0);
|
body = mjs_addBody(body, 0);
|
||||||
mju::sprintf_arr(txt, "%sB%d", prefix.c_str(), ix1);
|
mju::sprintf_arr(txt, "%sB%d", prefix.c_str(), ix1);
|
||||||
mjm_setString(body->name, txt);
|
mjs_setString(body->name, txt);
|
||||||
|
|
||||||
// loop
|
// loop
|
||||||
if (type==mjCOMPTYPE_LOOP) {
|
if (type==mjCOMPTYPE_LOOP) {
|
||||||
@@ -1007,10 +1007,10 @@ mjmBody* mjCComposite::AddRopeBody(mjCModel* model, mjmBody* body, int ix, int i
|
|||||||
}
|
}
|
||||||
|
|
||||||
// add geom
|
// add geom
|
||||||
mjmGeom* geom = mjm_addGeom(body, &def[0].spec);
|
mjsGeom* geom = mjs_addGeom(body, &def[0].spec);
|
||||||
mjm_setDefault(geom->element, mjm_getDefault(body->element));
|
mjs_setDefault(geom->element, mjs_getDefault(body->element));
|
||||||
mju::sprintf_arr(txt, "%sG%d", prefix.c_str(), ix1);
|
mju::sprintf_arr(txt, "%sG%d", prefix.c_str(), ix1);
|
||||||
mjm_setString(geom->name, txt);
|
mjs_setString(geom->name, txt);
|
||||||
mjuu_setvec(geom->pos, 0, 0, 0);
|
mjuu_setvec(geom->pos, 0, 0, 0);
|
||||||
mjuu_setvec(geom->quat, sqrt(0.5), 0, sqrt(0.5), 0);
|
mjuu_setvec(geom->quat, sqrt(0.5), 0, sqrt(0.5), 0);
|
||||||
|
|
||||||
@@ -1022,10 +1022,10 @@ mjmBody* mjCComposite::AddRopeBody(mjCModel* model, mjmBody* body, int ix, int i
|
|||||||
// add main joint
|
// add main joint
|
||||||
for (int i=0; i<2; i++) {
|
for (int i=0; i<2; i++) {
|
||||||
// add joint
|
// add joint
|
||||||
mjmJoint* jnt = mjm_addJoint(body, &defjoint[mjCOMPKIND_JOINT][0].spec);
|
mjsJoint* jnt = mjs_addJoint(body, &defjoint[mjCOMPKIND_JOINT][0].spec);
|
||||||
mjm_setDefault(jnt->element, mjm_getDefault(body->element));
|
mjs_setDefault(jnt->element, mjs_getDefault(body->element));
|
||||||
mju::sprintf_arr(txt, "%sJ%d_%d", prefix.c_str(), i, ix1);
|
mju::sprintf_arr(txt, "%sJ%d_%d", prefix.c_str(), i, ix1);
|
||||||
mjm_setString(jnt->name, txt);
|
mjs_setString(jnt->name, txt);
|
||||||
jnt->type = mjJNT_HINGE;
|
jnt->type = mjJNT_HINGE;
|
||||||
mjuu_setvec(jnt->pos, -0.5*dx, 0, 0);
|
mjuu_setvec(jnt->pos, -0.5*dx, 0, 0);
|
||||||
mjuu_setvec(jnt->axis, 0, 0, 0);
|
mjuu_setvec(jnt->axis, 0, 0, 0);
|
||||||
@@ -1035,37 +1035,37 @@ mjmBody* mjCComposite::AddRopeBody(mjCModel* model, mjmBody* body, int ix, int i
|
|||||||
// add twist joint
|
// add twist joint
|
||||||
if (add[mjCOMPKIND_TWIST]) {
|
if (add[mjCOMPKIND_TWIST]) {
|
||||||
// add joint
|
// add joint
|
||||||
mjmJoint* jnt = mjm_addJoint(body, &defjoint[mjCOMPKIND_TWIST][0].spec);
|
mjsJoint* jnt = mjs_addJoint(body, &defjoint[mjCOMPKIND_TWIST][0].spec);
|
||||||
mjm_setDefault(jnt->element, mjm_getDefault(body->element));
|
mjs_setDefault(jnt->element, mjs_getDefault(body->element));
|
||||||
mju::sprintf_arr(txt, "%sJT%d", prefix.c_str(), ix1);
|
mju::sprintf_arr(txt, "%sJT%d", prefix.c_str(), ix1);
|
||||||
mjm_setString(jnt->name, txt);
|
mjs_setString(jnt->name, txt);
|
||||||
jnt->type = mjJNT_HINGE;
|
jnt->type = mjJNT_HINGE;
|
||||||
mjuu_setvec(jnt->pos, -0.5*dx, 0, 0);
|
mjuu_setvec(jnt->pos, -0.5*dx, 0, 0);
|
||||||
mjuu_setvec(jnt->axis, 1, 0, 0);
|
mjuu_setvec(jnt->axis, 1, 0, 0);
|
||||||
|
|
||||||
// add constraint
|
// add constraint
|
||||||
mjmEquality* eq = mjm_addEquality(&model->spec, &def[mjCOMPKIND_TWIST].spec);
|
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TWIST].spec);
|
||||||
mjm_setDefault(eq->element, &model->defaults[0]->spec);
|
mjs_setDefault(eq->element, &model->defaults[0]->spec);
|
||||||
eq->type = mjEQ_JOINT;
|
eq->type = mjEQ_JOINT;
|
||||||
mjm_setString(eq->name1, mjm_getString(jnt->name));
|
mjs_setString(eq->name1, mjs_getString(jnt->name));
|
||||||
}
|
}
|
||||||
|
|
||||||
// add stretch joint
|
// add stretch joint
|
||||||
if (add[mjCOMPKIND_STRETCH]) {
|
if (add[mjCOMPKIND_STRETCH]) {
|
||||||
// add joint
|
// add joint
|
||||||
mjmJoint* jnt = mjm_addJoint(body, &defjoint[mjCOMPKIND_STRETCH][0].spec);
|
mjsJoint* jnt = mjs_addJoint(body, &defjoint[mjCOMPKIND_STRETCH][0].spec);
|
||||||
mjm_setDefault(jnt->element, mjm_getDefault(body->element));
|
mjs_setDefault(jnt->element, mjs_getDefault(body->element));
|
||||||
mju::sprintf_arr(txt, "%sJS%d", prefix.c_str(), ix1);
|
mju::sprintf_arr(txt, "%sJS%d", prefix.c_str(), ix1);
|
||||||
mjm_setString(jnt->name, txt);
|
mjs_setString(jnt->name, txt);
|
||||||
jnt->type = mjJNT_SLIDE;
|
jnt->type = mjJNT_SLIDE;
|
||||||
mjuu_setvec(jnt->pos, -0.5*dx, 0, 0);
|
mjuu_setvec(jnt->pos, -0.5*dx, 0, 0);
|
||||||
mjuu_setvec(jnt->axis, 1, 0, 0);
|
mjuu_setvec(jnt->axis, 1, 0, 0);
|
||||||
|
|
||||||
// add constraint
|
// add constraint
|
||||||
mjmEquality* eq = mjm_addEquality(&model->spec, &def[mjCOMPKIND_STRETCH].spec);
|
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_STRETCH].spec);
|
||||||
mjm_setDefault(eq->element, &model->defaults[0]->spec);
|
mjs_setDefault(eq->element, &model->defaults[0]->spec);
|
||||||
eq->type = mjEQ_JOINT;
|
eq->type = mjEQ_JOINT;
|
||||||
mjm_setString(eq->name1, mjm_getString(jnt->name));
|
mjs_setString(eq->name1, mjs_getString(jnt->name));
|
||||||
}
|
}
|
||||||
|
|
||||||
return body;
|
return body;
|
||||||
@@ -1110,7 +1110,7 @@ void mjCComposite::BoxProject(double* pos) {
|
|||||||
|
|
||||||
|
|
||||||
// make 3d box, ellipsoid or cylinder
|
// make 3d box, ellipsoid or cylinder
|
||||||
bool mjCComposite::MakeBox(mjCModel* model, mjmBody* body, char* error, int error_sz) {
|
bool mjCComposite::MakeBox(mjCModel* model, mjsBody* body, char* error, int error_sz) {
|
||||||
char txt[100];
|
char txt[100];
|
||||||
|
|
||||||
// check dim
|
// check dim
|
||||||
@@ -1119,11 +1119,11 @@ bool mjCComposite::MakeBox(mjCModel* model, mjmBody* body, char* error, int erro
|
|||||||
}
|
}
|
||||||
|
|
||||||
// center geom: two times bigger
|
// center geom: two times bigger
|
||||||
mjmGeom* geom = mjm_addGeom(body, &def[0].spec);
|
mjsGeom* geom = mjs_addGeom(body, &def[0].spec);
|
||||||
mjm_setDefault(geom->element, mjm_getDefault(body->element));
|
mjs_setDefault(geom->element, mjs_getDefault(body->element));
|
||||||
geom->type = mjGEOM_SPHERE;
|
geom->type = mjGEOM_SPHERE;
|
||||||
mju::sprintf_arr(txt, "%sGcenter", prefix.c_str());
|
mju::sprintf_arr(txt, "%sGcenter", prefix.c_str());
|
||||||
mjm_setString(geom->name, txt);
|
mjs_setString(geom->name, txt);
|
||||||
mjuu_setvec(geom->pos, 0, 0, 0);
|
mjuu_setvec(geom->pos, 0, 0, 0);
|
||||||
geom->size[0] *= 2;
|
geom->size[0] *= 2;
|
||||||
geom->size[1] = 0;
|
geom->size[1] = 0;
|
||||||
@@ -1143,9 +1143,9 @@ bool mjCComposite::MakeBox(mjCModel* model, mjmBody* body, char* error, int erro
|
|||||||
iy==0 || iy==count[1]-1 ||
|
iy==0 || iy==count[1]-1 ||
|
||||||
iz==0 || iz==count[2]-1) {
|
iz==0 || iz==count[2]-1) {
|
||||||
// create body
|
// create body
|
||||||
mjmBody* b = mjm_addBody(body, NULL);
|
mjsBody* b = mjs_addBody(body, NULL);
|
||||||
mju::sprintf_arr(txt, "%sB%d_%d_%d", prefix.c_str(), ix, iy, iz);
|
mju::sprintf_arr(txt, "%sB%d_%d_%d", prefix.c_str(), ix, iy, iz);
|
||||||
mjm_setString(b->name, txt);
|
mjs_setString(b->name, txt);
|
||||||
|
|
||||||
// set body position (+/- 1)
|
// set body position (+/- 1)
|
||||||
b->pos[0] = 2.0*ix/(count[0]-1) - 1;
|
b->pos[0] = 2.0*ix/(count[0]-1) - 1;
|
||||||
@@ -1160,10 +1160,10 @@ bool mjCComposite::MakeBox(mjCModel* model, mjmBody* body, char* error, int erro
|
|||||||
mjuu_normvec(b->alt.zaxis, 3);
|
mjuu_normvec(b->alt.zaxis, 3);
|
||||||
|
|
||||||
// add geom
|
// add geom
|
||||||
mjmGeom* g = mjm_addGeom(b, &def[0].spec);
|
mjsGeom* g = mjs_addGeom(b, &def[0].spec);
|
||||||
mjm_setDefault(g->element, mjm_getDefault(body->element));
|
mjs_setDefault(g->element, mjs_getDefault(body->element));
|
||||||
mju::sprintf_arr(txt, "%sG%d_%d_%d", prefix.c_str(), ix, iy, iz);
|
mju::sprintf_arr(txt, "%sG%d_%d_%d", prefix.c_str(), ix, iy, iz);
|
||||||
mjm_setString(g->name, txt);
|
mjs_setString(g->name, txt);
|
||||||
|
|
||||||
// offset inwards, enforce sphere or capsule
|
// offset inwards, enforce sphere or capsule
|
||||||
if (g->type==mjGEOM_CAPSULE) {
|
if (g->type==mjGEOM_CAPSULE) {
|
||||||
@@ -1174,22 +1174,22 @@ bool mjCComposite::MakeBox(mjCModel* model, mjmBody* body, char* error, int erro
|
|||||||
}
|
}
|
||||||
|
|
||||||
// add slider joint
|
// add slider joint
|
||||||
mjmJoint* jnt = mjm_addJoint(b, &defjoint[mjCOMPKIND_JOINT][0].spec);
|
mjsJoint* jnt = mjs_addJoint(b, &defjoint[mjCOMPKIND_JOINT][0].spec);
|
||||||
mjm_setDefault(jnt->element, mjm_getDefault(body->element));
|
mjs_setDefault(jnt->element, mjs_getDefault(body->element));
|
||||||
mju::sprintf_arr(txt, "%sJ%d_%d_%d", prefix.c_str(), ix, iy, iz);
|
mju::sprintf_arr(txt, "%sJ%d_%d_%d", prefix.c_str(), ix, iy, iz);
|
||||||
mjm_setString(jnt->name, txt);
|
mjs_setString(jnt->name, txt);
|
||||||
jnt->type = mjJNT_SLIDE;
|
jnt->type = mjJNT_SLIDE;
|
||||||
mjuu_setvec(jnt->pos, 0, 0, 0);
|
mjuu_setvec(jnt->pos, 0, 0, 0);
|
||||||
mjuu_setvec(jnt->axis, 0, 0, 1);
|
mjuu_setvec(jnt->axis, 0, 0, 1);
|
||||||
|
|
||||||
// add fix constraint
|
// add fix constraint
|
||||||
mjmEquality* eq = mjm_addEquality(&model->spec, &def[mjCOMPKIND_JOINT].spec);
|
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_JOINT].spec);
|
||||||
mjm_setDefault(eq->element, &model->defaults[0]->spec);
|
mjs_setDefault(eq->element, &model->defaults[0]->spec);
|
||||||
eq->type = mjEQ_JOINT;
|
eq->type = mjEQ_JOINT;
|
||||||
mjm_setString(eq->name1, mjm_getString(jnt->name));
|
mjs_setString(eq->name1, mjs_getString(jnt->name));
|
||||||
|
|
||||||
// add joint to tendon
|
// add joint to tendon
|
||||||
ten->WrapJoint(std::string(mjm_getString(jnt->name)), 1);
|
ten->WrapJoint(std::string(mjs_getString(jnt->name)), 1);
|
||||||
|
|
||||||
// add neighbor constraints
|
// add neighbor constraints
|
||||||
for (int i=0; i<3; i++) {
|
for (int i=0; i<3; i++) {
|
||||||
@@ -1203,12 +1203,12 @@ bool mjCComposite::MakeBox(mjCModel* model, mjmBody* body, char* error, int erro
|
|||||||
char txt2[200];
|
char txt2[200];
|
||||||
mju::sprintf_arr(txt2,
|
mju::sprintf_arr(txt2,
|
||||||
"%sJ%d_%d_%d", prefix.c_str(), ix1, iy1, iz1);
|
"%sJ%d_%d_%d", prefix.c_str(), ix1, iy1, iz1);
|
||||||
mjmEquality* eqn = mjm_addEquality(&model->spec, 0);
|
mjsEquality* eqn = mjs_addEquality(&model->spec, 0);
|
||||||
mju_copy(eqn->solref, solrefsmooth, mjNREF);
|
mju_copy(eqn->solref, solrefsmooth, mjNREF);
|
||||||
mju_copy(eqn->solimp, solimpsmooth, mjNIMP);
|
mju_copy(eqn->solimp, solimpsmooth, mjNIMP);
|
||||||
eqn->type = mjEQ_JOINT;
|
eqn->type = mjEQ_JOINT;
|
||||||
mjm_setString(eqn->name1, txt);
|
mjs_setString(eqn->name1, txt);
|
||||||
mjm_setString(eqn->name2, txt2);
|
mjs_setString(eqn->name2, txt2);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -1217,10 +1217,10 @@ bool mjCComposite::MakeBox(mjCModel* model, mjmBody* body, char* error, int erro
|
|||||||
}
|
}
|
||||||
|
|
||||||
// finalize fixed tendon
|
// finalize fixed tendon
|
||||||
mjmEquality* eqt = mjm_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
|
mjsEquality* eqt = mjs_addEquality(&model->spec, &def[mjCOMPKIND_TENDON].spec);
|
||||||
mjm_setDefault(eqt->element, &model->defaults[0]->spec);
|
mjs_setDefault(eqt->element, &model->defaults[0]->spec);
|
||||||
eqt->type = mjEQ_TENDON;
|
eqt->type = mjEQ_TENDON;
|
||||||
mjm_setString(eqt->name1, ten->name.c_str());
|
mjs_setString(eqt->name1, ten->name.c_str());
|
||||||
|
|
||||||
// skin
|
// skin
|
||||||
if (skin) {
|
if (skin) {
|
||||||
@@ -1253,10 +1253,10 @@ void mjCComposite::MakeShear(mjCModel* model) {
|
|||||||
ten->name = txt;
|
ten->name = txt;
|
||||||
|
|
||||||
// equality constraint
|
// equality constraint
|
||||||
mjmEquality* eq = mjm_addEquality(&model->spec, &def[mjCOMPKIND_SHEAR].spec);
|
mjsEquality* eq = mjs_addEquality(&model->spec, &def[mjCOMPKIND_SHEAR].spec);
|
||||||
mjm_setDefault(eq->element, &model->defaults[0]->spec);
|
mjs_setDefault(eq->element, &model->defaults[0]->spec);
|
||||||
eq->type = mjEQ_TENDON;
|
eq->type = mjEQ_TENDON;
|
||||||
mjm_setString(eq->name1, txt);
|
mjs_setString(eq->name1, txt);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -1264,18 +1264,18 @@ void mjCComposite::MakeShear(mjCModel* model) {
|
|||||||
|
|
||||||
|
|
||||||
// copy local vectors to skin
|
// copy local vectors to skin
|
||||||
void mjCComposite::CopyIntoSkin(mjmSkin* skin) {
|
void mjCComposite::CopyIntoSkin(mjsSkin* skin) {
|
||||||
mjm_setInt(skin->face, face.data(), face.size());
|
mjs_setInt(skin->face, face.data(), face.size());
|
||||||
mjm_setFloat(skin->vert, vert.data(), vert.size());
|
mjs_setFloat(skin->vert, vert.data(), vert.size());
|
||||||
mjm_setFloat(skin->bindpos, bindpos.data(), bindpos.size());
|
mjs_setFloat(skin->bindpos, bindpos.data(), bindpos.size());
|
||||||
mjm_setFloat(skin->bindquat, bindquat.data(), bindquat.size());
|
mjs_setFloat(skin->bindquat, bindquat.data(), bindquat.size());
|
||||||
mjm_setFloat(skin->texcoord, texcoord.data(), texcoord.size());
|
mjs_setFloat(skin->texcoord, texcoord.data(), texcoord.size());
|
||||||
|
|
||||||
for (int i=0; i<vertid.size(); i++) {
|
for (int i=0; i<vertid.size(); i++) {
|
||||||
mjm_appendIntVec(skin->vertid, vertid[i].data(), vertid[i].size());
|
mjs_appendIntVec(skin->vertid, vertid[i].data(), vertid[i].size());
|
||||||
}
|
}
|
||||||
for (int i=0; i< vertweight.size(); i++) {
|
for (int i=0; i< vertweight.size(); i++) {
|
||||||
mjm_appendFloatVec(skin->vertweight, vertweight[i].data(), vertweight[i].size());
|
mjs_appendFloatVec(skin->vertweight, vertweight[i].data(), vertweight[i].size());
|
||||||
}
|
}
|
||||||
|
|
||||||
face.clear();
|
face.clear();
|
||||||
@@ -1295,10 +1295,10 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
|
|||||||
int N = count[0]*count[1];
|
int N = count[0]*count[1];
|
||||||
|
|
||||||
// add skin, set name and material
|
// add skin, set name and material
|
||||||
mjmSkin* skin = mjm_addSkin(&model->spec);
|
mjsSkin* skin = mjs_addSkin(&model->spec);
|
||||||
mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
|
mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
|
||||||
mjm_setString(skin->name, txt);
|
mjs_setString(skin->name, txt);
|
||||||
mjm_setString(skin->material, skinmaterial.c_str());
|
mjs_setString(skin->material, skinmaterial.c_str());
|
||||||
mjuu_copyvec(skin->rgba, skinrgba, 4);
|
mjuu_copyvec(skin->rgba, skinrgba, 4);
|
||||||
skin->inflate = inflate;
|
skin->inflate = inflate;
|
||||||
skin->group = skingroup;
|
skin->group = skingroup;
|
||||||
@@ -1316,7 +1316,7 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
|
|||||||
vert.push_back(0);
|
vert.push_back(0);
|
||||||
|
|
||||||
mju::sprintf_arr(txt, "%sB%d", prefix.c_str(), i);
|
mju::sprintf_arr(txt, "%sB%d", prefix.c_str(), i);
|
||||||
mjm_appendString(skin->bodyname, txt);
|
mjs_appendString(skin->bodyname, txt);
|
||||||
bindpos.push_back(0);
|
bindpos.push_back(0);
|
||||||
bindpos.push_back(0);
|
bindpos.push_back(0);
|
||||||
bindpos.push_back(0);
|
bindpos.push_back(0);
|
||||||
@@ -1426,7 +1426,7 @@ void mjCComposite::MakeSkin2(mjCModel* model, mjtNum inflate) {
|
|||||||
|
|
||||||
|
|
||||||
// add bones in 2D
|
// add bones in 2D
|
||||||
void mjCComposite::MakeClothBones(mjCModel* model, mjmSkin* skin) {
|
void mjCComposite::MakeClothBones(mjCModel* model, mjsSkin* skin) {
|
||||||
char txt[100];
|
char txt[100];
|
||||||
int N = count[0]*count[1];
|
int N = count[0]*count[1];
|
||||||
|
|
||||||
@@ -1441,7 +1441,7 @@ void mjCComposite::MakeClothBones(mjCModel* model, mjmSkin* skin) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
// bind pose
|
// bind pose
|
||||||
mjm_appendString(skin->bodyname, txt);
|
mjs_appendString(skin->bodyname, txt);
|
||||||
bindpos.push_back(0);
|
bindpos.push_back(0);
|
||||||
bindpos.push_back(0);
|
bindpos.push_back(0);
|
||||||
bindpos.push_back(0);
|
bindpos.push_back(0);
|
||||||
@@ -1459,7 +1459,7 @@ void mjCComposite::MakeClothBones(mjCModel* model, mjmSkin* skin) {
|
|||||||
|
|
||||||
|
|
||||||
|
|
||||||
void mjCComposite::MakeClothBonesSubgrid(mjCModel* model, mjmSkin* skin) {
|
void mjCComposite::MakeClothBonesSubgrid(mjCModel* model, mjsSkin* skin) {
|
||||||
char txt[100];
|
char txt[100];
|
||||||
|
|
||||||
// populate bones
|
// populate bones
|
||||||
@@ -1473,7 +1473,7 @@ void mjCComposite::MakeClothBonesSubgrid(mjCModel* model, mjmSkin* skin) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
// bind pose
|
// bind pose
|
||||||
mjm_appendString(skin->bodyname, txt);
|
mjs_appendString(skin->bodyname, txt);
|
||||||
bindpos.push_back(ix*spacing);
|
bindpos.push_back(ix*spacing);
|
||||||
bindpos.push_back(iy*spacing);
|
bindpos.push_back(iy*spacing);
|
||||||
bindpos.push_back(0);
|
bindpos.push_back(0);
|
||||||
@@ -1492,7 +1492,7 @@ void mjCComposite::MakeClothBonesSubgrid(mjCModel* model, mjmSkin* skin) {
|
|||||||
|
|
||||||
|
|
||||||
// add bones to 1D
|
// add bones to 1D
|
||||||
void mjCComposite::MakeCableBones(mjCModel* model, mjmSkin* skin) {
|
void mjCComposite::MakeCableBones(mjCModel* model, mjsSkin* skin) {
|
||||||
char this_body[100];
|
char this_body[100];
|
||||||
int N = count[0]*count[1];
|
int N = count[0]*count[1];
|
||||||
|
|
||||||
@@ -1510,14 +1510,14 @@ void mjCComposite::MakeCableBones(mjCModel* model, mjmSkin* skin) {
|
|||||||
|
|
||||||
// bind pose
|
// bind pose
|
||||||
if (iy==0) {
|
if (iy==0) {
|
||||||
mjm_appendString(skin->bodyname, this_body);
|
mjs_appendString(skin->bodyname, this_body);
|
||||||
bindpos.push_back((ix==count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
|
bindpos.push_back((ix==count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
|
||||||
bindpos.push_back(-def[0].spec.geom->size[1]);
|
bindpos.push_back(-def[0].spec.geom->size[1]);
|
||||||
bindpos.push_back(0);
|
bindpos.push_back(0);
|
||||||
bindquat.push_back(1); bindquat.push_back(0);
|
bindquat.push_back(1); bindquat.push_back(0);
|
||||||
bindquat.push_back(0); bindquat.push_back(0);
|
bindquat.push_back(0); bindquat.push_back(0);
|
||||||
} else {
|
} else {
|
||||||
mjm_appendString(skin->bodyname, this_body);
|
mjs_appendString(skin->bodyname, this_body);
|
||||||
bindpos.push_back((ix==count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
|
bindpos.push_back((ix==count[0]-1) ? -2*def[0].spec.geom->size[0] : 0);
|
||||||
bindpos.push_back(def[0].spec.geom->size[1]);
|
bindpos.push_back(def[0].spec.geom->size[1]);
|
||||||
bindpos.push_back(0);
|
bindpos.push_back(0);
|
||||||
@@ -1534,7 +1534,7 @@ void mjCComposite::MakeCableBones(mjCModel* model, mjmSkin* skin) {
|
|||||||
|
|
||||||
|
|
||||||
|
|
||||||
void mjCComposite::MakeCableBonesSubgrid(mjCModel* model, mjmSkin* skin) {
|
void mjCComposite::MakeCableBonesSubgrid(mjCModel* model, mjsSkin* skin) {
|
||||||
// populate bones
|
// populate bones
|
||||||
for (int ix=0; ix<count[0]; ix++) {
|
for (int ix=0; ix<count[0]; ix++) {
|
||||||
for (int iy=0; iy<count[1]; iy++) {
|
for (int iy=0; iy<count[1]; iy++) {
|
||||||
@@ -1563,7 +1563,7 @@ void mjCComposite::MakeCableBonesSubgrid(mjCModel* model, mjmSkin* skin) {
|
|||||||
bindpos.push_back(0);
|
bindpos.push_back(0);
|
||||||
bindpos.push_back(0);
|
bindpos.push_back(0);
|
||||||
}
|
}
|
||||||
mjm_appendString(skin->bodyname, txt);
|
mjs_appendString(skin->bodyname, txt);
|
||||||
bindquat.push_back(1);
|
bindquat.push_back(1);
|
||||||
bindquat.push_back(0);
|
bindquat.push_back(0);
|
||||||
bindquat.push_back(0);
|
bindquat.push_back(0);
|
||||||
@@ -1888,10 +1888,10 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model, mjtNum inflate) {
|
|||||||
|
|
||||||
// add skin, set name and material
|
// add skin, set name and material
|
||||||
char txt[100];
|
char txt[100];
|
||||||
mjmSkin* skin = mjm_addSkin(&model->spec);
|
mjsSkin* skin = mjs_addSkin(&model->spec);
|
||||||
mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
|
mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
|
||||||
mjm_setString(skin->name, txt);
|
mjs_setString(skin->name, txt);
|
||||||
mjm_setString(skin->material, skinmaterial.c_str());
|
mjs_setString(skin->material, skinmaterial.c_str());
|
||||||
mjuu_copyvec(skin->rgba, skinrgba, 4);
|
mjuu_copyvec(skin->rgba, skinrgba, 4);
|
||||||
skin->inflate = inflate;
|
skin->inflate = inflate;
|
||||||
skin->group = skingroup;
|
skin->group = skingroup;
|
||||||
@@ -2043,10 +2043,10 @@ void mjCComposite::MakeSkin3(mjCModel* model) {
|
|||||||
mju::sprintf_arr(cnt2, "%d", count[2]-1);
|
mju::sprintf_arr(cnt2, "%d", count[2]-1);
|
||||||
|
|
||||||
// add skin, set name and material
|
// add skin, set name and material
|
||||||
mjmSkin* skin = mjm_addSkin(&model->spec);
|
mjsSkin* skin = mjs_addSkin(&model->spec);
|
||||||
mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
|
mju::sprintf_arr(txt, "%sSkin", prefix.c_str());
|
||||||
mjm_setString(skin->name, txt);
|
mjs_setString(skin->name, txt);
|
||||||
mjm_setString(skin->material, skinmaterial.c_str());
|
mjs_setString(skin->material, skinmaterial.c_str());
|
||||||
mjuu_copyvec(skin->rgba, skinrgba, 4);
|
mjuu_copyvec(skin->rgba, skinrgba, 4);
|
||||||
skin->inflate = skininflate;
|
skin->inflate = skininflate;
|
||||||
skin->group = skingroup;
|
skin->group = skingroup;
|
||||||
@@ -2191,7 +2191,7 @@ void mjCComposite::MakeSkin3(mjCModel* model) {
|
|||||||
|
|
||||||
|
|
||||||
// make one face of 3D skin, box
|
// make one face of 3D skin, box
|
||||||
void mjCComposite::MakeSkin3Box(mjmSkin* skin, int c0, int c1, int side,
|
void mjCComposite::MakeSkin3Box(mjsSkin* skin, int c0, int c1, int side,
|
||||||
int& vcnt, const char* format) {
|
int& vcnt, const char* format) {
|
||||||
char txt[100];
|
char txt[100];
|
||||||
|
|
||||||
@@ -2224,7 +2224,7 @@ void mjCComposite::MakeSkin3Box(mjmSkin* skin, int c0, int c1, int side,
|
|||||||
mju::sprintf_arr(txt, format, prefix.c_str(), i0, i1);
|
mju::sprintf_arr(txt, format, prefix.c_str(), i0, i1);
|
||||||
|
|
||||||
// bind pose: origin
|
// bind pose: origin
|
||||||
mjm_appendString(skin->bodyname, txt);
|
mjs_appendString(skin->bodyname, txt);
|
||||||
bindpos.push_back(0);
|
bindpos.push_back(0);
|
||||||
bindpos.push_back(0);
|
bindpos.push_back(0);
|
||||||
bindpos.push_back(0);
|
bindpos.push_back(0);
|
||||||
@@ -2246,7 +2246,7 @@ void mjCComposite::MakeSkin3Box(mjmSkin* skin, int c0, int c1, int side,
|
|||||||
|
|
||||||
|
|
||||||
// make one face of 3D skin, smooth
|
// make one face of 3D skin, smooth
|
||||||
void mjCComposite::MakeSkin3Smooth(mjmSkin* skin, int c0, int c1, int side,
|
void mjCComposite::MakeSkin3Smooth(mjsSkin* skin, int c0, int c1, int side,
|
||||||
const std::map<string, int>& vmap, const char* format) {
|
const std::map<string, int>& vmap, const char* format) {
|
||||||
char txt00[100], txt01[100], txt10[100], txt11[100];
|
char txt00[100], txt01[100], txt10[100], txt11[100];
|
||||||
|
|
||||||
@@ -2281,7 +2281,7 @@ void mjCComposite::MakeSkin3Smooth(mjmSkin* skin, int c0, int c1, int side,
|
|||||||
}
|
}
|
||||||
|
|
||||||
// bind pose: origin
|
// bind pose: origin
|
||||||
mjm_appendString(skin->bodyname, txt00);
|
mjs_appendString(skin->bodyname, txt00);
|
||||||
bindpos.push_back(0);
|
bindpos.push_back(0);
|
||||||
bindpos.push_back(0);
|
bindpos.push_back(0);
|
||||||
bindpos.push_back(0);
|
bindpos.push_back(0);
|
||||||
|
|||||||
+16
-16
@@ -69,25 +69,25 @@ class mjCComposite {
|
|||||||
bool AddDefaultJoint(char* error = NULL, int error_sz = 0);
|
bool AddDefaultJoint(char* error = NULL, int error_sz = 0);
|
||||||
void AdjustSoft(mjtNum* solref, mjtNum* solimp, int level);
|
void AdjustSoft(mjtNum* solref, mjtNum* solimp, int level);
|
||||||
|
|
||||||
bool Make(mjSpec* spec, mjmBody* body, char* error, int error_sz);
|
bool Make(mjSpec* spec, mjsBody* body, char* error, int error_sz);
|
||||||
|
|
||||||
bool MakeParticle(mjCModel* model, mjmBody* body, char* error, int error_sz);
|
bool MakeParticle(mjCModel* model, mjsBody* body, char* error, int error_sz);
|
||||||
bool MakeGrid(mjCModel* model, mjmBody* body, char* error, int error_sz);
|
bool MakeGrid(mjCModel* model, mjsBody* body, char* error, int error_sz);
|
||||||
bool MakeRope(mjCModel* model, mjmBody* body, char* error, int error_sz);
|
bool MakeRope(mjCModel* model, mjsBody* body, char* error, int error_sz);
|
||||||
bool MakeCable(mjCModel* model, mjmBody* body, char* error, int error_sz);
|
bool MakeCable(mjCModel* model, mjsBody* body, char* error, int error_sz);
|
||||||
bool MakeBox(mjCModel* model, mjmBody* body, char* error, int error_sz);
|
bool MakeBox(mjCModel* model, mjsBody* body, char* error, int error_sz);
|
||||||
void MakeShear(mjCModel* model);
|
void MakeShear(mjCModel* model);
|
||||||
|
|
||||||
void MakeSkin2(mjCModel* model, mjtNum inflate);
|
void MakeSkin2(mjCModel* model, mjtNum inflate);
|
||||||
void MakeSkin2Subgrid(mjCModel* model, mjtNum inflate);
|
void MakeSkin2Subgrid(mjCModel* model, mjtNum inflate);
|
||||||
void MakeClothBones(mjCModel* model, mjmSkin* skin);
|
void MakeClothBones(mjCModel* model, mjsSkin* skin);
|
||||||
void MakeClothBonesSubgrid(mjCModel* model, mjmSkin* skin);
|
void MakeClothBonesSubgrid(mjCModel* model, mjsSkin* skin);
|
||||||
void MakeCableBones(mjCModel* model, mjmSkin* skin);
|
void MakeCableBones(mjCModel* model, mjsSkin* skin);
|
||||||
void MakeCableBonesSubgrid(mjCModel* model, mjmSkin* skin);
|
void MakeCableBonesSubgrid(mjCModel* model, mjsSkin* skin);
|
||||||
|
|
||||||
void MakeSkin3(mjCModel* model);
|
void MakeSkin3(mjCModel* model);
|
||||||
void MakeSkin3Box(mjmSkin* skin, int c0, int c1, int side, int& vcnt, const char* format);
|
void MakeSkin3Box(mjsSkin* skin, int c0, int c1, int side, int& vcnt, const char* format);
|
||||||
void MakeSkin3Smooth(mjmSkin* skin, int c0, int c1, int side,
|
void MakeSkin3Smooth(mjsSkin* skin, int c0, int c1, int side,
|
||||||
const std::map<std::string, int>& vmap, const char* format);
|
const std::map<std::string, int>& vmap, const char* format);
|
||||||
|
|
||||||
void BoxProject(double* pos);
|
void BoxProject(double* pos);
|
||||||
@@ -116,7 +116,7 @@ class mjCComposite {
|
|||||||
// plugin support
|
// plugin support
|
||||||
std::string plugin_name;
|
std::string plugin_name;
|
||||||
std::string plugin_instance_name;
|
std::string plugin_instance_name;
|
||||||
mjmPlugin plugin;
|
mjsPlugin plugin;
|
||||||
|
|
||||||
// skin
|
// skin
|
||||||
bool skin; // generate skin
|
bool skin; // generate skin
|
||||||
@@ -136,11 +136,11 @@ class mjCComposite {
|
|||||||
int dim; // dimensionality
|
int dim; // dimensionality
|
||||||
|
|
||||||
private:
|
private:
|
||||||
mjmBody* AddRopeBody(mjCModel* model, mjmBody* body, int ix, int ix1);
|
mjsBody* AddRopeBody(mjCModel* model, mjsBody* body, int ix, int ix1);
|
||||||
mjmBody* AddCableBody(mjCModel* model, mjmBody* body, int ix, mjtNum normal[3], mjtNum prev_quat[4]);
|
mjsBody* AddCableBody(mjCModel* model, mjsBody* body, int ix, mjtNum normal[3], mjtNum prev_quat[4]);
|
||||||
|
|
||||||
// temporary skin vectors
|
// temporary skin vectors
|
||||||
void CopyIntoSkin(mjmSkin* skin);
|
void CopyIntoSkin(mjsSkin* skin);
|
||||||
std::vector<int> face;
|
std::vector<int> face;
|
||||||
std::vector<float> vert;
|
std::vector<float> vert;
|
||||||
std::vector<float> bindpos;
|
std::vector<float> bindpos;
|
||||||
|
|||||||
+365
-104
@@ -12,16 +12,14 @@
|
|||||||
// See the License for the specific language governing permissions and
|
// See the License for the specific language governing permissions and
|
||||||
// limitations under the License.
|
// limitations under the License.
|
||||||
|
|
||||||
#include "user/user_api.h"
|
#include <algorithm>
|
||||||
#include "user/user_flexcomp.h"
|
|
||||||
#include <stdio.h>
|
|
||||||
|
|
||||||
#include <cstddef>
|
#include <cstddef>
|
||||||
#include <cstdio>
|
#include <cstdio>
|
||||||
#include <cstring>
|
#include <cstring>
|
||||||
|
#include <sstream>
|
||||||
|
#include <stdio.h>
|
||||||
#include <string>
|
#include <string>
|
||||||
#include <vector>
|
#include <vector>
|
||||||
#include <sstream>
|
|
||||||
|
|
||||||
#include <mujoco/mjmacro.h>
|
#include <mujoco/mjmacro.h>
|
||||||
#include <mujoco/mjmodel.h>
|
#include <mujoco/mjmodel.h>
|
||||||
@@ -34,6 +32,7 @@
|
|||||||
#include "engine/engine_util_errmem.h"
|
#include "engine/engine_util_errmem.h"
|
||||||
#include "engine/engine_util_misc.h"
|
#include "engine/engine_util_misc.h"
|
||||||
#include "engine/engine_util_spatial.h"
|
#include "engine/engine_util_spatial.h"
|
||||||
|
#include "user/user_flexcomp.h"
|
||||||
#include "user/user_model.h"
|
#include "user/user_model.h"
|
||||||
#include "user/user_objects.h"
|
#include "user/user_objects.h"
|
||||||
#include "user/user_util.h"
|
#include "user/user_util.h"
|
||||||
@@ -58,6 +57,12 @@ static void ReadFromBuffer(T* dst, const char* src) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
static void ReadStrFromBuffer(char* dest, const char* src, int maxlen) {
|
||||||
|
std::strncpy(dest, src, maxlen);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// constructor: set defaults outside mjCDef
|
// constructor: set defaults outside mjCDef
|
||||||
mjCFlexcomp::mjCFlexcomp(void) {
|
mjCFlexcomp::mjCFlexcomp(void) {
|
||||||
type = mjFCOMPTYPE_GRID;
|
type = mjFCOMPTYPE_GRID;
|
||||||
@@ -72,7 +77,8 @@ mjCFlexcomp::mjCFlexcomp(void) {
|
|||||||
rigid = false;
|
rigid = false;
|
||||||
centered = false;
|
centered = false;
|
||||||
|
|
||||||
mjm_defaultPlugin(plugin);
|
mjs_defaultPlugin(plugin);
|
||||||
|
mjs_defaultOrientation(alt);
|
||||||
plugin_name = "";
|
plugin_name = "";
|
||||||
plugin_instance_name = "";
|
plugin_instance_name = "";
|
||||||
plugin.name = (mjString)&plugin_name;
|
plugin.name = (mjString)&plugin_name;
|
||||||
@@ -82,9 +88,9 @@ mjCFlexcomp::mjCFlexcomp(void) {
|
|||||||
|
|
||||||
|
|
||||||
// make flexcomp object
|
// make flexcomp object
|
||||||
bool mjCFlexcomp::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
|
bool mjCFlexcomp::Make(mjSpec* spec, mjsBody* body, char* error, int error_sz) {
|
||||||
mjCModel* model = (mjCModel*)spec->element;
|
mjCModel* model = (mjCModel*)spec->element;
|
||||||
mjmFlex* dflex = def.spec.flex;
|
mjsFlex* dflex = def.spec.flex;
|
||||||
int dim = dflex->dim;
|
int dim = dflex->dim;
|
||||||
bool radial = (type == mjFCOMPTYPE_BOX ||
|
bool radial = (type == mjFCOMPTYPE_BOX ||
|
||||||
type == mjFCOMPTYPE_CYLINDER ||
|
type == mjFCOMPTYPE_CYLINDER ||
|
||||||
@@ -94,7 +100,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
|
|||||||
type == mjFCOMPTYPE_GMSH);
|
type == mjFCOMPTYPE_GMSH);
|
||||||
|
|
||||||
// check parent body name
|
// check parent body name
|
||||||
if (std::string(mjm_getString(body->name)).empty()) {
|
if (std::string(mjs_getString(body->name)).empty()) {
|
||||||
return comperr(error, "Parent body must have name", error_sz);
|
return comperr(error, "Parent body must have name", error_sz);
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -131,7 +137,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
// compute orientation
|
// compute orientation
|
||||||
const char* alterr = alt.Set(quat, model->spec.degree, model->spec.euler);
|
const char* alterr = mjs_resolveOrientation(quat, model->spec.degree, model->spec.euler, &alt);
|
||||||
if (alterr) {
|
if (alterr) {
|
||||||
return comperr(error, alterr, error_sz);
|
return comperr(error, alterr, error_sz);
|
||||||
}
|
}
|
||||||
@@ -381,7 +387,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
|
|||||||
|
|
||||||
// create flex, copy parameters
|
// create flex, copy parameters
|
||||||
mjCFlex* flex = model->AddFlex();
|
mjCFlex* flex = model->AddFlex();
|
||||||
mjmFlex* pf = &flex->spec;
|
mjsFlex* pf = &flex->spec;
|
||||||
int id = flex->id;
|
int id = flex->id;
|
||||||
|
|
||||||
*flex = def.flex;
|
*flex = def.flex;
|
||||||
@@ -389,13 +395,13 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
|
|||||||
|
|
||||||
flex->model = model;
|
flex->model = model;
|
||||||
flex->id = id;
|
flex->id = id;
|
||||||
mjm_setString(pf->name, name.c_str());
|
mjs_setString(pf->name, name.c_str());
|
||||||
mjm_setInt(pf->elem, element.data(), element.size());
|
mjs_setInt(pf->elem, element.data(), element.size());
|
||||||
mjm_setFloat(pf->texcoord, texcoord.data(), texcoord.size());
|
mjs_setFloat(pf->texcoord, texcoord.data(), texcoord.size());
|
||||||
|
|
||||||
// rigid: set parent name, nothing else to do
|
// rigid: set parent name, nothing else to do
|
||||||
if (rigid) {
|
if (rigid) {
|
||||||
mjm_appendString(pf->vertbody, mjm_getString(body->name));
|
mjs_appendString(pf->vertbody, mjs_getString(body->name));
|
||||||
return true;
|
return true;
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -406,7 +412,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
|
|||||||
// overwrite plugin name
|
// overwrite plugin name
|
||||||
if (plugin.active && plugin_instance_name.empty()) {
|
if (plugin.active && plugin_instance_name.empty()) {
|
||||||
plugin_instance_name = "flexcomp_" + name;
|
plugin_instance_name = "flexcomp_" + name;
|
||||||
((mjCPlugin*)plugin.instance)->name = plugin_instance_name;
|
static_cast<mjCPlugin*>(plugin.instance)->name = plugin_instance_name;
|
||||||
}
|
}
|
||||||
|
|
||||||
// create bodies, construct flex vert and vertbody
|
// create bodies, construct flex vert and vertbody
|
||||||
@@ -418,22 +424,22 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
|
|||||||
|
|
||||||
// pinned: parent body
|
// pinned: parent body
|
||||||
if (pinned[i]) {
|
if (pinned[i]) {
|
||||||
mjm_appendString(pf->vertbody, mjm_getString(body->name));
|
mjs_appendString(pf->vertbody, mjs_getString(body->name));
|
||||||
|
|
||||||
// add plugin
|
// add plugin
|
||||||
if (plugin.active) {
|
if (plugin.active) {
|
||||||
mjmPlugin* pplugin = &body->plugin;
|
mjsPlugin* pplugin = &body->plugin;
|
||||||
pplugin->active = true;
|
pplugin->active = true;
|
||||||
pplugin->instance = (mjElement)plugin.instance;
|
pplugin->instance = static_cast<mjElement*>(plugin.instance);
|
||||||
mjm_setString(pplugin->name, mjm_getString(plugin.name));
|
mjs_setString(pplugin->name, mjs_getString(plugin.name));
|
||||||
mjm_setString(pplugin->instance_name, plugin_instance_name.c_str());
|
mjs_setString(pplugin->instance_name, plugin_instance_name.c_str());
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// not pinned: new body
|
// not pinned: new body
|
||||||
else {
|
else {
|
||||||
// add new body at vertex coordinates
|
// add new body at vertex coordinates
|
||||||
mjmBody* pb = mjm_addBody(body, 0);
|
mjsBody* pb = mjs_addBody(body, 0);
|
||||||
|
|
||||||
// set frame and inertial
|
// set frame and inertial
|
||||||
pb->pos[0] = point[3*i];
|
pb->pos[0] = point[3*i];
|
||||||
@@ -448,7 +454,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
|
|||||||
|
|
||||||
// add radial slider
|
// add radial slider
|
||||||
if (radial) {
|
if (radial) {
|
||||||
mjmJoint* jnt = mjm_addJoint(pb, 0);
|
mjsJoint* jnt = mjs_addJoint(pb, 0);
|
||||||
|
|
||||||
// set properties
|
// set properties
|
||||||
jnt->type = mjJNT_SLIDE;
|
jnt->type = mjJNT_SLIDE;
|
||||||
@@ -461,7 +467,7 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
|
|||||||
else {
|
else {
|
||||||
for (int j=0; j < 3; j++) {
|
for (int j=0; j < 3; j++) {
|
||||||
// add joint to body
|
// add joint to body
|
||||||
mjmJoint* jnt = mjm_addJoint(pb, 0);
|
mjsJoint* jnt = mjs_addJoint(pb, 0);
|
||||||
|
|
||||||
// set properties
|
// set properties
|
||||||
jnt->type = mjJNT_SLIDE;
|
jnt->type = mjJNT_SLIDE;
|
||||||
@@ -474,8 +480,8 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
|
|||||||
// construct body name, add to vertbody
|
// construct body name, add to vertbody
|
||||||
char txt[100];
|
char txt[100];
|
||||||
mju::sprintf_arr(txt, "%s_%d", name.c_str(), i);
|
mju::sprintf_arr(txt, "%s_%d", name.c_str(), i);
|
||||||
mjm_setString(pb->name, txt);
|
mjs_setString(pb->name, txt);
|
||||||
mjm_appendString(pf->vertbody, mjm_getString(pb->name));
|
mjs_appendString(pf->vertbody, mjs_getString(pb->name));
|
||||||
|
|
||||||
// clear flex vertex coordinates if allocated
|
// clear flex vertex coordinates if allocated
|
||||||
if (!centered) {
|
if (!centered) {
|
||||||
@@ -486,26 +492,26 @@ bool mjCFlexcomp::Make(mjSpec* spec, mjmBody* body, char* error, int error_sz) {
|
|||||||
|
|
||||||
// add plugin
|
// add plugin
|
||||||
if (plugin.active) {
|
if (plugin.active) {
|
||||||
mjmPlugin* pplugin = &pb->plugin;
|
mjsPlugin* pplugin = &pb->plugin;
|
||||||
pplugin->active = true;
|
pplugin->active = true;
|
||||||
pplugin->instance = (mjElement)plugin.instance;
|
pplugin->instance = static_cast<mjElement*>(plugin.instance);
|
||||||
mjm_setString(pplugin->name, mjm_getString(plugin.name));
|
mjs_setString(pplugin->name, mjs_getString(plugin.name));
|
||||||
mjm_setString(pplugin->instance_name, plugin_instance_name.c_str());
|
mjs_setString(pplugin->instance_name, plugin_instance_name.c_str());
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
if (!centered) {
|
if (!centered) {
|
||||||
mjm_setDouble(pf->vert, point.data(), point.size());
|
mjs_setDouble(pf->vert, point.data(), point.size());
|
||||||
}
|
}
|
||||||
|
|
||||||
// create edge equality constraint
|
// create edge equality constraint
|
||||||
if (equality) {
|
if (equality) {
|
||||||
mjmEquality* pe = mjm_addEquality(&model->spec, &def.spec);
|
mjsEquality* pe = mjs_addEquality(&model->spec, &def.spec);
|
||||||
mjm_setDefault(pe->element, &model->defaults[0]->spec);
|
mjs_setDefault(pe->element, &model->defaults[0]->spec);
|
||||||
pe->type = mjEQ_FLEX;
|
pe->type = mjEQ_FLEX;
|
||||||
pe->active = true;
|
pe->active = true;
|
||||||
mjm_setString(pe->name1, name.c_str());
|
mjs_setString(pe->name1, name.c_str());
|
||||||
}
|
}
|
||||||
|
|
||||||
return true;
|
return true;
|
||||||
@@ -885,8 +891,8 @@ bool mjCFlexcomp::MakeMesh(mjCModel* model, char* error, int error_sz) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
// load resource
|
// load resource
|
||||||
string filename = mjuu_makefullname(mjm_getString(model->spec.modelfiledir),
|
string filename = mjuu_makefullname(mjs_getString(model->spec.modelfiledir),
|
||||||
mjm_getString(model->spec.meshdir), file);
|
mjs_getString(model->spec.meshdir), file);
|
||||||
mjResource* resource = nullptr;
|
mjResource* resource = nullptr;
|
||||||
|
|
||||||
try {
|
try {
|
||||||
@@ -957,7 +963,6 @@ static int findstring(const char* buffer, int buffer_sz, const char* str) {
|
|||||||
|
|
||||||
// scan buffer
|
// scan buffer
|
||||||
for (int i=0; i < buffer_sz-len; i++) {
|
for (int i=0; i < buffer_sz-len; i++) {
|
||||||
|
|
||||||
// check for string at position i
|
// check for string at position i
|
||||||
bool found = true;
|
bool found = true;
|
||||||
for (int k=0; k < len; k++) {
|
for (int k=0; k < len; k++) {
|
||||||
@@ -992,8 +997,8 @@ bool mjCFlexcomp::MakeGMSH(mjCModel* model, char* error, int error_sz) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
// open resource
|
// open resource
|
||||||
string filename = mjuu_makefullname(mjm_getString(model->spec.modelfiledir),
|
string filename = mjuu_makefullname(mjs_getString(model->spec.modelfiledir),
|
||||||
mjm_getString(model->spec.meshdir), file);
|
mjs_getString(model->spec.meshdir), file);
|
||||||
mjResource* resource = nullptr;
|
mjResource* resource = nullptr;
|
||||||
|
|
||||||
try {
|
try {
|
||||||
@@ -1019,55 +1024,11 @@ bool mjCFlexcomp::MakeGMSH(mjCModel* model, char* error, int error_sz) {
|
|||||||
|
|
||||||
|
|
||||||
|
|
||||||
// load GMSH file from resource
|
// load GMSH format 4.1
|
||||||
void mjCFlexcomp::LoadGMSH(mjCModel* model, mjResource* resource) {
|
void mjCFlexcomp::LoadGMSH41(char* buffer, int binary, int nodeend,
|
||||||
// get buffer from resource
|
int nodebegin, int elemend, int elembegin){
|
||||||
char* buffer = 0;
|
// header size
|
||||||
int buffer_sz = mju_readResource(resource, (const void**) &buffer);
|
constexpr int kGmsh41HeaderSize = 52;
|
||||||
|
|
||||||
// check buffer
|
|
||||||
if (buffer_sz<0) {
|
|
||||||
throw mjCError(NULL, "Could not read GMSH file");
|
|
||||||
} else if (buffer_sz==0) {
|
|
||||||
throw mjCError(NULL, "Empty GMSH file");
|
|
||||||
} else if (buffer_sz<11 || strncmp(buffer, "$MeshFormat", 11)) {
|
|
||||||
throw mjCError(NULL, "GMSH file must begin with $MeshFormat");
|
|
||||||
}
|
|
||||||
|
|
||||||
// check version, determine ascii or binary
|
|
||||||
double version;
|
|
||||||
int binary;
|
|
||||||
if (sscanf(buffer+11, "%lf %d", &version, &binary) != 2) {
|
|
||||||
throw mjCError(NULL, "Could not read GMSH file header");
|
|
||||||
}
|
|
||||||
if (mju_round(100*version)!=410) {
|
|
||||||
throw mjCError(NULL, "Only GMSH file format 4.1 supported");
|
|
||||||
}
|
|
||||||
|
|
||||||
// find section begin/end
|
|
||||||
int nodebegin = findstring(buffer, buffer_sz, "$Nodes");
|
|
||||||
int nodeend = findstring(buffer, buffer_sz, "$EndNodes");
|
|
||||||
int elembegin = findstring(buffer, buffer_sz, "$Elements");
|
|
||||||
int elemend = findstring(buffer, buffer_sz, "$EndElements");
|
|
||||||
|
|
||||||
// check sections
|
|
||||||
if (nodebegin<0) {
|
|
||||||
throw mjCError(NULL, "GMSH file missing $Nodes");
|
|
||||||
}
|
|
||||||
if (nodeend<nodebegin) {
|
|
||||||
throw mjCError(NULL, "GMSH file missing $EndNodes after $Nodes");
|
|
||||||
}
|
|
||||||
if (elembegin<0) {
|
|
||||||
throw mjCError(NULL, "GMSH file missing $Elements");
|
|
||||||
}
|
|
||||||
if (elemend<elembegin) {
|
|
||||||
throw mjCError(NULL, "GMSH file missing $EndElements after $Elements");
|
|
||||||
}
|
|
||||||
|
|
||||||
// correct begin for string size, +1 for LF in binary (CRLF in Win ascii works)
|
|
||||||
nodebegin += (int)strlen("$Nodes") + 1;
|
|
||||||
elembegin += (int)strlen("$Elements") + 1;
|
|
||||||
|
|
||||||
// base for node tags, to be subtracted from element data
|
// base for node tags, to be subtracted from element data
|
||||||
size_t minNodeTag, numEntityBlocks, numNodes, maxNodeTag, numNodesInBlock, tag;
|
size_t minNodeTag, numEntityBlocks, numNodes, maxNodeTag, numNodesInBlock, tag;
|
||||||
int entityDim, entityTag, parametric;
|
int entityDim, entityTag, parametric;
|
||||||
@@ -1075,8 +1036,7 @@ void mjCFlexcomp::LoadGMSH(mjCModel* model, mjResource* resource) {
|
|||||||
// ascii nodes
|
// ascii nodes
|
||||||
if (binary == 0) {
|
if (binary == 0) {
|
||||||
// convert node char buffer to stringstream
|
// convert node char buffer to stringstream
|
||||||
buffer[nodeend] = 0;
|
stringstream ss(string(buffer + nodebegin, nodeend - nodebegin));
|
||||||
stringstream ss(buffer+nodebegin);
|
|
||||||
|
|
||||||
// read header
|
// read header
|
||||||
ss >> numEntityBlocks >> numNodes >> minNodeTag >> maxNodeTag;
|
ss >> numEntityBlocks >> numNodes >> minNodeTag >> maxNodeTag;
|
||||||
@@ -1119,11 +1079,10 @@ void mjCFlexcomp::LoadGMSH(mjCModel* model, mjResource* resource) {
|
|||||||
point.push_back(x);
|
point.push_back(x);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// binary nodes
|
// binary nodes
|
||||||
else {
|
else {
|
||||||
// check header size: 5 size_t, 3 int
|
// check header size
|
||||||
if (nodeend-nodebegin < 52) {
|
if (nodeend-nodebegin < kGmsh41HeaderSize) {
|
||||||
throw mjCError(NULL, "Invalid nodes header");
|
throw mjCError(NULL, "Invalid nodes header");
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -1148,15 +1107,20 @@ void mjCFlexcomp::LoadGMSH(mjCModel* model, mjResource* resource) {
|
|||||||
}
|
}
|
||||||
def.spec.flex->dim = entityDim;
|
def.spec.flex->dim = entityDim;
|
||||||
|
|
||||||
|
// nodeData: node tag and 3 nodes
|
||||||
|
constexpr int numNodeComponents = 4;
|
||||||
|
constexpr int componentSize = 8;
|
||||||
|
int nodeDataSize = numNodeComponents*componentSize;
|
||||||
|
|
||||||
// check section byte size
|
// check section byte size
|
||||||
if (nodeend-nodebegin < 52+numNodes*4*8) {
|
if (nodeend-nodebegin < kGmsh41HeaderSize + numNodes*nodeDataSize) {
|
||||||
throw mjCError(NULL, "Insufficient byte size of Nodes");
|
throw mjCError(NULL, "Insufficient byte size of Nodes");
|
||||||
}
|
}
|
||||||
|
|
||||||
// check node tags: must range from minNodeTag to maxNodeTag
|
// check node tags: must range from minNodeTag to maxNodeTag
|
||||||
const char* tagbuffer = buffer + nodebegin + 52;
|
const char* tagbuffer = buffer + nodebegin + kGmsh41HeaderSize;
|
||||||
for (size_t i=0; i < numNodes; i++) {
|
for (size_t i=0; i < numNodes; i++) {
|
||||||
ReadFromBuffer(&tag, tagbuffer+i*8);
|
ReadFromBuffer(&tag, tagbuffer + i*componentSize);
|
||||||
if (tag != i+minNodeTag) {
|
if (tag != i+minNodeTag) {
|
||||||
throw mjCError(NULL, "Node tags must be sequential");
|
throw mjCError(NULL, "Node tags must be sequential");
|
||||||
}
|
}
|
||||||
@@ -1165,9 +1129,9 @@ void mjCFlexcomp::LoadGMSH(mjCModel* model, mjResource* resource) {
|
|||||||
// read points
|
// read points
|
||||||
double x;
|
double x;
|
||||||
point.reserve(3*numNodes);
|
point.reserve(3*numNodes);
|
||||||
const char* pointbuffer = buffer + nodebegin + 52 + 8*numNodes;
|
const char* pointbuffer = buffer + nodebegin + kGmsh41HeaderSize + componentSize*numNodes;
|
||||||
for (size_t i=0; i < 3*numNodes; i++) {
|
for (size_t i=0; i < 3*numNodes; i++) {
|
||||||
ReadFromBuffer(&x, pointbuffer+i*8);
|
ReadFromBuffer(&x, pointbuffer + i*componentSize);
|
||||||
point.push_back(x);
|
point.push_back(x);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -1222,8 +1186,8 @@ void mjCFlexcomp::LoadGMSH(mjCModel* model, mjResource* resource) {
|
|||||||
|
|
||||||
// binary elements
|
// binary elements
|
||||||
else {
|
else {
|
||||||
// check header size: 5 size_t, 3 int
|
// check header size
|
||||||
if (elemend-elembegin < 52) {
|
if (elemend-elembegin < kGmsh41HeaderSize) {
|
||||||
throw mjCError(NULL, "Invalid elements header");
|
throw mjCError(NULL, "Invalid elements header");
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -1254,17 +1218,22 @@ void mjCFlexcomp::LoadGMSH(mjCModel* model, mjResource* resource) {
|
|||||||
throw mjCError(NULL, "Element type inconsistent with dimensionality");
|
throw mjCError(NULL, "Element type inconsistent with dimensionality");
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// elementData: element tag and n node tags
|
||||||
|
int numElementComponents = (entityDim+2);
|
||||||
|
constexpr int componentSize = 8;
|
||||||
|
int elementDataSize = numElementComponents*componentSize;
|
||||||
|
|
||||||
// check section byte size
|
// check section byte size
|
||||||
if (elemend-elembegin < 52+numElements*(entityDim+2)*8) {
|
if (elemend - elembegin < kGmsh41HeaderSize + numElements*elementDataSize) {
|
||||||
throw mjCError(NULL, "Insufficient byte size of Elements");
|
throw mjCError(NULL, "Insufficient byte size of Elements");
|
||||||
}
|
}
|
||||||
|
|
||||||
// read elements, discard tags
|
// read elements, discard tags
|
||||||
element.reserve((entityDim+1)*numElements);
|
element.reserve((entityDim+1)*numElements);
|
||||||
const char* elembuffer = buffer + elembegin + 52;
|
const char* elembuffer = buffer + elembegin + kGmsh41HeaderSize;
|
||||||
for (size_t i=0; i < numElements; i++) {
|
for (size_t i=0; i < numElements; i++) {
|
||||||
// skip element tag
|
// skip element tag
|
||||||
elembuffer += 8;
|
elembuffer += componentSize;
|
||||||
|
|
||||||
// read vertex ids
|
// read vertex ids
|
||||||
size_t elemid;
|
size_t elemid;
|
||||||
@@ -1272,8 +1241,300 @@ void mjCFlexcomp::LoadGMSH(mjCModel* model, mjResource* resource) {
|
|||||||
ReadFromBuffer(&elemid, elembuffer);
|
ReadFromBuffer(&elemid, elembuffer);
|
||||||
int elementid = elemid - minNodeTag;
|
int elementid = elemid - minNodeTag;
|
||||||
element.push_back(elementid);
|
element.push_back(elementid);
|
||||||
elembuffer += 8;
|
elembuffer += componentSize;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
// load GMSH format 2.2
|
||||||
|
void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
|
||||||
|
int nodebegin, int elemend, int elembegin) {
|
||||||
|
// ascii nodes
|
||||||
|
if (binary == 0) {
|
||||||
|
// convert node char buffer to stringstream
|
||||||
|
stringstream ss(string(buffer + nodebegin, nodeend - nodebegin));
|
||||||
|
|
||||||
|
// read header
|
||||||
|
size_t maxNodeTag = 0;
|
||||||
|
ss >> maxNodeTag;
|
||||||
|
if (!ss.good()) {
|
||||||
|
throw mjCError(NULL, "Error reading Nodes header");
|
||||||
|
}
|
||||||
|
size_t numNodes = maxNodeTag;
|
||||||
|
|
||||||
|
// read points, discard tag
|
||||||
|
point.reserve(3*numNodes);
|
||||||
|
for (size_t i=0; i < numNodes; i++) {
|
||||||
|
size_t tag;
|
||||||
|
double x;
|
||||||
|
ss >> tag;
|
||||||
|
if (!ss.good()) {
|
||||||
|
throw mjCError(NULL, "Error reading node tags");
|
||||||
|
}
|
||||||
|
// reading nodes
|
||||||
|
for (int k=0; k < 3; k++) {
|
||||||
|
ss >> x;
|
||||||
|
if (!ss.good()) {
|
||||||
|
throw mjCError(NULL, "Error reading node coordinates");
|
||||||
|
}
|
||||||
|
point.push_back(x);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// binary nodes
|
||||||
|
else {
|
||||||
|
// header size for gmshApp
|
||||||
|
constexpr int nodeHeaderSizeGmshApp = 5;
|
||||||
|
// header size compatible with both gmshApp and Ftetwild
|
||||||
|
constexpr int nodeHeaderSize = nodeHeaderSizeGmshApp - 1;
|
||||||
|
// check header size
|
||||||
|
if (nodeend-nodebegin < nodeHeaderSize) {
|
||||||
|
throw mjCError(NULL, "Invalid nodes header");
|
||||||
|
}
|
||||||
|
|
||||||
|
// parse maxNodeTag and then cast it to int
|
||||||
|
char maxNodeTagChar[20];
|
||||||
|
ReadStrFromBuffer(maxNodeTagChar, buffer + nodebegin, std::min(10, nodeend - nodebegin));
|
||||||
|
size_t measuredHeaderSize = strnlen(maxNodeTagChar, 20) - 1;
|
||||||
|
size_t maxNodeTag = std::stoi(maxNodeTagChar);
|
||||||
|
size_t numNodes = maxNodeTag;
|
||||||
|
|
||||||
|
// node data: node tag and 3 nodes
|
||||||
|
int nodeSize = sizeof(double);
|
||||||
|
int indexSize = sizeof(int);
|
||||||
|
int nodeDataSize = indexSize + 3*nodeSize;
|
||||||
|
|
||||||
|
// check section byte size
|
||||||
|
if (nodeend - nodebegin < nodeHeaderSize + numNodes*nodeDataSize) {
|
||||||
|
throw mjCError(NULL, "Insufficient byte size of Nodes");
|
||||||
|
}
|
||||||
|
|
||||||
|
// read point, discard tag
|
||||||
|
point.reserve(3*numNodes);
|
||||||
|
// beginning of buffer containing node info
|
||||||
|
const char* tagBuffer = buffer + nodebegin + measuredHeaderSize;
|
||||||
|
for (int i=0; i < numNodes; i++) {
|
||||||
|
int tag;
|
||||||
|
int offset = i*(sizeof(int) + sizeof(double)*3);
|
||||||
|
ReadFromBuffer(&tag, tagBuffer + offset);
|
||||||
|
for (int k=0; k < 3; k++) {
|
||||||
|
double x;
|
||||||
|
const char* nodeBuffer = tagBuffer + sizeof(int) + sizeof(double)*k;
|
||||||
|
ReadFromBuffer(&x, nodeBuffer + offset);
|
||||||
|
point.push_back(x);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
size_t entityDim = 3;
|
||||||
|
def.spec.flex->dim = entityDim;
|
||||||
|
|
||||||
|
// ascii elements
|
||||||
|
if (binary == 0) {
|
||||||
|
// convert element char buffer to stringstream
|
||||||
|
buffer[elemend] = 0;
|
||||||
|
stringstream ss(buffer + elembegin);
|
||||||
|
|
||||||
|
// read header
|
||||||
|
size_t maxElementTag = 0;
|
||||||
|
ss >> maxElementTag;
|
||||||
|
if (!ss.good()) {
|
||||||
|
throw mjCError(NULL, "Error reading Elements header");
|
||||||
|
}
|
||||||
|
size_t numElements = maxElementTag;
|
||||||
|
// read elements, discard all tags
|
||||||
|
element.reserve((entityDim+1)*numElements);
|
||||||
|
for (size_t i=0; i < numElements; i++) {
|
||||||
|
int tag = 0, type = 0, numTags = 0, nodeTag = 0, physicalEntityTag = 0,
|
||||||
|
elmentModelEntityTag = 0;
|
||||||
|
ss >> tag >> type >> numTags;
|
||||||
|
if (!ss.good()) {
|
||||||
|
throw mjCError(NULL, "Error reading Elements");
|
||||||
|
}
|
||||||
|
if (numTags > 0) {
|
||||||
|
ss >> physicalEntityTag >> elmentModelEntityTag;
|
||||||
|
if (!ss.good()) {
|
||||||
|
throw mjCError(NULL, "Error reading Elements");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
for (int k=0; k <= entityDim; k++) {
|
||||||
|
ss >> nodeTag;
|
||||||
|
if (!ss.good()) {
|
||||||
|
throw mjCError(NULL, "Error reading Elements");
|
||||||
|
}
|
||||||
|
element.push_back((int)(nodeTag-1));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
// binary elements
|
||||||
|
else {
|
||||||
|
// header size for gmshApp
|
||||||
|
constexpr int elementHeaderSizeGmshApp = 6;
|
||||||
|
// header size for Ftetwild
|
||||||
|
constexpr int elementHeaderSizeFtetwild = 17;
|
||||||
|
// check header size
|
||||||
|
if (elemend - elembegin < elementHeaderSizeGmshApp) {
|
||||||
|
throw mjCError(NULL, "Invalid elements header");
|
||||||
|
}
|
||||||
|
|
||||||
|
// reading elements
|
||||||
|
char maxElementTagChar[20];
|
||||||
|
ReadStrFromBuffer(maxElementTagChar, buffer + elembegin, std::min(10, elemend - elembegin));
|
||||||
|
int measuredHeaderSize = strnlen(maxElementTagChar, 20) - 1;
|
||||||
|
int maxElementTag = std::stoi(maxElementTagChar);
|
||||||
|
int numElements = maxElementTag;
|
||||||
|
int tag, numTags;
|
||||||
|
int nodeTag;
|
||||||
|
|
||||||
|
// size of single component in element data
|
||||||
|
int componentSize = sizeof(int);
|
||||||
|
// element buffer
|
||||||
|
const char* elementsBuffer = buffer + elembegin + measuredHeaderSize;
|
||||||
|
|
||||||
|
ReadFromBuffer(&numTags, elementsBuffer + componentSize*2);
|
||||||
|
ReadFromBuffer(&tag, elementsBuffer + componentSize*3);
|
||||||
|
|
||||||
|
// element data(Ftetwild): tag and 4 nodeTag
|
||||||
|
constexpr int numComponentsFtetwild = 5;
|
||||||
|
// element data(gmshApp): 4 Info components, 2 entity tag and 4 nodeTags
|
||||||
|
constexpr int numInfoComponents = 4;
|
||||||
|
constexpr int numEntityTagComponents = 2;
|
||||||
|
constexpr int numNodeTags = 4;
|
||||||
|
constexpr int numComponentsGmshApp = numInfoComponents +
|
||||||
|
numEntityTagComponents + numNodeTags;
|
||||||
|
|
||||||
|
// single element data size
|
||||||
|
int elementDataSizeFtetwild = numComponentsFtetwild*componentSize;
|
||||||
|
int elementDataSizeGmshApp = numComponentsGmshApp*componentSize;
|
||||||
|
|
||||||
|
// elements section buffer size
|
||||||
|
int elementsBufferSizeFtetwild = elementHeaderSizeFtetwild +
|
||||||
|
numElements*elementDataSizeFtetwild;
|
||||||
|
int elementsBufferSizeGmshApp = elementHeaderSizeGmshApp +
|
||||||
|
numElements*elementDataSizeGmshApp;
|
||||||
|
|
||||||
|
// check section byte size for ftetwild
|
||||||
|
if (elemend - elembegin < elementsBufferSizeFtetwild) {
|
||||||
|
throw mjCError(NULL, "Insufficient byte size of Elements");
|
||||||
|
}
|
||||||
|
|
||||||
|
// Handling elements produced by gmsh
|
||||||
|
if (numTags > 0) {
|
||||||
|
// check section byte size for gmsh
|
||||||
|
if (elemend - elembegin < elementsBufferSizeGmshApp) {
|
||||||
|
throw mjCError(NULL, "Insufficient byte size of Elements");
|
||||||
|
}
|
||||||
|
|
||||||
|
// read first element
|
||||||
|
for (int k =0; k<numNodeTags; k++) {
|
||||||
|
ReadFromBuffer(&nodeTag, elementsBuffer + componentSize*(6+k));
|
||||||
|
element.push_back(nodeTag-1);
|
||||||
|
}
|
||||||
|
|
||||||
|
// read every other element
|
||||||
|
for (int i=1; i < numElements; i++) {
|
||||||
|
const char* numTagsBuffer = elementsBuffer + componentSize*2;
|
||||||
|
const char* tagBuffer = elementsBuffer + componentSize*3;
|
||||||
|
int offset = i*elementDataSizeGmshApp;
|
||||||
|
ReadFromBuffer(&numTags, numTagsBuffer + offset);
|
||||||
|
ReadFromBuffer(&tag, tagBuffer+offset);
|
||||||
|
for (int k =0; k < numNodeTags; k++) {
|
||||||
|
const char* nodeTagBuffer = elementsBuffer + componentSize*(6+k);
|
||||||
|
ReadFromBuffer(&nodeTag, nodeTagBuffer + offset);
|
||||||
|
element.push_back(nodeTag-1);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Handling elements produced by ftetwild
|
||||||
|
else {
|
||||||
|
// read first element
|
||||||
|
for (int k =0; k < numNodeTags; k++) {
|
||||||
|
const char* nodeTagBuffer = elementsBuffer + componentSize*(4+k);
|
||||||
|
ReadFromBuffer(&nodeTag, nodeTagBuffer);
|
||||||
|
element.push_back(nodeTag-1);
|
||||||
|
}
|
||||||
|
|
||||||
|
// read every other element
|
||||||
|
for (int i=0; i<numElements-1; i++) {
|
||||||
|
int offset = componentSize*(4+2) + i*elementDataSizeFtetwild;
|
||||||
|
const char* tagBuffer = elementsBuffer + componentSize*2;
|
||||||
|
ReadFromBuffer(&tag, tagBuffer + offset);
|
||||||
|
for (int k=0; k < numNodeTags; k++) {
|
||||||
|
const char* nodeTagBuffer = elementsBuffer + componentSize*(3+k);
|
||||||
|
ReadFromBuffer(&nodeTag, nodeTagBuffer + offset);
|
||||||
|
element.push_back(nodeTag-1);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
// load GMSH file from resource
|
||||||
|
void mjCFlexcomp::LoadGMSH(mjCModel* model, mjResource* resource) {
|
||||||
|
// get buffer from resource
|
||||||
|
char* buffer = 0;
|
||||||
|
int buffer_sz = mju_readResource(resource, (const void**) &buffer);
|
||||||
|
|
||||||
|
|
||||||
|
// check buffer
|
||||||
|
if (buffer_sz < 0) {
|
||||||
|
throw mjCError(NULL, "Could not read GMSH file");
|
||||||
|
} else if (buffer_sz == 0) {
|
||||||
|
throw mjCError(NULL, "Empty GMSH file");
|
||||||
|
} else if (buffer_sz < 11 || strncmp(buffer, "$MeshFormat", 11)) {
|
||||||
|
throw mjCError(NULL, "GMSH file must begin with $MeshFormat");
|
||||||
|
}
|
||||||
|
|
||||||
|
// check version, determine ascii or binary
|
||||||
|
double version;
|
||||||
|
int binary;
|
||||||
|
if (sscanf(buffer + 11, "%lf %d", &version, &binary) != 2) {
|
||||||
|
throw mjCError(NULL, "Could not read GMSH file header");
|
||||||
|
}
|
||||||
|
if (mju_round(100*version) != 220 && mju_round(100*version) != 410) {
|
||||||
|
throw mjCError(NULL, "Only GMSH file format versions 4.1 and 2.2 are supported");
|
||||||
|
}
|
||||||
|
|
||||||
|
// find section begin/end
|
||||||
|
int nodebegin = findstring(buffer, buffer_sz, "$Nodes");
|
||||||
|
int nodeend = findstring(buffer, buffer_sz, "$EndNodes");
|
||||||
|
int elembegin = findstring(buffer, buffer_sz, "$Elements");
|
||||||
|
int elemend = findstring(buffer, buffer_sz, "$EndElements");
|
||||||
|
|
||||||
|
|
||||||
|
// check sections
|
||||||
|
if (nodebegin < 0) {
|
||||||
|
throw mjCError(NULL, "GMSH file missing $Nodes");
|
||||||
|
}
|
||||||
|
if (nodeend < nodebegin) {
|
||||||
|
throw mjCError(NULL, "GMSH file missing $EndNodes after $Nodes");
|
||||||
|
}
|
||||||
|
if (elembegin < 0) {
|
||||||
|
throw mjCError(NULL, "GMSH file missing $Elements");
|
||||||
|
}
|
||||||
|
if (elemend < elembegin) {
|
||||||
|
throw mjCError(NULL, "GMSH file missing $EndElements after $Elements");
|
||||||
|
}
|
||||||
|
|
||||||
|
// correct begin for string size, +1 for LF in binary (CRLF in Win ascii works)
|
||||||
|
nodebegin += (int)strlen("$Nodes") + 1;
|
||||||
|
elembegin += (int)strlen("$Elements") + 1;
|
||||||
|
|
||||||
|
|
||||||
|
// Support for 4.1
|
||||||
|
if (mju_round(100*version) == 410) {
|
||||||
|
LoadGMSH41(buffer, binary, nodeend, nodebegin, elemend, elembegin);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Support for 2.2
|
||||||
|
else if (mju_round(100*version) == 220) {
|
||||||
|
LoadGMSH22(buffer, binary, nodeend, nodebegin, elemend, elembegin);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|||||||
@@ -42,7 +42,7 @@ typedef enum _mjtFcompType {
|
|||||||
class mjCFlexcomp {
|
class mjCFlexcomp {
|
||||||
public:
|
public:
|
||||||
mjCFlexcomp(void);
|
mjCFlexcomp(void);
|
||||||
bool Make(mjSpec* spec, mjmBody* body, char* error, int error_sz);
|
bool Make(mjSpec* spec, mjsBody* body, char* error, int error_sz);
|
||||||
|
|
||||||
bool MakeGrid(char* error, int error_sz);
|
bool MakeGrid(char* error, int error_sz);
|
||||||
bool MakeBox(char* error, int error_sz);
|
bool MakeBox(char* error, int error_sz);
|
||||||
@@ -50,6 +50,11 @@ class mjCFlexcomp {
|
|||||||
bool MakeMesh(mjCModel* model, char* error, int error_sz);
|
bool MakeMesh(mjCModel* model, char* error, int error_sz);
|
||||||
bool MakeGMSH(mjCModel* model, char* error, int error_sz);
|
bool MakeGMSH(mjCModel* model, char* error, int error_sz);
|
||||||
void LoadGMSH(mjCModel* model, mjResource* resource);
|
void LoadGMSH(mjCModel* model, mjResource* resource);
|
||||||
|
void LoadGMSH41(char* buffer, int binary, int nodeend, int nodebegin,
|
||||||
|
int elemend, int elembegin);
|
||||||
|
void LoadGMSH22(char* buffer, int binary, int nodeend, int nodebegin,
|
||||||
|
int elemend, int elembegin);
|
||||||
|
|
||||||
|
|
||||||
int GridID(int ix, int iy);
|
int GridID(int ix, int iy);
|
||||||
int GridID(int ix, int iy, int iz);
|
int GridID(int ix, int iy, int iz);
|
||||||
@@ -79,7 +84,7 @@ class mjCFlexcomp {
|
|||||||
// pose transform relative to parent body
|
// pose transform relative to parent body
|
||||||
double pos[3]; // position
|
double pos[3]; // position
|
||||||
double quat[4]; // orientation
|
double quat[4]; // orientation
|
||||||
mjCAlternative alt; // alternative orientation
|
mjsOrientation alt; // alternative orientation
|
||||||
|
|
||||||
// set by user or computed internally
|
// set by user or computed internally
|
||||||
bool rigid; // all vertices are in parent body (all pinned)
|
bool rigid; // all vertices are in parent body (all pinned)
|
||||||
@@ -93,7 +98,7 @@ class mjCFlexcomp {
|
|||||||
// plugin support
|
// plugin support
|
||||||
std::string plugin_name;
|
std::string plugin_name;
|
||||||
std::string plugin_instance_name;
|
std::string plugin_instance_name;
|
||||||
mjmPlugin plugin;
|
mjsPlugin plugin;
|
||||||
};
|
};
|
||||||
|
|
||||||
#endif // MUJOCO_SRC_USER_USER_FLEXCOMP_H_
|
#endif // MUJOCO_SRC_USER_USER_FLEXCOMP_H_
|
||||||
|
|||||||
+54
-47
@@ -22,7 +22,7 @@
|
|||||||
|
|
||||||
|
|
||||||
// default model attributes
|
// default model attributes
|
||||||
void mjm_defaultSpec(mjSpec& model) {
|
void mjs_defaultSpec(mjSpec& model) {
|
||||||
memset(&model, 0, sizeof(mjSpec));
|
memset(&model, 0, sizeof(mjSpec));
|
||||||
|
|
||||||
// default statistics
|
// default statistics
|
||||||
@@ -75,9 +75,16 @@ void mjm_defaultSpec(mjSpec& model) {
|
|||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
// default orientation attributes
|
||||||
|
void mjs_defaultOrientation(mjsOrientation& orient) {
|
||||||
|
orient.axisangle[0] = orient.xyaxes[0] = orient.zaxis[0] = orient.euler[0] = mjNAN;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// default body attributes
|
// default body attributes
|
||||||
void mjm_defaultBody(mjmBody& body) {
|
void mjs_defaultBody(mjsBody& body) {
|
||||||
memset(&body, 0, sizeof(mjmBody));
|
memset(&body, 0, sizeof(mjsBody));
|
||||||
|
|
||||||
// body frame
|
// body frame
|
||||||
body.pos[0] = mjNAN;
|
body.pos[0] = mjNAN;
|
||||||
@@ -94,8 +101,8 @@ void mjm_defaultBody(mjmBody& body) {
|
|||||||
|
|
||||||
|
|
||||||
// default frame attributes
|
// default frame attributes
|
||||||
void mjm_defaultFrame(mjmFrame& frame) {
|
void mjs_defaultFrame(mjsFrame& frame) {
|
||||||
memset(&frame, 0, sizeof(mjmFrame));
|
memset(&frame, 0, sizeof(mjsFrame));
|
||||||
mju_zero3(frame.pos);
|
mju_zero3(frame.pos);
|
||||||
mjuu_setvec(frame.quat, 1, 0, 0, 0);
|
mjuu_setvec(frame.quat, 1, 0, 0, 0);
|
||||||
frame.alt.axisangle[0] = frame.alt.xyaxes[0] = frame.alt.zaxis[0] = frame.alt.euler[0] = mjNAN;
|
frame.alt.axisangle[0] = frame.alt.xyaxes[0] = frame.alt.zaxis[0] = frame.alt.euler[0] = mjNAN;
|
||||||
@@ -104,8 +111,8 @@ void mjm_defaultFrame(mjmFrame& frame) {
|
|||||||
|
|
||||||
|
|
||||||
// default joint attributes
|
// default joint attributes
|
||||||
void mjm_defaultJoint(mjmJoint& joint) {
|
void mjs_defaultJoint(mjsJoint& joint) {
|
||||||
memset(&joint, 0, sizeof(mjmJoint));
|
memset(&joint, 0, sizeof(mjsJoint));
|
||||||
|
|
||||||
joint.type = mjJNT_HINGE;
|
joint.type = mjJNT_HINGE;
|
||||||
joint.axis[2] = 1;
|
joint.axis[2] = 1;
|
||||||
@@ -119,8 +126,8 @@ void mjm_defaultJoint(mjmJoint& joint) {
|
|||||||
|
|
||||||
|
|
||||||
// default geom attributes
|
// default geom attributes
|
||||||
void mjm_defaultGeom(mjmGeom& geom) {
|
void mjs_defaultGeom(mjsGeom& geom) {
|
||||||
memset(&geom, 0, sizeof(mjmGeom));
|
memset(&geom, 0, sizeof(mjsGeom));
|
||||||
|
|
||||||
// type
|
// type
|
||||||
geom.type = mjGEOM_SPHERE;
|
geom.type = mjGEOM_SPHERE;
|
||||||
@@ -163,9 +170,9 @@ void mjm_defaultGeom(mjmGeom& geom) {
|
|||||||
|
|
||||||
|
|
||||||
// default site attributes
|
// default site attributes
|
||||||
void mjm_defaultSite(mjmSite& site) {
|
void mjs_defaultSite(mjsSite& site) {
|
||||||
// set everything to 0 / false / NULL
|
// set everything to 0 / false / NULL
|
||||||
memset(&site, 0, sizeof(mjmSite));
|
memset(&site, 0, sizeof(mjsSite));
|
||||||
|
|
||||||
// type
|
// type
|
||||||
site.type = mjGEOM_SPHERE;
|
site.type = mjGEOM_SPHERE;
|
||||||
@@ -184,8 +191,8 @@ void mjm_defaultSite(mjmSite& site) {
|
|||||||
|
|
||||||
|
|
||||||
// default cam attributes
|
// default cam attributes
|
||||||
void mjm_defaultCamera(mjmCamera& cam) {
|
void mjs_defaultCamera(mjsCamera& cam) {
|
||||||
memset(&cam, 0, sizeof(mjmCamera));
|
memset(&cam, 0, sizeof(mjsCamera));
|
||||||
|
|
||||||
// type
|
// type
|
||||||
cam.mode = mjCAMLIGHT_FIXED;
|
cam.mode = mjCAMLIGHT_FIXED;
|
||||||
@@ -203,8 +210,8 @@ void mjm_defaultCamera(mjmCamera& cam) {
|
|||||||
|
|
||||||
|
|
||||||
// default light attributes
|
// default light attributes
|
||||||
void mjm_defaultLight(mjmLight& light) {
|
void mjs_defaultLight(mjsLight& light) {
|
||||||
memset(&light, 0, sizeof(mjmLight));
|
memset(&light, 0, sizeof(mjsLight));
|
||||||
|
|
||||||
// mode
|
// mode
|
||||||
light.mode = mjCAMLIGHT_FIXED;
|
light.mode = mjCAMLIGHT_FIXED;
|
||||||
@@ -223,8 +230,8 @@ void mjm_defaultLight(mjmLight& light) {
|
|||||||
|
|
||||||
|
|
||||||
// default flex attributes
|
// default flex attributes
|
||||||
void mjm_defaultFlex(mjmFlex& flex) {
|
void mjs_defaultFlex(mjsFlex& flex) {
|
||||||
memset(&flex, 0, sizeof(mjmFlex));
|
memset(&flex, 0, sizeof(mjsFlex));
|
||||||
|
|
||||||
// set contact defaults
|
// set contact defaults
|
||||||
flex.contype = 1;
|
flex.contype = 1;
|
||||||
@@ -247,8 +254,8 @@ void mjm_defaultFlex(mjmFlex& flex) {
|
|||||||
|
|
||||||
|
|
||||||
// default mesh attributes
|
// default mesh attributes
|
||||||
void mjm_defaultMesh(mjmMesh& mesh) {
|
void mjs_defaultMesh(mjsMesh& mesh) {
|
||||||
memset(&mesh, 0, sizeof(mjmMesh));
|
memset(&mesh, 0, sizeof(mjsMesh));
|
||||||
mjuu_setvec(mesh.refpos, 0, 0, 0);
|
mjuu_setvec(mesh.refpos, 0, 0, 0);
|
||||||
mjuu_setvec(mesh.refquat, 1, 0, 0, 0);
|
mjuu_setvec(mesh.refquat, 1, 0, 0, 0);
|
||||||
mjuu_setvec(mesh.scale, 1, 1, 1);
|
mjuu_setvec(mesh.scale, 1, 1, 1);
|
||||||
@@ -258,15 +265,15 @@ void mjm_defaultMesh(mjmMesh& mesh) {
|
|||||||
|
|
||||||
|
|
||||||
// default height field attributes
|
// default height field attributes
|
||||||
void mjm_defaultHField(mjmHField& hfield) {
|
void mjs_defaultHField(mjsHField& hfield) {
|
||||||
memset(&hfield, 0, sizeof(mjmHField));
|
memset(&hfield, 0, sizeof(mjsHField));
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// default skin attributes
|
// default skin attributes
|
||||||
void mjm_defaultSkin(mjmSkin& skin) {
|
void mjs_defaultSkin(mjsSkin& skin) {
|
||||||
memset(&skin, 0, sizeof(mjmSkin));
|
memset(&skin, 0, sizeof(mjsSkin));
|
||||||
skin.rgba[0] = skin.rgba[1] = skin.rgba[2] = 0.5f;
|
skin.rgba[0] = skin.rgba[1] = skin.rgba[2] = 0.5f;
|
||||||
skin.rgba[3] = 1.0f;
|
skin.rgba[3] = 1.0f;
|
||||||
skin.inflate = 0;
|
skin.inflate = 0;
|
||||||
@@ -276,8 +283,8 @@ void mjm_defaultSkin(mjmSkin& skin) {
|
|||||||
|
|
||||||
|
|
||||||
// default texture attributes
|
// default texture attributes
|
||||||
void mjm_defaultTexture(mjmTexture& texture) {
|
void mjs_defaultTexture(mjsTexture& texture) {
|
||||||
memset(&texture, 0, sizeof(mjmTexture));
|
memset(&texture, 0, sizeof(mjsTexture));
|
||||||
texture.type = mjTEXTURE_CUBE;
|
texture.type = mjTEXTURE_CUBE;
|
||||||
mjuu_setvec(texture.rgb1, 0.8, 0.8, 0.8);
|
mjuu_setvec(texture.rgb1, 0.8, 0.8, 0.8);
|
||||||
mjuu_setvec(texture.rgb2, 0.5, 0.5, 0.5);
|
mjuu_setvec(texture.rgb2, 0.5, 0.5, 0.5);
|
||||||
@@ -290,8 +297,8 @@ void mjm_defaultTexture(mjmTexture& texture) {
|
|||||||
|
|
||||||
|
|
||||||
// default material attributes
|
// default material attributes
|
||||||
void mjm_defaultMaterial(mjmMaterial& material) {
|
void mjs_defaultMaterial(mjsMaterial& material) {
|
||||||
memset(&material, 0, sizeof(mjmMaterial));
|
memset(&material, 0, sizeof(mjsMaterial));
|
||||||
material.texuniform = false;
|
material.texuniform = false;
|
||||||
material.texrepeat[0] = material.texrepeat[1] = 1;
|
material.texrepeat[0] = material.texrepeat[1] = 1;
|
||||||
material.emission = 0;
|
material.emission = 0;
|
||||||
@@ -304,8 +311,8 @@ void mjm_defaultMaterial(mjmMaterial& material) {
|
|||||||
|
|
||||||
|
|
||||||
// default pair attributes
|
// default pair attributes
|
||||||
void mjm_defaultPair(mjmPair& pair) {
|
void mjs_defaultPair(mjsPair& pair) {
|
||||||
memset(&pair, 0, sizeof(mjmPair));
|
memset(&pair, 0, sizeof(mjsPair));
|
||||||
pair.condim = 3;
|
pair.condim = 3;
|
||||||
mj_defaultSolRefImp(pair.solref, pair.solimp);
|
mj_defaultSolRefImp(pair.solref, pair.solimp);
|
||||||
pair.friction[0] = 1;
|
pair.friction[0] = 1;
|
||||||
@@ -318,8 +325,8 @@ void mjm_defaultPair(mjmPair& pair) {
|
|||||||
|
|
||||||
|
|
||||||
// default equality attributes
|
// default equality attributes
|
||||||
void mjm_defaultEquality(mjmEquality& equality) {
|
void mjs_defaultEquality(mjsEquality& equality) {
|
||||||
memset(&equality, 0, sizeof(mjmEquality));
|
memset(&equality, 0, sizeof(mjsEquality));
|
||||||
equality.type = mjEQ_CONNECT;
|
equality.type = mjEQ_CONNECT;
|
||||||
equality.active = 1;
|
equality.active = 1;
|
||||||
mj_defaultSolRefImp(equality.solref, equality.solimp);
|
mj_defaultSolRefImp(equality.solref, equality.solimp);
|
||||||
@@ -330,8 +337,8 @@ void mjm_defaultEquality(mjmEquality& equality) {
|
|||||||
|
|
||||||
|
|
||||||
// default tendon attributes
|
// default tendon attributes
|
||||||
void mjm_defaultTendon(mjmTendon& tendon) {
|
void mjs_defaultTendon(mjsTendon& tendon) {
|
||||||
memset(&tendon, 0, sizeof(mjmTendon));
|
memset(&tendon, 0, sizeof(mjsTendon));
|
||||||
tendon.limited = mjLIMITED_AUTO;
|
tendon.limited = mjLIMITED_AUTO;
|
||||||
tendon.springlength[0] = tendon.springlength[1] = -1;
|
tendon.springlength[0] = tendon.springlength[1] = -1;
|
||||||
mj_defaultSolRefImp(tendon.solref_limit, tendon.solimp_limit);
|
mj_defaultSolRefImp(tendon.solref_limit, tendon.solimp_limit);
|
||||||
@@ -344,8 +351,8 @@ void mjm_defaultTendon(mjmTendon& tendon) {
|
|||||||
|
|
||||||
|
|
||||||
// default actuator attributes
|
// default actuator attributes
|
||||||
void mjm_defaultActuator(mjmActuator& actuator) {
|
void mjs_defaultActuator(mjsActuator& actuator) {
|
||||||
memset(&actuator, 0, sizeof(mjmActuator));
|
memset(&actuator, 0, sizeof(mjsActuator));
|
||||||
|
|
||||||
// gain, bias
|
// gain, bias
|
||||||
actuator.gaintype = mjGAIN_FIXED;
|
actuator.gaintype = mjGAIN_FIXED;
|
||||||
@@ -370,8 +377,8 @@ void mjm_defaultActuator(mjmActuator& actuator) {
|
|||||||
|
|
||||||
|
|
||||||
// default sensor attributes
|
// default sensor attributes
|
||||||
void mjm_defaultSensor(mjmSensor& sensor) {
|
void mjs_defaultSensor(mjsSensor& sensor) {
|
||||||
memset(&sensor, 0, sizeof(mjmSensor));
|
memset(&sensor, 0, sizeof(mjsSensor));
|
||||||
sensor.type = mjSENS_TOUCH;
|
sensor.type = mjSENS_TOUCH;
|
||||||
sensor.datatype = mjDATATYPE_REAL;
|
sensor.datatype = mjDATATYPE_REAL;
|
||||||
sensor.needstage = mjSTAGE_ACC;
|
sensor.needstage = mjSTAGE_ACC;
|
||||||
@@ -380,36 +387,36 @@ void mjm_defaultSensor(mjmSensor& sensor) {
|
|||||||
|
|
||||||
|
|
||||||
// Default numeric attributes.
|
// Default numeric attributes.
|
||||||
void mjm_defaultNumeric(mjmNumeric& numeric) {
|
void mjs_defaultNumeric(mjsNumeric& numeric) {
|
||||||
memset(&numeric, 0, sizeof(mjmNumeric));
|
memset(&numeric, 0, sizeof(mjsNumeric));
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// Default text attributes.
|
// Default text attributes.
|
||||||
void mjm_defaultText(mjmText& text) {
|
void mjs_defaultText(mjsText& text) {
|
||||||
memset(&text, 0, sizeof(mjmText));
|
memset(&text, 0, sizeof(mjsText));
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// Default tuple attributes.
|
// Default tuple attributes.
|
||||||
void mjm_defaultTuple(mjmTuple& tuple) {
|
void mjs_defaultTuple(mjsTuple& tuple) {
|
||||||
memset(&tuple, 0, sizeof(mjmTuple));
|
memset(&tuple, 0, sizeof(mjsTuple));
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// Default keyframe attributes.
|
// Default keyframe attributes.
|
||||||
void mjm_defaultKey(mjmKey& key) {
|
void mjs_defaultKey(mjsKey& key) {
|
||||||
memset(&key, 0, sizeof(mjmKey));
|
memset(&key, 0, sizeof(mjsKey));
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// default plugin attributes
|
// default plugin attributes
|
||||||
void mjm_defaultPlugin(mjmPlugin& plugin) {
|
void mjs_defaultPlugin(mjsPlugin& plugin) {
|
||||||
memset(&plugin, 0, sizeof(mjmPlugin));
|
memset(&plugin, 0, sizeof(mjsPlugin));
|
||||||
plugin.plugin_slot = -1;
|
plugin.plugin_slot = -1;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
+235
-31
@@ -13,6 +13,7 @@
|
|||||||
// limitations under the License.
|
// limitations under the License.
|
||||||
|
|
||||||
#include <algorithm>
|
#include <algorithm>
|
||||||
|
#include <climits>
|
||||||
#include <cmath>
|
#include <cmath>
|
||||||
#include <csetjmp>
|
#include <csetjmp>
|
||||||
#include <cstddef>
|
#include <cstddef>
|
||||||
@@ -60,6 +61,7 @@
|
|||||||
#include "engine/engine_util_misc.h"
|
#include "engine/engine_util_misc.h"
|
||||||
#include "engine/engine_util_solve.h"
|
#include "engine/engine_util_solve.h"
|
||||||
#include "engine/engine_util_spatial.h"
|
#include "engine/engine_util_spatial.h"
|
||||||
|
#include "user/user_cache.h"
|
||||||
#include "user/user_model.h"
|
#include "user/user_model.h"
|
||||||
#include "user/user_objects.h"
|
#include "user/user_objects.h"
|
||||||
#include "user/user_util.h"
|
#include "user/user_util.h"
|
||||||
@@ -129,7 +131,8 @@ static void ReadFromBuffer(T* dst, const char* src) {
|
|||||||
//------------------ class mjCMesh implementation --------------------------------------------------
|
//------------------ class mjCMesh implementation --------------------------------------------------
|
||||||
|
|
||||||
mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {
|
mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {
|
||||||
mjm_defaultMesh(spec);
|
mjs_defaultMesh(spec);
|
||||||
|
elemtype = mjOBJ_MESH;
|
||||||
|
|
||||||
// clear internal variables
|
// clear internal variables
|
||||||
mjuu_setvec(pos_surface_, 0, 0, 0);
|
mjuu_setvec(pos_surface_, 0, 0, 0);
|
||||||
@@ -194,46 +197,67 @@ mjCMesh& mjCMesh::operator=(const mjCMesh& other) {
|
|||||||
if (this != &other) {
|
if (this != &other) {
|
||||||
this->spec = other.spec;
|
this->spec = other.spec;
|
||||||
*static_cast<mjCMesh_*>(this) = static_cast<const mjCMesh_&>(other);
|
*static_cast<mjCMesh_*>(this) = static_cast<const mjCMesh_&>(other);
|
||||||
*static_cast<mjmMesh*>(this) = static_cast<const mjmMesh&>(other);
|
*static_cast<mjsMesh*>(this) = static_cast<const mjsMesh&>(other);
|
||||||
if (other.vert_) {
|
if (other.vert_) {
|
||||||
size_t nvert = 3*other.nvert_*sizeof(float);
|
size_t nvert = 3*other.nvert_*sizeof(float);
|
||||||
this->vert_ = (float*)mju_malloc(nvert);
|
this->vert_ = (float*)mju_malloc(nvert);
|
||||||
memcpy(this->vert_, other.vert_, nvert);
|
memcpy(this->vert_, other.vert_, nvert);
|
||||||
|
} else {
|
||||||
|
this->vert_ = NULL;
|
||||||
}
|
}
|
||||||
if (other.normal_) {
|
if (other.normal_) {
|
||||||
size_t nnormal = 3*other.nnormal_*sizeof(float);
|
size_t nnormal = 3*other.nnormal_*sizeof(float);
|
||||||
this->normal_ = (float*)mju_malloc(nnormal);
|
this->normal_ = (float*)mju_malloc(nnormal);
|
||||||
memcpy(this->normal_, other.normal_, nnormal);
|
memcpy(this->normal_, other.normal_, nnormal);
|
||||||
|
} else {
|
||||||
|
this->normal_ = NULL;
|
||||||
}
|
}
|
||||||
if (other.center_) {
|
if (other.center_) {
|
||||||
size_t ncenter = 3*other.nface_*sizeof(double);
|
size_t ncenter = 3*other.nface_*sizeof(double);
|
||||||
this->center_ = (double*)mju_malloc(ncenter);
|
this->center_ = (double*)mju_malloc(ncenter);
|
||||||
memcpy(this->center_, other.center_, ncenter);
|
memcpy(this->center_, other.center_, ncenter);
|
||||||
|
} else {
|
||||||
|
this->center_ = NULL;
|
||||||
}
|
}
|
||||||
if (other.texcoord_) {
|
if (other.texcoord_) {
|
||||||
size_t ntexcoord = 2*other.ntexcoord_*sizeof(float);
|
size_t ntexcoord = 2*other.ntexcoord_*sizeof(float);
|
||||||
this->texcoord_ = (float*)mju_malloc(ntexcoord);
|
this->texcoord_ = (float*)mju_malloc(ntexcoord);
|
||||||
memcpy(this->texcoord_, other.texcoord_, ntexcoord);
|
memcpy(this->texcoord_, other.texcoord_, ntexcoord);
|
||||||
|
} else {
|
||||||
|
this->texcoord_ = NULL;
|
||||||
}
|
}
|
||||||
if (other.face_) {
|
if (other.face_) {
|
||||||
size_t nface = 3*other.nface_*sizeof(int);
|
size_t nface = 3*other.nface_*sizeof(int);
|
||||||
this->face_ = (int*)mju_malloc(nface);
|
this->face_ = (int*)mju_malloc(nface);
|
||||||
memcpy(this->face_, other.face_, nface);
|
memcpy(this->face_, other.face_, nface);
|
||||||
|
} else {
|
||||||
|
this->face_ = NULL;
|
||||||
}
|
}
|
||||||
if (other.facenormal_) {
|
if (other.facenormal_) {
|
||||||
size_t nfacenormal = 3*other.nface_*sizeof(int);
|
size_t nfacenormal = 3*other.nface_*sizeof(int);
|
||||||
this->facenormal_ = (int*)mju_malloc(nfacenormal);
|
this->facenormal_ = (int*)mju_malloc(nfacenormal);
|
||||||
memcpy(this->facenormal_, other.facenormal_, nfacenormal);
|
memcpy(this->facenormal_, other.facenormal_, nfacenormal);
|
||||||
|
} else {
|
||||||
|
this->facenormal_ = NULL;
|
||||||
}
|
}
|
||||||
if (other.facetexcoord_) {
|
if (other.facetexcoord_) {
|
||||||
size_t nfacetexcoord = 3*other.nface_*sizeof(int);
|
size_t nfacetexcoord = 3*other.nface_*sizeof(int);
|
||||||
this->facetexcoord_ = (int*)mju_malloc(nfacetexcoord);
|
this->facetexcoord_ = (int*)mju_malloc(nfacetexcoord);
|
||||||
memcpy(this->facetexcoord_, other.facetexcoord_, nfacetexcoord);
|
memcpy(this->facetexcoord_, other.facetexcoord_, nfacetexcoord);
|
||||||
|
} else {
|
||||||
|
this->facetexcoord_ = NULL;
|
||||||
}
|
}
|
||||||
if (other.graph_) {
|
if (other.graph_) {
|
||||||
size_t szgraph = szgraph_*sizeof(int);
|
size_t szgraph = szgraph_*sizeof(int);
|
||||||
this->graph_ = (int*)mju_malloc(szgraph);
|
this->graph_ = (int*)mju_malloc(szgraph);
|
||||||
memcpy(this->graph_, other.graph_, szgraph);
|
memcpy(this->graph_, other.graph_, szgraph);
|
||||||
|
} else {
|
||||||
|
this->graph_ = NULL;
|
||||||
|
}
|
||||||
|
if (other.plugin.instance) {
|
||||||
|
mjCPlugin* new_plugin = new mjCPlugin(*static_cast<mjCPlugin*>(other.plugin.instance));
|
||||||
|
plugin = new_plugin->spec;
|
||||||
|
model->plugins.push_back(new_plugin);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
PointToLocal();
|
PointToLocal();
|
||||||
@@ -243,7 +267,7 @@ mjCMesh& mjCMesh::operator=(const mjCMesh& other) {
|
|||||||
|
|
||||||
|
|
||||||
void mjCMesh::PointToLocal() {
|
void mjCMesh::PointToLocal() {
|
||||||
spec.element = (mjElement)this;
|
spec.element = static_cast<mjElement*>(this);
|
||||||
spec.name = (mjString)&name;
|
spec.name = (mjString)&name;
|
||||||
spec.classname = (mjString)&classname;
|
spec.classname = (mjString)&classname;
|
||||||
spec.file = (mjString)&spec_file_;
|
spec.file = (mjString)&spec_file_;
|
||||||
@@ -260,7 +284,7 @@ void mjCMesh::PointToLocal() {
|
|||||||
|
|
||||||
|
|
||||||
void mjCMesh::CopyFromSpec() {
|
void mjCMesh::CopyFromSpec() {
|
||||||
*static_cast<mjmMesh*>(this) = spec;
|
*static_cast<mjsMesh*>(this) = spec;
|
||||||
file_ = spec_file_;
|
file_ = spec_file_;
|
||||||
content_type_ = spec_content_type_;
|
content_type_ = spec_content_type_;
|
||||||
uservert_ = spec_uservert_;
|
uservert_ = spec_uservert_;
|
||||||
@@ -336,8 +360,9 @@ void mjCMesh::LoadSDF() {
|
|||||||
name.c_str(), id);
|
name.c_str(), id);
|
||||||
}
|
}
|
||||||
|
|
||||||
mjCPlugin* plugin_instance = (mjCPlugin*)plugin.instance;
|
mjCPlugin* plugin_instance = static_cast<mjCPlugin*>(plugin.instance);
|
||||||
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
|
model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
|
||||||
|
plugin.instance = plugin_instance;
|
||||||
const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->spec.plugin_slot);
|
const mjpPlugin* pplugin = mjp_getPluginAtSlot(plugin_instance->spec.plugin_slot);
|
||||||
if (!(pplugin->capabilityflags & mjPLUGIN_SDF)) {
|
if (!(pplugin->capabilityflags & mjPLUGIN_SDF)) {
|
||||||
throw mjCError(this, "plugin '%s' does not support signed distance fields", pplugin->name);
|
throw mjCError(this, "plugin '%s' does not support signed distance fields", pplugin->name);
|
||||||
@@ -410,6 +435,7 @@ void mjCMesh::LoadSDF() {
|
|||||||
// compiler
|
// compiler
|
||||||
void mjCMesh::Compile(const mjVFS* vfs) {
|
void mjCMesh::Compile(const mjVFS* vfs) {
|
||||||
CopyFromSpec();
|
CopyFromSpec();
|
||||||
|
visual_ = true;
|
||||||
|
|
||||||
// load file
|
// load file
|
||||||
if (!file_.empty()) {
|
if (!file_.empty()) {
|
||||||
@@ -526,7 +552,8 @@ void mjCMesh::Compile(const mjVFS* vfs) {
|
|||||||
// check vertices exist
|
// check vertices exist
|
||||||
for (int i=0; i<userface_.size(); i++) {
|
for (int i=0; i<userface_.size(); i++) {
|
||||||
if (userface_[i] >= nvert_ || userface_[i] < 0) {
|
if (userface_[i] >= nvert_ || userface_[i] < 0) {
|
||||||
throw mjCError(this, "index in face does not exist in vertex array");
|
throw mjCError(this, "in face %d, vertex index %d does not exist",
|
||||||
|
nullptr, i / 3, userface_[i]);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -967,6 +994,19 @@ void mjCMesh::RemoveRepeated() {
|
|||||||
void mjCMesh::LoadOBJ(mjResource* resource) {
|
void mjCMesh::LoadOBJ(mjResource* resource) {
|
||||||
tinyobj::ObjReader objReader;
|
tinyobj::ObjReader objReader;
|
||||||
const void* bytes = nullptr;
|
const void* bytes = nullptr;
|
||||||
|
|
||||||
|
// try loading from cache
|
||||||
|
mjCCache *cache = reinterpret_cast<mjCCache*>(mj_globalCache());
|
||||||
|
if (cache) {
|
||||||
|
auto asset = cache->Get(resource->name);
|
||||||
|
if (asset.has_value() &&
|
||||||
|
!mju_isModifiedResource(resource, asset->Timestamp().c_str())) {
|
||||||
|
if (LoadCachedOBJ(asset.value())) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
int buffer_sz = mju_readResource(resource, &bytes);
|
int buffer_sz = mju_readResource(resource, &bytes);
|
||||||
if (buffer_sz < 0) {
|
if (buffer_sz < 0) {
|
||||||
throw mjCError(this, "could not read OBJ file '%s'", resource->name);
|
throw mjCError(this, "could not read OBJ file '%s'", resource->name);
|
||||||
@@ -1030,8 +1070,116 @@ void mjCMesh::LoadOBJ(mjResource* resource) {
|
|||||||
for (int i=0; i<usertexcoord_.size()/2; i++) {
|
for (int i=0; i<usertexcoord_.size()/2; i++) {
|
||||||
usertexcoord_[2*i+1] = 1-usertexcoord_[2*i+1];
|
usertexcoord_[2*i+1] = 1-usertexcoord_[2*i+1];
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// try caching asset
|
||||||
|
if (cache) {
|
||||||
|
mjCAsset asset("", resource->name, resource->timestamp);
|
||||||
|
|
||||||
|
asset.AddVector("uservert_", uservert_);
|
||||||
|
asset.AddVector("usernormal_", usernormal_);
|
||||||
|
asset.AddVector("usertexcoord_", usertexcoord_);
|
||||||
|
|
||||||
|
if (!objReader.GetShapes().empty()) {
|
||||||
|
const auto& mesh = objReader.GetShapes()[0].mesh;
|
||||||
|
std::vector<int> vertex_index;
|
||||||
|
vertex_index.reserve(mesh.indices.size());
|
||||||
|
|
||||||
|
std::vector<int> normal_index;
|
||||||
|
normal_index.reserve(mesh.indices.size());
|
||||||
|
|
||||||
|
std::vector<int> texcoord_index;
|
||||||
|
texcoord_index.reserve(mesh.indices.size());
|
||||||
|
|
||||||
|
for (tinyobj::index_t index : mesh.indices) {
|
||||||
|
vertex_index.push_back(index.vertex_index);
|
||||||
|
normal_index.push_back(index.normal_index);
|
||||||
|
texcoord_index.push_back(index.texcoord_index);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
asset.AddVector("num_face_vertices", mesh.num_face_vertices);
|
||||||
|
asset.AddVector("vertex_index", vertex_index);
|
||||||
|
asset.AddVector("normal_index", normal_index);
|
||||||
|
asset.AddVector("texcoord_index", texcoord_index);
|
||||||
|
} else {
|
||||||
|
asset.AddVector("num_face_vertices", std::vector<unsigned char>());
|
||||||
|
asset.AddVector("vertex_index", std::vector<int>());
|
||||||
|
asset.AddVector("normal_index", std::vector<int>());
|
||||||
|
asset.AddVector("texcoord_index", std::vector<int>());
|
||||||
|
}
|
||||||
|
cache->Insert(std::move(asset));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
// load OBJ from cached asset, return true on success
|
||||||
|
bool mjCMesh::LoadCachedOBJ(const mjCAsset& asset) {
|
||||||
|
// check that asset has all data
|
||||||
|
if (!asset.HasData("uservert_") || !asset.HasData("usernormal_")
|
||||||
|
|| !asset.HasData("usertexcoord_") || !asset.HasData("num_face_vertices")
|
||||||
|
|| !asset.HasData("vertex_index") || !asset.HasData("normal_index")
|
||||||
|
|| !asset.HasData("texcoord_index")) {
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
uservert_ = asset.GetVector<float>("uservert_").value();
|
||||||
|
usernormal_ = asset.GetVector<float>("usernormal_").value();
|
||||||
|
usertexcoord_ = asset.GetVector<float>("usertexcoord_").value();
|
||||||
|
|
||||||
|
vector<int> vertex_index = asset.GetVector<int>("vertex_index").value();
|
||||||
|
vector<int> normal_index = asset.GetVector<int>("normal_index").value();
|
||||||
|
vector<int> texcoord_index = asset.GetVector<int>("texcoord_index").value();
|
||||||
|
vector<unsigned char> num_face_vertices =
|
||||||
|
asset.GetVector<unsigned char>("num_face_vertices").value();
|
||||||
|
|
||||||
|
bool righthand = (scale[0] * scale[1] * scale[2]) > 0;
|
||||||
|
|
||||||
|
|
||||||
|
for (int face = 0, i = 0; i < vertex_index.size();) {
|
||||||
|
int nfacevert = num_face_vertices[face];
|
||||||
|
if (nfacevert < 3 || nfacevert > 4) {
|
||||||
|
throw mjCError(
|
||||||
|
this, "only tri or quad meshes are supported for OBJ (file '%s')",
|
||||||
|
asset.Id().c_str());
|
||||||
|
}
|
||||||
|
|
||||||
|
userface_.push_back(vertex_index[i]);
|
||||||
|
userface_.push_back(vertex_index[i + (righthand == 1 ? 1 : 2)]);
|
||||||
|
userface_.push_back(vertex_index[i + (righthand == 1 ? 2 : 1)]);
|
||||||
|
|
||||||
|
if (!usernormal_.empty()) {
|
||||||
|
userfacenormal_.push_back(normal_index[i]);
|
||||||
|
userfacenormal_.push_back(normal_index[i + (righthand == 1 ? 1 : 2)]);
|
||||||
|
userfacenormal_.push_back(normal_index[i + (righthand == 1 ? 2 : 1)]);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!usertexcoord_.empty()) {
|
||||||
|
userfacetexcoord_.push_back(texcoord_index[i]);
|
||||||
|
userfacetexcoord_.push_back(texcoord_index[i + (righthand == 1 ? 1 : 2)]);
|
||||||
|
userfacetexcoord_.push_back(texcoord_index[i + (righthand == 1 ? 2 : 1)]);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (nfacevert == 4) {
|
||||||
|
userface_.push_back(vertex_index[i]);
|
||||||
|
userface_.push_back(vertex_index[i + (righthand == 1 ? 2 : 3)]);
|
||||||
|
userface_.push_back(vertex_index[i + (righthand == 1 ? 3 : 2)]);
|
||||||
|
|
||||||
|
if (!usernormal_.empty()) {
|
||||||
|
userfacenormal_.push_back(normal_index[i]);
|
||||||
|
userfacenormal_.push_back(normal_index[i + (righthand == 1 ? 1 : 2)]);
|
||||||
|
userfacenormal_.push_back(normal_index[i + (righthand == 1 ? 2 : 1)]);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!usertexcoord_.empty()) {
|
||||||
|
userfacetexcoord_.push_back(texcoord_index[i]);
|
||||||
|
userfacetexcoord_.push_back(texcoord_index[i + (righthand == 1 ? 1 : 2)]);
|
||||||
|
userfacetexcoord_.push_back(texcoord_index[i + (righthand == 1 ? 2 : 1)]);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
i += nfacevert;
|
||||||
|
++face;
|
||||||
|
}
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
// load STL binary mesh
|
// load STL binary mesh
|
||||||
void mjCMesh::LoadSTL(mjResource* resource) {
|
void mjCMesh::LoadSTL(mjResource* resource) {
|
||||||
@@ -1146,6 +1294,12 @@ void mjCMesh::LoadMSH(mjResource* resource) {
|
|||||||
throw mjCError(this, "invalid sizes in MSH file '%s'", resource->name);
|
throw mjCError(this, "invalid sizes in MSH file '%s'", resource->name);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
if (nvert_ >= INT_MAX / sizeof(float) / 3 ||
|
||||||
|
nnormal_ >= INT_MAX / sizeof(float) / 3 ||
|
||||||
|
ntexcoord_ >= INT_MAX / sizeof(float) / 2 ||
|
||||||
|
nface_ >= INT_MAX / sizeof(int) / 3) {
|
||||||
|
throw mjCError(this, "too large sizes in MSH file '%s'.", resource->name);
|
||||||
|
}
|
||||||
// check file size
|
// check file size
|
||||||
if (buffer_sz != 4*sizeof(int) + 3*nvert_*sizeof(float) + 3*nnormal_*sizeof(float) +
|
if (buffer_sz != 4*sizeof(int) + 3*nvert_*sizeof(float) + 3*nnormal_*sizeof(float) +
|
||||||
2*ntexcoord_*sizeof(float) + 3*nface_*sizeof(int)) {
|
2*ntexcoord_*sizeof(float) + 3*nface_*sizeof(int)) {
|
||||||
@@ -1493,7 +1647,7 @@ void mjCMesh::CheckMesh(mjtGeomInertia type) {
|
|||||||
if (!processed_) {
|
if (!processed_) {
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
if (invalidorientation_.first>=0 || invalidorientation_.second>=0)
|
if ((invalidorientation_.first>=0 || invalidorientation_.second>=0) && model->exactmeshinertia)
|
||||||
throw mjCError(this,
|
throw mjCError(this,
|
||||||
"faces of mesh '%s' have inconsistent orientation. Please check the "
|
"faces of mesh '%s' have inconsistent orientation. Please check the "
|
||||||
"faces containing the vertices %d and %d.",
|
"faces containing the vertices %d and %d.",
|
||||||
@@ -1910,7 +2064,8 @@ void mjCMesh::MakeCenter(void) {
|
|||||||
|
|
||||||
// constructor
|
// constructor
|
||||||
mjCSkin::mjCSkin(mjCModel* _model) {
|
mjCSkin::mjCSkin(mjCModel* _model) {
|
||||||
mjm_defaultSkin(spec);
|
mjs_defaultSkin(spec);
|
||||||
|
elemtype = mjOBJ_SKIN;
|
||||||
|
|
||||||
// set model pointer
|
// set model pointer
|
||||||
model = _model;
|
model = _model;
|
||||||
@@ -1939,8 +2094,26 @@ mjCSkin::mjCSkin(mjCModel* _model) {
|
|||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
mjCSkin::mjCSkin(const mjCSkin& other) {
|
||||||
|
*this = other;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
mjCSkin& mjCSkin::operator=(const mjCSkin& other) {
|
||||||
|
if (this != &other) {
|
||||||
|
this->spec = other.spec;
|
||||||
|
*static_cast<mjCSkin_*>(this) = static_cast<const mjCSkin_&>(other);
|
||||||
|
*static_cast<mjsSkin*>(this) = static_cast<const mjsSkin&>(other);
|
||||||
|
}
|
||||||
|
PointToLocal();
|
||||||
|
return *this;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
void mjCSkin::PointToLocal() {
|
void mjCSkin::PointToLocal() {
|
||||||
spec.element = (mjElement)this;
|
spec.element = static_cast<mjElement*>(this);
|
||||||
spec.name = (mjString)&name;
|
spec.name = (mjString)&name;
|
||||||
spec.classname = (mjString)&classname;
|
spec.classname = (mjString)&classname;
|
||||||
spec.file = (mjString)&spec_file_;
|
spec.file = (mjString)&spec_file_;
|
||||||
@@ -1958,8 +2131,16 @@ void mjCSkin::PointToLocal() {
|
|||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
void mjCSkin::NameSpace(const mjCModel* m) {
|
||||||
|
for (int i=0; i<(int)spec_bodyname_.size(); i++) {
|
||||||
|
spec_bodyname_[i] = m->prefix + spec_bodyname_[i] + m->suffix;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
void mjCSkin::CopyFromSpec() {
|
void mjCSkin::CopyFromSpec() {
|
||||||
*static_cast<mjmSkin*>(this) = spec;
|
*static_cast<mjsSkin*>(this) = spec;
|
||||||
file_ = spec_file_;
|
file_ = spec_file_;
|
||||||
material_ = spec_material_;
|
material_ = spec_material_;
|
||||||
vert_ = spec_vert_;
|
vert_ = spec_vert_;
|
||||||
@@ -2001,6 +2182,20 @@ mjCSkin::~mjCSkin() {
|
|||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
void mjCSkin::ResolveReferences(const mjCModel* m) {
|
||||||
|
size_t nbone = bodyname_.size();
|
||||||
|
bodyid.resize(nbone);
|
||||||
|
for (int i=0; i<nbone; i++) {
|
||||||
|
mjCBase* pbody = m->FindObject(mjOBJ_BODY, bodyname_[i]);
|
||||||
|
if (!pbody) {
|
||||||
|
throw mjCError(this, "unknown body '%s' in skin", bodyname_[i].c_str());
|
||||||
|
}
|
||||||
|
bodyid[i] = pbody->id;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// compiler
|
// compiler
|
||||||
void mjCSkin::Compile(const mjVFS* vfs) {
|
void mjCSkin::Compile(const mjVFS* vfs) {
|
||||||
CopyFromSpec();
|
CopyFromSpec();
|
||||||
@@ -2081,14 +2276,7 @@ void mjCSkin::Compile(const mjVFS* vfs) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
// resolve body names
|
// resolve body names
|
||||||
bodyid.resize(nbone);
|
ResolveReferences(model);
|
||||||
for (int i=0; i<nbone; i++) {
|
|
||||||
mjCBase* pbody = model->FindObject(mjOBJ_BODY, bodyname_[i]);
|
|
||||||
if (!pbody) {
|
|
||||||
throw mjCError(this, "unknown body '%s' in skin", bodyname_[i].c_str());
|
|
||||||
}
|
|
||||||
bodyid[i] = pbody->id;
|
|
||||||
}
|
|
||||||
|
|
||||||
// resolve material name
|
// resolve material name
|
||||||
mjCBase* pmat = model->FindObject(mjOBJ_MATERIAL, material_);
|
mjCBase* pmat = model->FindObject(mjOBJ_MATERIAL, material_);
|
||||||
@@ -2301,7 +2489,8 @@ constexpr int eledge[3][6][2] = {{{ 0, 1}, {-1, -1}, {-1, -1},
|
|||||||
|
|
||||||
// constructor
|
// constructor
|
||||||
mjCFlex::mjCFlex(mjCModel* _model) {
|
mjCFlex::mjCFlex(mjCModel* _model) {
|
||||||
mjm_defaultFlex(spec);
|
mjs_defaultFlex(spec);
|
||||||
|
elemtype = mjOBJ_FLEX;
|
||||||
|
|
||||||
// set model
|
// set model
|
||||||
model = _model;
|
model = _model;
|
||||||
@@ -2328,7 +2517,7 @@ mjCFlex& mjCFlex::operator=(const mjCFlex& other) {
|
|||||||
if (this != &other) {
|
if (this != &other) {
|
||||||
this->spec = other.spec;
|
this->spec = other.spec;
|
||||||
*static_cast<mjCFlex_*>(this) = static_cast<const mjCFlex_&>(other);
|
*static_cast<mjCFlex_*>(this) = static_cast<const mjCFlex_&>(other);
|
||||||
*static_cast<mjmFlex*>(this) = static_cast<const mjmFlex&>(other);
|
*static_cast<mjsFlex*>(this) = static_cast<const mjsFlex&>(other);
|
||||||
}
|
}
|
||||||
PointToLocal();
|
PointToLocal();
|
||||||
return *this;
|
return *this;
|
||||||
@@ -2336,7 +2525,7 @@ mjCFlex& mjCFlex::operator=(const mjCFlex& other) {
|
|||||||
|
|
||||||
|
|
||||||
void mjCFlex::PointToLocal() {
|
void mjCFlex::PointToLocal() {
|
||||||
spec.element = (mjElement)this;
|
spec.element = static_cast<mjElement*>(this);
|
||||||
spec.name = (mjString)&name;
|
spec.name = (mjString)&name;
|
||||||
spec.classname = (mjString)&classname;
|
spec.classname = (mjString)&classname;
|
||||||
spec.material = (mjString)&spec_material_;
|
spec.material = (mjString)&spec_material_;
|
||||||
@@ -2348,8 +2537,17 @@ void mjCFlex::PointToLocal() {
|
|||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
void mjCFlex::NameSpace(const mjCModel* m) {
|
||||||
|
for (int i=0; i<(int)spec_vertbody_.size(); i++) {
|
||||||
|
spec_vertbody_[i] = m->prefix + spec_vertbody_[i] + m->suffix;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
void mjCFlex::CopyFromSpec() {
|
void mjCFlex::CopyFromSpec() {
|
||||||
*static_cast<mjmFlex*>(this) = spec;
|
*static_cast<mjsFlex*>(this) = spec;
|
||||||
spec.info = (mjString)&info;
|
spec.info = (mjString)&info;
|
||||||
material_ = spec_material_;
|
material_ = spec_material_;
|
||||||
vertbody_ = spec_vertbody_;
|
vertbody_ = spec_vertbody_;
|
||||||
@@ -2380,6 +2578,18 @@ void mjCFlex::DelTexcoord() {
|
|||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
void mjCFlex::ResolveReferences(const mjCModel* m) {
|
||||||
|
for (int i=0; i<(int)vertbody_.size(); i++) {
|
||||||
|
mjCBase* pbody = m->FindObject(mjOBJ_BODY, vertbody_[i]);
|
||||||
|
if (pbody) {
|
||||||
|
vertbodyid.push_back(pbody->id);
|
||||||
|
} else {
|
||||||
|
throw mjCError(this, "unkown body '%s' in flex", vertbody_[i].c_str());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
// compiler
|
// compiler
|
||||||
void mjCFlex::Compile(const mjVFS* vfs) {
|
void mjCFlex::Compile(const mjVFS* vfs) {
|
||||||
CopyFromSpec();
|
CopyFromSpec();
|
||||||
@@ -2441,14 +2651,7 @@ void mjCFlex::Compile(const mjVFS* vfs) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
// resolve body ids
|
// resolve body ids
|
||||||
for (int i=0; i<(int)vertbody_.size(); i++) {
|
ResolveReferences(model);
|
||||||
mjCBase* pbody = model->FindObject(mjOBJ_BODY, vertbody_[i]);
|
|
||||||
if (pbody) {
|
|
||||||
vertbodyid.push_back(pbody->id);
|
|
||||||
} else {
|
|
||||||
throw mjCError(this, "unkown body '%s' in flex", vertbody_[i].c_str());
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// process elements
|
// process elements
|
||||||
for (int e=0; e<(int)elem_.size()/(dim+1); e++) {
|
for (int e=0; e<(int)elem_.size()/(dim+1); e++) {
|
||||||
@@ -2564,7 +2767,8 @@ void mjCFlex::Compile(const mjVFS* vfs) {
|
|||||||
|
|
||||||
for (int i=0; i<(int)vertbodyid.size(); i++) {
|
for (int i=0; i<(int)vertbodyid.size(); i++) {
|
||||||
if (model->bodies[vertbodyid[i]]->plugin.instance) {
|
if (model->bodies[vertbodyid[i]]->plugin.instance) {
|
||||||
mjCPlugin* plugin_instance = (mjCPlugin*)model->bodies[vertbodyid[i]]->plugin.instance;
|
mjCPlugin* plugin_instance =
|
||||||
|
static_cast<mjCPlugin*>(model->bodies[vertbodyid[i]]->plugin.instance);
|
||||||
plugin_instance->config_attribs["face"] = userface;
|
plugin_instance->config_attribs["face"] = userface;
|
||||||
plugin_instance->config_attribs["edge"] = useredge;
|
plugin_instance->config_attribs["edge"] = useredge;
|
||||||
}
|
}
|
||||||
|
|||||||
+321
-146
@@ -83,7 +83,8 @@ static void copyvec(T1* dest, T2* src, int n) {
|
|||||||
|
|
||||||
// constructor
|
// constructor
|
||||||
mjCModel::mjCModel() {
|
mjCModel::mjCModel() {
|
||||||
mjm_defaultSpec(spec);
|
mjs_defaultSpec(spec);
|
||||||
|
elemtype = mjOBJ_UNKNOWN;
|
||||||
spec_comment_.clear();
|
spec_comment_.clear();
|
||||||
spec_modelfiledir_.clear();
|
spec_modelfiledir_.clear();
|
||||||
spec_meshdir_.clear();
|
spec_meshdir_.clear();
|
||||||
@@ -120,6 +121,8 @@ mjCModel::mjCModel() {
|
|||||||
tuples.clear();
|
tuples.clear();
|
||||||
keys.clear();
|
keys.clear();
|
||||||
defaults.clear();
|
defaults.clear();
|
||||||
|
prefix = "";
|
||||||
|
suffix = "";
|
||||||
Clear();
|
Clear();
|
||||||
|
|
||||||
//------------------------ master default set
|
//------------------------ master default set
|
||||||
@@ -138,6 +141,152 @@ mjCModel::mjCModel() {
|
|||||||
world->def = defaults[0];
|
world->def = defaults[0];
|
||||||
bodies.push_back(world);
|
bodies.push_back(world);
|
||||||
|
|
||||||
|
// create mjCBase lists from children lists
|
||||||
|
CreateObjectLists();
|
||||||
|
|
||||||
|
// point to model from spec
|
||||||
|
PointToLocal();
|
||||||
|
|
||||||
|
// this class allocated the plugins
|
||||||
|
plugin_owner = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
mjCModel::mjCModel(const mjCModel& other) {
|
||||||
|
*this = other;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
mjCModel& mjCModel::operator=(const mjCModel& other) {
|
||||||
|
if (this != &other) {
|
||||||
|
plugin_owner = false;
|
||||||
|
this->spec = other.spec;
|
||||||
|
*static_cast<mjCModel_*>(this) = static_cast<const mjCModel_&>(other);
|
||||||
|
*static_cast<mjSpec*>(this) = static_cast<const mjSpec&>(other);
|
||||||
|
|
||||||
|
// the world copy constructor takes care of copying the tree
|
||||||
|
mjCBody* world = new mjCBody(*other.bodies[0], this);
|
||||||
|
bodies.push_back(world);
|
||||||
|
|
||||||
|
// add everything else
|
||||||
|
*this += other;
|
||||||
|
|
||||||
|
// copy name maps
|
||||||
|
for (int i=0; i<mjNOBJECT; i++) {
|
||||||
|
ids[i] = other.ids[i];
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return *this;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
// copy vector of elements from another model to this model
|
||||||
|
template <class T>
|
||||||
|
void mjCModel::CopyList(std::vector<T*>& dest,
|
||||||
|
const std::vector<T*>& source,
|
||||||
|
std::map<mjCDef*, int>& def_map,
|
||||||
|
const std::vector<mjCDef*>& defaults) {
|
||||||
|
// loop over the elements from the other model
|
||||||
|
for (T* element : source) {
|
||||||
|
try {
|
||||||
|
// try to find the referenced object in this model
|
||||||
|
element->NameSpace(element->model);
|
||||||
|
element->CopyFromSpec();
|
||||||
|
element->ResolveReferences(this);
|
||||||
|
} catch (mjCError err) {
|
||||||
|
// if not present, skip the element
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
// copy the element from the other model to this model
|
||||||
|
dest.push_back(new T(*element));
|
||||||
|
dest.back()->model = this;
|
||||||
|
dest.back()->def = defaults[def_map[element->def]];
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
mjCModel& mjCModel::operator+=(const mjCModel& other) {
|
||||||
|
if (this != &other) {
|
||||||
|
// create global lists
|
||||||
|
MakeLists(bodies[0]);
|
||||||
|
CreateObjectLists();
|
||||||
|
ProcessLists();
|
||||||
|
|
||||||
|
// copy all elements not in the tree
|
||||||
|
std::map<mjCDef*, int> def_map;
|
||||||
|
for (int i = 0; i < other.defaults.size(); i++) {
|
||||||
|
defaults.push_back(new mjCDef(*other.defaults[i]));
|
||||||
|
def_map[other.defaults[i]] = i;
|
||||||
|
}
|
||||||
|
CopyList(flexes, other.flexes, def_map, defaults);
|
||||||
|
CopyList(meshes, other.meshes, def_map, defaults);
|
||||||
|
CopyList(skins, other.skins, def_map, defaults);
|
||||||
|
CopyList(hfields, other.hfields, def_map, defaults);
|
||||||
|
CopyList(textures, other.textures, def_map, defaults);
|
||||||
|
CopyList(materials, other.materials, def_map, defaults);
|
||||||
|
CopyList(pairs, other.pairs, def_map, defaults);
|
||||||
|
CopyList(excludes, other.excludes, def_map, defaults);
|
||||||
|
CopyList(tendons, other.tendons, def_map, defaults);
|
||||||
|
CopyList(equalities, other.equalities, def_map, defaults);
|
||||||
|
CopyList(actuators, other.actuators, def_map, defaults);
|
||||||
|
CopyList(sensors, other.sensors, def_map, defaults);
|
||||||
|
CopyList(numerics, other.numerics, def_map, defaults);
|
||||||
|
CopyList(texts, other.texts, def_map, defaults);
|
||||||
|
CopyList(tuples, other.tuples, def_map, defaults);
|
||||||
|
CopyList(keys, other.keys, def_map, defaults);
|
||||||
|
|
||||||
|
// plugins are global
|
||||||
|
plugins = other.plugins;
|
||||||
|
active_plugins = other.active_plugins;
|
||||||
|
|
||||||
|
// update defaults for the copied objects
|
||||||
|
for (int i = 1; i < other.bodies.size(); i++) {
|
||||||
|
bodies[i]->def = defaults[def_map[other.bodies[i]->def]];
|
||||||
|
}
|
||||||
|
for (int i = 0; i < other.joints.size(); i++) {
|
||||||
|
joints[i]->def = defaults[def_map[other.joints[i]->def]];
|
||||||
|
}
|
||||||
|
for (int i = 0; i < other.geoms.size(); i++) {
|
||||||
|
geoms[i]->def = defaults[def_map[other.geoms[i]->def]];
|
||||||
|
}
|
||||||
|
for (int i = 0; i < other.sites.size(); i++) {
|
||||||
|
sites[i]->def = defaults[def_map[other.sites[i]->def]];
|
||||||
|
}
|
||||||
|
for (int i = 0; i < other.cameras.size(); i++) {
|
||||||
|
cameras[i]->def = defaults[def_map[other.cameras[i]->def]];
|
||||||
|
}
|
||||||
|
for (int i = 0; i < other.lights.size(); i++) {
|
||||||
|
lights[i]->def = defaults[def_map[other.lights[i]->def]];
|
||||||
|
}
|
||||||
|
|
||||||
|
// cast children to mjCBase
|
||||||
|
|
||||||
|
|
||||||
|
// restore to the same state as other
|
||||||
|
if (!compiled) {
|
||||||
|
mjCBody* world = bodies[0];
|
||||||
|
bodies.clear();
|
||||||
|
frames.clear();
|
||||||
|
joints.clear();
|
||||||
|
geoms.clear();
|
||||||
|
sites.clear();
|
||||||
|
cameras.clear();
|
||||||
|
lights.clear();
|
||||||
|
bodies.push_back(world);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
PointToLocal();
|
||||||
|
return *this;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
// TODO: we should not use C-type casting with multiple C++ inheritance
|
||||||
|
void mjCModel::CreateObjectLists() {
|
||||||
for (int i = 0; i < mjNOBJECT; ++i) {
|
for (int i = 0; i < mjNOBJECT; ++i) {
|
||||||
object_lists[i] = nullptr;
|
object_lists[i] = nullptr;
|
||||||
}
|
}
|
||||||
@@ -166,23 +315,12 @@ mjCModel::mjCModel() {
|
|||||||
object_lists[mjOBJ_TUPLE] = (std::vector<mjCBase*>*) &tuples;
|
object_lists[mjOBJ_TUPLE] = (std::vector<mjCBase*>*) &tuples;
|
||||||
object_lists[mjOBJ_KEY] = (std::vector<mjCBase*>*) &keys;
|
object_lists[mjOBJ_KEY] = (std::vector<mjCBase*>*) &keys;
|
||||||
object_lists[mjOBJ_PLUGIN] = (std::vector<mjCBase*>*) &plugins;
|
object_lists[mjOBJ_PLUGIN] = (std::vector<mjCBase*>*) &plugins;
|
||||||
|
|
||||||
|
|
||||||
// point to model from spec
|
|
||||||
PointToLocal();
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
mjCModel::mjCModel(const mjCModel& other) {
|
|
||||||
*this = other;
|
|
||||||
PointToLocal();
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
void mjCModel::PointToLocal() {
|
void mjCModel::PointToLocal() {
|
||||||
spec.element = (mjElement)this;
|
spec.element = static_cast<mjElement*>(this);
|
||||||
spec.comment = (mjString)&spec_comment_;
|
spec.comment = (mjString)&spec_comment_;
|
||||||
spec.modelfiledir = (mjString)&spec_modelfiledir_;
|
spec.modelfiledir = (mjString)&spec_modelfiledir_;
|
||||||
spec.modelname = (mjString)&spec_modelname_;
|
spec.modelname = (mjString)&spec_modelname_;
|
||||||
@@ -230,9 +368,12 @@ mjCModel::~mjCModel() {
|
|||||||
for (int i=0; i<texts.size(); i++) delete texts[i];
|
for (int i=0; i<texts.size(); i++) delete texts[i];
|
||||||
for (int i=0; i<tuples.size(); i++) delete tuples[i];
|
for (int i=0; i<tuples.size(); i++) delete tuples[i];
|
||||||
for (int i=0; i<keys.size(); i++) delete keys[i];
|
for (int i=0; i<keys.size(); i++) delete keys[i];
|
||||||
for (int i=0; i<plugins.size(); i++) delete plugins[i];
|
|
||||||
for (int i=0; i<defaults.size(); i++) delete defaults[i];
|
for (int i=0; i<defaults.size(); i++) delete defaults[i];
|
||||||
|
|
||||||
|
if (plugin_owner) {
|
||||||
|
for (int i=0; i<plugins.size(); i++) delete plugins[i];
|
||||||
|
}
|
||||||
|
|
||||||
// clear pointer lists created in model construction
|
// clear pointer lists created in model construction
|
||||||
flexes.clear();
|
flexes.clear();
|
||||||
meshes.clear();
|
meshes.clear();
|
||||||
@@ -339,7 +480,6 @@ void mjCModel::Clear(void) {
|
|||||||
hasImplicitPluginElem = false;
|
hasImplicitPluginElem = false;
|
||||||
compiled = false;
|
compiled = false;
|
||||||
errInfo = mjCError();
|
errInfo = mjCError();
|
||||||
fixCount = 0;
|
|
||||||
qpos0.clear();
|
qpos0.clear();
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -498,35 +638,28 @@ mjCBase* mjCModel::GetObject(mjtObj type, int id) {
|
|||||||
//------------------------ API FOR ACCESS TO PRIVATE VARIABLES -------------------------------------
|
//------------------------ API FOR ACCESS TO PRIVATE VARIABLES -------------------------------------
|
||||||
|
|
||||||
// compiled flag
|
// compiled flag
|
||||||
bool mjCModel::IsCompiled(void) {
|
bool mjCModel::IsCompiled(void) const {
|
||||||
return compiled;
|
return compiled;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// number of massless bodies that were fixed
|
|
||||||
int mjCModel::GetFixed(void) {
|
|
||||||
return fixCount;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// get reference of error object
|
// get reference of error object
|
||||||
const mjCError& mjCModel::GetError(void) {
|
const mjCError& mjCModel::GetError(void) const {
|
||||||
return errInfo;
|
return errInfo;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// pointer to world body
|
// pointer to world body
|
||||||
mjCBody* mjCModel::GetWorld(void) {
|
mjCBody* mjCModel::GetWorld(void) const {
|
||||||
return bodies[0];
|
return bodies[0];
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// find default class name in array
|
// find default class name in array
|
||||||
mjCDef* mjCModel::FindDef(string name) {
|
mjCDef* mjCModel::FindDef(string name) const {
|
||||||
for (int i=0; i<(int)defaults.size(); i++) {
|
for (int i=0; i<(int)defaults.size(); i++) {
|
||||||
if (defaults[i]->name==name) {
|
if (defaults[i]->name==name) {
|
||||||
return defaults[i];
|
return defaults[i];
|
||||||
@@ -589,7 +722,7 @@ static T* findobject(std::string_view name, const vector<T*>& list, const mjKeyM
|
|||||||
}
|
}
|
||||||
|
|
||||||
// find object in global lists given string type and name
|
// find object in global lists given string type and name
|
||||||
mjCBase* mjCModel::FindObject(mjtObj type, string name) {
|
mjCBase* mjCModel::FindObject(mjtObj type, string name) const {
|
||||||
if (!object_lists[type]) {
|
if (!object_lists[type]) {
|
||||||
return nullptr;
|
return nullptr;
|
||||||
}
|
}
|
||||||
@@ -598,8 +731,46 @@ mjCBase* mjCModel::FindObject(mjtObj type, string name) {
|
|||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
// find body by name
|
||||||
|
mjCBody* mjCModel::FindBody(mjCBody* body, std::string name) const {
|
||||||
|
if (body->name == name) {
|
||||||
|
return body;
|
||||||
|
}
|
||||||
|
|
||||||
|
for (auto child : body->bodies) {
|
||||||
|
auto candidate = FindBody(child, name);
|
||||||
|
if (candidate) {
|
||||||
|
return candidate;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return nullptr;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
// find frame by name
|
||||||
|
mjCFrame* mjCModel::FindFrame(mjCBody* body, std::string name) const{
|
||||||
|
for (auto frame : body->frames) {
|
||||||
|
if (frame->name == name) {
|
||||||
|
return frame;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
for (auto body : body->bodies) {
|
||||||
|
auto candidate = FindFrame(body, name);
|
||||||
|
if (candidate) {
|
||||||
|
return candidate;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return nullptr;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// detect null pose
|
// detect null pose
|
||||||
bool mjCModel::IsNullPose(const mjtNum* pos, const mjtNum* quat) {
|
bool mjCModel::IsNullPose(const mjtNum* pos, const mjtNum* quat) const {
|
||||||
bool result = true;
|
bool result = true;
|
||||||
|
|
||||||
// check position if given
|
// check position if given
|
||||||
@@ -761,112 +932,154 @@ void mjCModel::DeleteAll<mjCTexture>(std::vector<mjCTexture*>& elements) {
|
|||||||
elements.clear();
|
elements.clear();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// set nuser fields
|
||||||
|
void mjCModel::SetNuser(){
|
||||||
|
if (nuser_body == -1) {
|
||||||
|
nuser_body = 0;
|
||||||
|
for (int i=0; i<bodies.size(); i++) {
|
||||||
|
nuser_body = mjMAX(nuser_body, bodies[i]->spec_userdata_.size());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (nuser_jnt == -1) {
|
||||||
|
nuser_jnt = 0;
|
||||||
|
for (int i=0; i<joints.size(); i++) {
|
||||||
|
nuser_jnt = mjMAX(nuser_jnt, joints[i]->spec_userdata_.size());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (nuser_geom == -1) {
|
||||||
|
nuser_geom = 0;
|
||||||
|
for (int i=0; i<geoms.size(); i++) {
|
||||||
|
nuser_geom = mjMAX(nuser_geom, geoms[i]->spec_userdata_.size());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (nuser_site == -1) {
|
||||||
|
nuser_site = 0;
|
||||||
|
for (int i=0; i<sites.size(); i++) {
|
||||||
|
nuser_site = mjMAX(nuser_site, sites[i]->spec_userdata_.size());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (nuser_cam == -1) {
|
||||||
|
nuser_cam = 0;
|
||||||
|
for (int i=0; i<cameras.size(); i++) {
|
||||||
|
nuser_cam = mjMAX(nuser_cam, cameras[i]->spec_userdata_.size());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (nuser_tendon == -1) {
|
||||||
|
nuser_tendon = 0;
|
||||||
|
for (int i=0; i<tendons.size(); i++) {
|
||||||
|
nuser_tendon = mjMAX(nuser_tendon, tendons[i]->spec_userdata_.size());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (nuser_actuator == -1) {
|
||||||
|
nuser_actuator = 0;
|
||||||
|
for (int i=0; i<actuators.size(); i++) {
|
||||||
|
nuser_actuator = mjMAX(nuser_actuator, actuators[i]->spec_userdata_.size());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (nuser_sensor == -1) {
|
||||||
|
nuser_sensor = 0;
|
||||||
|
for (int i=0; i<sensors.size(); i++) {
|
||||||
|
nuser_sensor = mjMAX(nuser_sensor, sensors[i]->spec_userdata_.size());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
// index assets
|
// index assets
|
||||||
void mjCModel::IndexAssets(bool discard) {
|
void mjCModel::IndexAssets(bool discard) {
|
||||||
// assets referenced in geoms
|
// assets referenced in geoms
|
||||||
for (int i=0; i<geoms.size(); i++) {
|
for (int i=0; i<geoms.size(); i++) {
|
||||||
mjCGeom* pgeom = geoms[i];
|
mjCGeom* geom = geoms[i];
|
||||||
|
|
||||||
// find material by name
|
// find material by name
|
||||||
if (!pgeom->get_material().empty()) {
|
if (!geom->get_material().empty()) {
|
||||||
mjCBase* m = FindObject(mjOBJ_MATERIAL, pgeom->get_material());
|
mjCBase* material = FindObject(mjOBJ_MATERIAL, geom->get_material());
|
||||||
if (m) {
|
if (material) {
|
||||||
pgeom->matid = m->id;
|
geom->matid = material->id;
|
||||||
} else {
|
} else {
|
||||||
throw mjCError(pgeom, "material '%s' not found in geom %d", pgeom->get_material().c_str(), i);
|
throw mjCError(geom, "material '%s' not found in geom %d", geom->get_material().c_str(), i);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// find mesh by name
|
// find mesh by name
|
||||||
if (!pgeom->get_meshname().empty()) {
|
if (!geom->get_meshname().empty()) {
|
||||||
mjCBase* m = FindObject(mjOBJ_MESH, pgeom->get_meshname());
|
mjCBase* mesh = FindObject(mjOBJ_MESH, geom->get_meshname());
|
||||||
if (m) {
|
if (mesh) {
|
||||||
if (discard && geoms[i]->visual_) {
|
if (!geom->visual_) {
|
||||||
// do not associate with a mesh
|
((mjCMesh*)mesh)->SetNotVisual(); // reset to true by mesh->Compile()
|
||||||
pgeom->mesh = nullptr;
|
|
||||||
} else {
|
|
||||||
// associate mesh with geom
|
|
||||||
pgeom->mesh = (mjCMesh*)m;
|
|
||||||
|
|
||||||
// mark mesh as not visual
|
|
||||||
// this is irreversible so only performed when IndexAssets is called with discard
|
|
||||||
if (discard) {
|
|
||||||
pgeom->mesh->SetNotVisual();
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
geom->mesh = (discard && geom->visual_) ? nullptr : (mjCMesh*)mesh;
|
||||||
} else {
|
} else {
|
||||||
throw mjCError(pgeom, "mesh '%s' not found in geom %d", pgeom->get_meshname().c_str(), i);
|
throw mjCError(geom, "mesh '%s' not found in geom %d", geom->get_meshname().c_str(), i);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// find hfield by name
|
// find hfield by name
|
||||||
if (!pgeom->get_hfieldname().empty()) {
|
if (!geom->get_hfieldname().empty()) {
|
||||||
mjCBase* m = FindObject(mjOBJ_HFIELD, pgeom->get_hfieldname());
|
mjCBase* hfield = FindObject(mjOBJ_HFIELD, geom->get_hfieldname());
|
||||||
if (m) {
|
if (hfield) {
|
||||||
pgeom->hfield = (mjCHField*)m;
|
geom->hfield = (mjCHField*)hfield;
|
||||||
} else {
|
} else {
|
||||||
throw mjCError(pgeom, "hfield '%s' not found in geom %d", pgeom->get_hfieldname().c_str(), i);
|
throw mjCError(geom, "hfield '%s' not found in geom %d", geom->get_hfieldname().c_str(), i);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// assets referenced in skins
|
// assets referenced in skins
|
||||||
for (int i=0; i<skins.size(); i++) {
|
for (int i=0; i<skins.size(); i++) {
|
||||||
mjCSkin* pskin = skins[i];
|
mjCSkin* skin = skins[i];
|
||||||
|
|
||||||
// find material by name
|
// find material by name
|
||||||
if (!pskin->material_.empty()) {
|
if (!skin->material_.empty()) {
|
||||||
mjCBase* m = FindObject(mjOBJ_MATERIAL, pskin->material_);
|
mjCBase* material = FindObject(mjOBJ_MATERIAL, skin->material_);
|
||||||
if (m) {
|
if (material) {
|
||||||
pskin->matid = m->id;
|
skin->matid = material->id;
|
||||||
} else {
|
} else {
|
||||||
throw mjCError(pskin, "material '%s' not found in skin %d", pskin->material_.c_str(), i);
|
throw mjCError(skin, "material '%s' not found in skin %d", skin->material_.c_str(), i);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// materials referenced in sites
|
// materials referenced in sites
|
||||||
for (int i=0; i<sites.size(); i++) {
|
for (int i=0; i<sites.size(); i++) {
|
||||||
mjCSite* psite = sites[i];
|
mjCSite* site = sites[i];
|
||||||
|
|
||||||
// find material by name
|
// find material by name
|
||||||
if (!psite->material_.empty()) {
|
if (!site->material_.empty()) {
|
||||||
mjCBase* m = FindObject(mjOBJ_MATERIAL, psite->get_material());
|
mjCBase* material = FindObject(mjOBJ_MATERIAL, site->get_material());
|
||||||
if (m) {
|
if (material) {
|
||||||
psite->matid = m->id;
|
site->matid = material->id;
|
||||||
} else {
|
} else {
|
||||||
throw mjCError(psite, "material '%s' not found in site %d", psite->material_.c_str(), i);
|
throw mjCError(site, "material '%s' not found in site %d", site->material_.c_str(), i);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// materials referenced in tendons
|
// materials referenced in tendons
|
||||||
for (int i=0; i<tendons.size(); i++) {
|
for (int i=0; i<tendons.size(); i++) {
|
||||||
mjCTendon* pten = tendons[i];
|
mjCTendon* tendon = tendons[i];
|
||||||
|
|
||||||
// find material by name
|
// find material by name
|
||||||
if (!pten->material_.empty()) {
|
if (!tendon->material_.empty()) {
|
||||||
mjCBase* m = FindObject(mjOBJ_MATERIAL, pten->material_);
|
mjCBase* material = FindObject(mjOBJ_MATERIAL, tendon->material_);
|
||||||
if (m) {
|
if (material) {
|
||||||
pten->matid = m->id;
|
tendon->matid = material->id;
|
||||||
} else {
|
} else {
|
||||||
throw mjCError(pten, "material '%s' not found in tendon %d", pten->material_.c_str(), i);
|
throw mjCError(tendon, "material '%s' not found in tendon %d", tendon->material_.c_str(), i);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// textures referenced in materials
|
// textures referenced in materials
|
||||||
for (int i=0; i<materials.size(); i++) {
|
for (int i=0; i<materials.size(); i++) {
|
||||||
mjCMaterial* pmat = materials[i];
|
mjCMaterial* material = materials[i];
|
||||||
|
|
||||||
// find texture by name
|
// find texture by name
|
||||||
if (!pmat->texture_.empty()) {
|
if (!material->texture_.empty()) {
|
||||||
mjCBase* m = FindObject(mjOBJ_TEXTURE, pmat->texture_);
|
mjCBase* texture = FindObject(mjOBJ_TEXTURE, material->texture_);
|
||||||
if (m) {
|
if (texture) {
|
||||||
pmat->texid = m->id;
|
material->texid = texture->id;
|
||||||
} else {
|
} else {
|
||||||
throw mjCError(pmat, "texture '%s' not found in material %d", pmat->texture_.c_str(), i);
|
throw mjCError(material, "texture '%s' not found in material %d", material->texture_.c_str(), i);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -1331,7 +1544,7 @@ static int namelist(vector<T*>& list, int adr, int* name_adr, char* names, int*
|
|||||||
continue;
|
continue;
|
||||||
}
|
}
|
||||||
|
|
||||||
uint64_t j = mj_hashdjb2(list[i]->name.c_str(), map_size);
|
uint64_t j = mj_hashString(list[i]->name.c_str(), map_size);
|
||||||
|
|
||||||
// find first empty slot using linear probing
|
// find first empty slot using linear probing
|
||||||
for (; map[j]!=-1; j=(j+1) % map_size) {}
|
for (; map[j]!=-1; j=(j+1) % map_size) {}
|
||||||
@@ -1555,6 +1768,7 @@ void mjCModel::CopyTree(mjModel* m) {
|
|||||||
m->jnt_group[jid] = pj->group;
|
m->jnt_group[jid] = pj->group;
|
||||||
m->jnt_limited[jid] = (mjtByte)pj->is_limited();
|
m->jnt_limited[jid] = (mjtByte)pj->is_limited();
|
||||||
m->jnt_actfrclimited[jid] = (mjtByte)pj->is_actfrclimited();
|
m->jnt_actfrclimited[jid] = (mjtByte)pj->is_actfrclimited();
|
||||||
|
m->jnt_actgravcomp[jid] = pj->actgravcomp;
|
||||||
m->jnt_qposadr[jid] = qposadr;
|
m->jnt_qposadr[jid] = qposadr;
|
||||||
m->jnt_dofadr[jid] = dofadr;
|
m->jnt_dofadr[jid] = dofadr;
|
||||||
m->jnt_bodyid[jid] = pj->body->id;
|
m->jnt_bodyid[jid] = pj->body->id;
|
||||||
@@ -2144,7 +2358,7 @@ void mjCModel::CopyObjects(mjModel* m) {
|
|||||||
m->hfield_adr[i] = data_adr;
|
m->hfield_adr[i] = data_adr;
|
||||||
|
|
||||||
// copy elevation data
|
// copy elevation data
|
||||||
memcpy(m->hfield_data + data_adr, phf->data, phf->nrow*phf->ncol*sizeof(float));
|
memcpy(m->hfield_data + data_adr, phf->data.data(), phf->nrow*phf->ncol*sizeof(float));
|
||||||
|
|
||||||
// advance counter
|
// advance counter
|
||||||
data_adr += phf->nrow*phf->ncol;
|
data_adr += phf->nrow*phf->ncol;
|
||||||
@@ -2163,7 +2377,7 @@ void mjCModel::CopyObjects(mjModel* m) {
|
|||||||
m->tex_adr[i] = data_adr;
|
m->tex_adr[i] = data_adr;
|
||||||
|
|
||||||
// copy rgb data
|
// copy rgb data
|
||||||
memcpy(m->tex_rgb + data_adr, ptex->rgb, 3*ptex->width*ptex->height);
|
memcpy(m->tex_rgb + data_adr, ptex->rgb.data(), 3*ptex->width*ptex->height);
|
||||||
|
|
||||||
// advance counter
|
// advance counter
|
||||||
data_adr += 3*ptex->width*ptex->height;
|
data_adr += 3*ptex->width*ptex->height;
|
||||||
@@ -2719,6 +2933,21 @@ static void processlist(mjListKeyMap& ids, vector<T*>& list,
|
|||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
// set object ids, check for repeated names
|
||||||
|
void mjCModel::ProcessLists() {
|
||||||
|
for (int i = 0; i < mjNOBJECT; i++) {
|
||||||
|
if (i != mjOBJ_XBODY && object_lists[i]) {
|
||||||
|
processlist(ids, *object_lists[i], (mjtObj) i);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// check repeated names in meta elements
|
||||||
|
processlist(ids, frames, mjOBJ_FRAME);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// error handler for low-level engine
|
// error handler for low-level engine
|
||||||
static thread_local std::jmp_buf error_jmp_buf;
|
static thread_local std::jmp_buf error_jmp_buf;
|
||||||
static thread_local char errortext[500] = "";
|
static thread_local char errortext[500] = "";
|
||||||
@@ -2852,14 +3081,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
|
|||||||
CheckEmptyNames();
|
CheckEmptyNames();
|
||||||
|
|
||||||
// set object ids, check for repeated names
|
// set object ids, check for repeated names
|
||||||
for (int i = 0; i < mjNOBJECT; i++) {
|
ProcessLists();
|
||||||
if (i != mjOBJ_XBODY && object_lists[i]) {
|
|
||||||
processlist(ids, *object_lists[i], (mjtObj) i);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// check repeated names in meta elements
|
|
||||||
processlist(ids, frames, mjOBJ_FRAME);
|
|
||||||
|
|
||||||
// delete visual assets
|
// delete visual assets
|
||||||
if (discardvisual) {
|
if (discardvisual) {
|
||||||
@@ -2869,8 +3091,8 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
|
|||||||
DeleteAll(textures);
|
DeleteAll(textures);
|
||||||
}
|
}
|
||||||
|
|
||||||
// convert names into indices
|
// map names to asset references
|
||||||
IndexAssets(false);
|
IndexAssets(/*discard=*/false);
|
||||||
|
|
||||||
// mark meshes that need convex hull
|
// mark meshes that need convex hull
|
||||||
for (int i=0; i<geoms.size(); i++) {
|
for (int i=0; i<geoms.size(); i++) {
|
||||||
@@ -2880,61 +3102,14 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// automatically set nuser fields
|
||||||
|
SetNuser();
|
||||||
|
|
||||||
// compile meshes (needed for geom compilation)
|
// compile meshes (needed for geom compilation)
|
||||||
for (int i=0; i<meshes.size(); i++) {
|
for (int i=0; i<meshes.size(); i++) {
|
||||||
meshes[i]->Compile(vfs);
|
meshes[i]->Compile(vfs);
|
||||||
}
|
}
|
||||||
|
|
||||||
// automatically set nuser fields
|
|
||||||
if (nuser_body == -1) {
|
|
||||||
nuser_body = 0;
|
|
||||||
for (int i=0; i<bodies.size(); i++) {
|
|
||||||
nuser_body = mjMAX(nuser_body, bodies[i]->spec_userdata_.size());
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if (nuser_jnt == -1) {
|
|
||||||
nuser_jnt = 0;
|
|
||||||
for (int i=0; i<joints.size(); i++) {
|
|
||||||
nuser_jnt = mjMAX(nuser_jnt, joints[i]->spec_userdata_.size());
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if (nuser_geom == -1) {
|
|
||||||
nuser_geom = 0;
|
|
||||||
for (int i=0; i<geoms.size(); i++) {
|
|
||||||
nuser_geom = mjMAX(nuser_geom, geoms[i]->spec_userdata_.size());
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if (nuser_site == -1) {
|
|
||||||
nuser_site = 0;
|
|
||||||
for (int i=0; i<sites.size(); i++) {
|
|
||||||
nuser_site = mjMAX(nuser_site, sites[i]->spec_userdata_.size());
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if (nuser_cam == -1) {
|
|
||||||
nuser_cam = 0;
|
|
||||||
for (int i=0; i<cameras.size(); i++) {
|
|
||||||
nuser_cam = mjMAX(nuser_cam, cameras[i]->spec_userdata_.size());
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if (nuser_tendon == -1) {
|
|
||||||
nuser_tendon = 0;
|
|
||||||
for (int i=0; i<tendons.size(); i++) {
|
|
||||||
nuser_tendon = mjMAX(nuser_tendon, tendons[i]->spec_userdata_.size());
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if (nuser_actuator == -1) {
|
|
||||||
nuser_actuator = 0;
|
|
||||||
for (int i=0; i<actuators.size(); i++) {
|
|
||||||
nuser_actuator = mjMAX(nuser_actuator, actuators[i]->spec_userdata_.size());
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if (nuser_sensor == -1) {
|
|
||||||
nuser_sensor = 0;
|
|
||||||
for (int i=0; i<sensors.size(); i++) {
|
|
||||||
nuser_sensor = mjMAX(nuser_sensor, sensors[i]->spec_userdata_.size());
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// compile objects in kinematic tree
|
// compile objects in kinematic tree
|
||||||
for (int i=0; i<bodies.size(); i++) {
|
for (int i=0; i<bodies.size(); i++) {
|
||||||
bodies[i]->Compile(); // also compiles joints, geoms, sites, cameras, lights
|
bodies[i]->Compile(); // also compiles joints, geoms, sites, cameras, lights
|
||||||
@@ -3057,7 +3232,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
|
|||||||
std::vector<std::vector<int>> plugin_to_actuators(nplugin);
|
std::vector<std::vector<int>> plugin_to_actuators(nplugin);
|
||||||
for (int i = 0; i < nu; ++i) {
|
for (int i = 0; i < nu; ++i) {
|
||||||
if (actuators[i]->plugin.active) {
|
if (actuators[i]->plugin.active) {
|
||||||
int actuator_plugin = ((mjCPlugin*)actuators[i]->plugin.instance)->id;
|
int actuator_plugin = static_cast<mjCPlugin*>(actuators[i]->plugin.instance)->id;
|
||||||
m->actuator_plugin[i] = actuator_plugin;
|
m->actuator_plugin[i] = actuator_plugin;
|
||||||
plugin_to_actuators[actuator_plugin].push_back(i);
|
plugin_to_actuators[actuator_plugin].push_back(i);
|
||||||
} else {
|
} else {
|
||||||
@@ -3067,7 +3242,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
|
|||||||
|
|
||||||
for (int i = 0; i < nbody; ++i) {
|
for (int i = 0; i < nbody; ++i) {
|
||||||
if (bodies[i]->plugin.active) {
|
if (bodies[i]->plugin.active) {
|
||||||
m->body_plugin[i] = ((mjCPlugin*)bodies[i]->plugin.instance)->id;
|
m->body_plugin[i] = static_cast<mjCPlugin*>(bodies[i]->plugin.instance)->id;
|
||||||
} else {
|
} else {
|
||||||
m->body_plugin[i] = -1;
|
m->body_plugin[i] = -1;
|
||||||
}
|
}
|
||||||
@@ -3075,7 +3250,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
|
|||||||
|
|
||||||
for (int i = 0; i < ngeom; ++i) {
|
for (int i = 0; i < ngeom; ++i) {
|
||||||
if (geoms[i]->plugin.active) {
|
if (geoms[i]->plugin.active) {
|
||||||
m->geom_plugin[i] = ((mjCPlugin*)geoms[i]->plugin.instance)->id;
|
m->geom_plugin[i] = static_cast<mjCPlugin*>(geoms[i]->plugin.instance)->id;
|
||||||
} else {
|
} else {
|
||||||
m->geom_plugin[i] = -1;
|
m->geom_plugin[i] = -1;
|
||||||
}
|
}
|
||||||
@@ -3084,7 +3259,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
|
|||||||
std::vector<std::vector<int>> plugin_to_sensors(nplugin);
|
std::vector<std::vector<int>> plugin_to_sensors(nplugin);
|
||||||
for (int i = 0; i < nsensor; ++i) {
|
for (int i = 0; i < nsensor; ++i) {
|
||||||
if (sensors[i]->type == mjSENS_PLUGIN) {
|
if (sensors[i]->type == mjSENS_PLUGIN) {
|
||||||
int sensor_plugin = ((mjCPlugin*)sensors[i]->plugin.instance)->id;
|
int sensor_plugin = static_cast<mjCPlugin*>(sensors[i]->plugin.instance)->id;
|
||||||
m->sensor_plugin[i] = sensor_plugin;
|
m->sensor_plugin[i] = sensor_plugin;
|
||||||
plugin_to_sensors[sensor_plugin].push_back(i);
|
plugin_to_sensors[sensor_plugin].push_back(i);
|
||||||
} else {
|
} else {
|
||||||
|
|||||||
+173
-148
@@ -33,133 +33,14 @@
|
|||||||
typedef std::map<std::string, int, std::less<> > mjKeyMap;
|
typedef std::map<std::string, int, std::less<> > mjKeyMap;
|
||||||
typedef std::array<mjKeyMap, mjNOBJECT> mjListKeyMap;
|
typedef std::array<mjKeyMap, mjNOBJECT> mjListKeyMap;
|
||||||
|
|
||||||
// mjCModel contains everything needed to generate the low-level model.
|
class mjCModel_ : public mjElement {
|
||||||
// It can be constructed manually by calling 'Add' functions and setting
|
|
||||||
// the public fields of the various objects. Alternatively it can constructed
|
|
||||||
// by loading an XML file via mjCXML. Once an mjCModel object is
|
|
||||||
// constructed, 'Compile' can be called to generate the corresponding mjModel object
|
|
||||||
// (which is the low-level model). The mjCModel object can then be deleted.
|
|
||||||
class mjCModel : private mjSpec {
|
|
||||||
friend class mjCBody;
|
|
||||||
friend class mjCCamera;
|
|
||||||
friend class mjCGeom;
|
|
||||||
friend class mjCFlex;
|
|
||||||
friend class mjCHField;
|
|
||||||
friend class mjCFrame;
|
|
||||||
friend class mjCJoint;
|
|
||||||
friend class mjCEquality;
|
|
||||||
friend class mjCMesh;
|
|
||||||
friend class mjCSkin;
|
|
||||||
friend class mjCSite;
|
|
||||||
friend class mjCTendon;
|
|
||||||
friend class mjCTexture;
|
|
||||||
friend class mjCActuator;
|
|
||||||
friend class mjCSensor;
|
|
||||||
friend class mjCDef;
|
|
||||||
friend class mjXReader;
|
|
||||||
friend class mjXWriter;
|
|
||||||
|
|
||||||
public:
|
public:
|
||||||
mjCModel();
|
// attach namespaces
|
||||||
mjCModel(const mjCModel& other);
|
std::string prefix;
|
||||||
~mjCModel();
|
std::string suffix;
|
||||||
void CopyFromSpec(); // copy spec to private attributes
|
|
||||||
void PointToLocal();
|
|
||||||
|
|
||||||
mjSpec spec;
|
protected:
|
||||||
|
bool compiled; // already compiled flag
|
||||||
mjModel* Compile(const mjVFS* vfs = nullptr); // construct mjModel
|
|
||||||
bool CopyBack(const mjModel*); // DECOMPILER: copy numeric back
|
|
||||||
void FuseStatic(); // fuse static bodies with parent
|
|
||||||
void FuseReindex(mjCBody* body); // reindex elements during fuse
|
|
||||||
|
|
||||||
// API for adding model elements
|
|
||||||
mjCFlex* AddFlex();
|
|
||||||
mjCMesh* AddMesh(mjCDef* def = nullptr);
|
|
||||||
mjCSkin* AddSkin();
|
|
||||||
mjCHField* AddHField();
|
|
||||||
mjCTexture* AddTexture();
|
|
||||||
mjCMaterial* AddMaterial(mjCDef* def = nullptr);
|
|
||||||
mjCPair* AddPair(mjCDef* def = nullptr); // geom pair for inclusion
|
|
||||||
mjCBodyPair* AddExclude(); // body pair for exclusion
|
|
||||||
mjCEquality* AddEquality(mjCDef* def = nullptr); // equality constraint
|
|
||||||
mjCTendon* AddTendon(mjCDef* def = nullptr);
|
|
||||||
mjCActuator* AddActuator(mjCDef* def = nullptr);
|
|
||||||
mjCSensor* AddSensor();
|
|
||||||
mjCNumeric* AddNumeric();
|
|
||||||
mjCText* AddText();
|
|
||||||
mjCTuple* AddTuple();
|
|
||||||
mjCKey* AddKey();
|
|
||||||
mjCPlugin* AddPlugin();
|
|
||||||
|
|
||||||
// delete elements marked as discard=true
|
|
||||||
template <class T> void Delete(std::vector<T*>& elements,
|
|
||||||
const std::vector<bool>& discard);
|
|
||||||
|
|
||||||
// delete all elements
|
|
||||||
template <class T> void DeleteAll(std::vector<T*>& elements);
|
|
||||||
|
|
||||||
// API for access to model elements (outside tree)
|
|
||||||
int NumObjects(mjtObj type); // number of objects in specified list
|
|
||||||
mjCBase* GetObject(mjtObj type, int id); // pointer to specified object
|
|
||||||
|
|
||||||
// API for access to other variables
|
|
||||||
bool IsCompiled(); // is model already compiled
|
|
||||||
int GetFixed(); // number of fixed massless bodies
|
|
||||||
const mjCError& GetError(void); // get reference of error object
|
|
||||||
mjCBody* GetWorld(); // pointer to world body
|
|
||||||
mjCDef* FindDef(std::string name); // find default class name
|
|
||||||
mjCDef* AddDef(std::string name, int parentid); // add default class to array
|
|
||||||
mjCBase* FindObject(mjtObj type, std::string name); // find object given type and name
|
|
||||||
bool IsNullPose(const mjtNum* pos, const mjtNum* quat); // detect null pose
|
|
||||||
|
|
||||||
// accessors
|
|
||||||
std::string get_meshdir(void) const { return meshdir_; }
|
|
||||||
std::string get_texturedir(void) const { return texturedir_; }
|
|
||||||
|
|
||||||
// resolve plugin instance, create a new one if needed
|
|
||||||
void ResolvePlugin(mjCBase* obj, const std::string& plugin_name,
|
|
||||||
const std::string& plugin_instance_name,
|
|
||||||
mjCPlugin** plugin_instance);
|
|
||||||
|
|
||||||
// settings for each defaults class
|
|
||||||
std::vector<mjCDef*> defaults;
|
|
||||||
|
|
||||||
// list of active plugins
|
|
||||||
std::vector<std::pair<const mjpPlugin*, int>> active_plugins;
|
|
||||||
|
|
||||||
private:
|
|
||||||
void TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs);
|
|
||||||
mjModel* _Compile(const mjVFS* vfs);
|
|
||||||
|
|
||||||
// clear objects allocated by Compile
|
|
||||||
void Clear(void);
|
|
||||||
|
|
||||||
// add object of any type
|
|
||||||
template <class T> T* AddObject(std::vector<T*>& list, std::string type);
|
|
||||||
|
|
||||||
// add object of any type, with def parameter
|
|
||||||
template <class T> T* AddObjectDef(std::vector<T*>& list, std::string type,
|
|
||||||
mjCDef* def);
|
|
||||||
|
|
||||||
// if asset name is missing, set to filename
|
|
||||||
template<class T> void SetDefaultNames(std::vector<T*>& assets);
|
|
||||||
|
|
||||||
// delete material from object
|
|
||||||
template <class T> void DeleteMaterial(std::vector<T*>& list,
|
|
||||||
std::string_view name = "");
|
|
||||||
|
|
||||||
// compile phases
|
|
||||||
void MakeLists(mjCBody* body); // make lists of bodies, geoms, joints, sites
|
|
||||||
void IndexAssets(bool discard); // convert asset names into indices
|
|
||||||
void CheckEmptyNames(); // check empty names
|
|
||||||
void SetSizes(); // compute sizes
|
|
||||||
void AutoSpringDamper(mjModel*); // automatic stiffness and damping computation
|
|
||||||
void LengthRange(mjModel*, mjData*); // compute actuator lengthrange
|
|
||||||
void CopyNames(mjModel*); // copy names, compute name addresses
|
|
||||||
void CopyPaths(mjModel*); // copy paths, compute path addresses
|
|
||||||
void CopyObjects(mjModel*); // copy objects outside kinematic tree
|
|
||||||
void CopyTree(mjModel*); // copy objects inside kinematic tree
|
|
||||||
|
|
||||||
// sizes set from object list lengths
|
// sizes set from object list lengths
|
||||||
int nbody; // number of bodies
|
int nbody; // number of bodies
|
||||||
@@ -224,6 +105,168 @@ class mjCModel : private mjSpec {
|
|||||||
int nD; // number of non-zeros in sparse dof-dof matrix
|
int nD; // number of non-zeros in sparse dof-dof matrix
|
||||||
int nB; // number of non-zeros in sparse body-dof matrix
|
int nB; // number of non-zeros in sparse body-dof matrix
|
||||||
|
|
||||||
|
// statistics, as computed by mj_setConst
|
||||||
|
double meaninertia_auto; // mean diagonal inertia, as computed by mj_setConst
|
||||||
|
double meanmass_auto; // mean body mass, as computed by mj_setConst
|
||||||
|
double meansize_auto; // mean body size, as computed by mj_setConst
|
||||||
|
double extent_auto; // spatial extent, as computed by mj_setConst
|
||||||
|
double center_auto[3]; // center of model, as computed by mj_setConst
|
||||||
|
|
||||||
|
// save qpos0, to recognize changed key_qpos in write
|
||||||
|
std::vector<mjtNum> qpos0;
|
||||||
|
|
||||||
|
// variable-size attributes
|
||||||
|
std::string comment_; // comment at top of XML
|
||||||
|
std::string modelfiledir_; // path to model file
|
||||||
|
std::string modelname_;
|
||||||
|
std::string meshdir_;
|
||||||
|
std::string texturedir_;
|
||||||
|
std::string spec_comment_;
|
||||||
|
std::string spec_modelfiledir_;
|
||||||
|
std::string spec_modelname_;
|
||||||
|
std::string spec_meshdir_;
|
||||||
|
std::string spec_texturedir_;
|
||||||
|
};
|
||||||
|
|
||||||
|
// mjCModel contains everything needed to generate the low-level model.
|
||||||
|
// It can be constructed manually by calling 'Add' functions and setting
|
||||||
|
// the public fields of the various objects. Alternatively it can constructed
|
||||||
|
// by loading an XML file via mjCXML. Once an mjCModel object is
|
||||||
|
// constructed, 'Compile' can be called to generate the corresponding mjModel object
|
||||||
|
// (which is the low-level model). The mjCModel object can then be deleted.
|
||||||
|
class mjCModel : public mjCModel_, private mjSpec {
|
||||||
|
friend class mjCBase;
|
||||||
|
friend class mjCBody;
|
||||||
|
friend class mjCCamera;
|
||||||
|
friend class mjCGeom;
|
||||||
|
friend class mjCFlex;
|
||||||
|
friend class mjCHField;
|
||||||
|
friend class mjCFrame;
|
||||||
|
friend class mjCJoint;
|
||||||
|
friend class mjCEquality;
|
||||||
|
friend class mjCMesh;
|
||||||
|
friend class mjCSkin;
|
||||||
|
friend class mjCSite;
|
||||||
|
friend class mjCTendon;
|
||||||
|
friend class mjCTexture;
|
||||||
|
friend class mjCActuator;
|
||||||
|
friend class mjCSensor;
|
||||||
|
friend class mjCDef;
|
||||||
|
friend class mjXReader;
|
||||||
|
friend class mjXWriter;
|
||||||
|
|
||||||
|
public:
|
||||||
|
mjCModel();
|
||||||
|
mjCModel(const mjCModel& other);
|
||||||
|
mjCModel& operator=(const mjCModel& other);
|
||||||
|
mjCModel& operator+=(const mjCModel& other);
|
||||||
|
~mjCModel();
|
||||||
|
void CopyFromSpec(); // copy spec to private attributes
|
||||||
|
void PointToLocal();
|
||||||
|
|
||||||
|
mjSpec spec;
|
||||||
|
|
||||||
|
mjModel* Compile(const mjVFS* vfs = nullptr); // construct mjModel
|
||||||
|
bool CopyBack(const mjModel*); // DECOMPILER: copy numeric back
|
||||||
|
void FuseStatic(); // fuse static bodies with parent
|
||||||
|
void FuseReindex(mjCBody* body); // reindex elements during fuse
|
||||||
|
|
||||||
|
// API for adding model elements
|
||||||
|
mjCFlex* AddFlex();
|
||||||
|
mjCMesh* AddMesh(mjCDef* def = nullptr);
|
||||||
|
mjCSkin* AddSkin();
|
||||||
|
mjCHField* AddHField();
|
||||||
|
mjCTexture* AddTexture();
|
||||||
|
mjCMaterial* AddMaterial(mjCDef* def = nullptr);
|
||||||
|
mjCPair* AddPair(mjCDef* def = nullptr); // geom pair for inclusion
|
||||||
|
mjCBodyPair* AddExclude(); // body pair for exclusion
|
||||||
|
mjCEquality* AddEquality(mjCDef* def = nullptr); // equality constraint
|
||||||
|
mjCTendon* AddTendon(mjCDef* def = nullptr);
|
||||||
|
mjCActuator* AddActuator(mjCDef* def = nullptr);
|
||||||
|
mjCSensor* AddSensor();
|
||||||
|
mjCNumeric* AddNumeric();
|
||||||
|
mjCText* AddText();
|
||||||
|
mjCTuple* AddTuple();
|
||||||
|
mjCKey* AddKey();
|
||||||
|
mjCPlugin* AddPlugin();
|
||||||
|
|
||||||
|
// copy vector of elements to this model
|
||||||
|
template <class T> void CopyList(std::vector<T*>& dest,
|
||||||
|
const std::vector<T*>& source,
|
||||||
|
std::map<mjCDef*, int>& def_map,
|
||||||
|
const std::vector<mjCDef*>& defaults);
|
||||||
|
|
||||||
|
// delete elements marked as discard=true
|
||||||
|
template <class T> void Delete(std::vector<T*>& elements,
|
||||||
|
const std::vector<bool>& discard);
|
||||||
|
|
||||||
|
// delete all elements
|
||||||
|
template <class T> void DeleteAll(std::vector<T*>& elements);
|
||||||
|
|
||||||
|
// API for access to model elements (outside tree)
|
||||||
|
int NumObjects(mjtObj type); // number of objects in specified list
|
||||||
|
mjCBase* GetObject(mjtObj type, int id); // pointer to specified object
|
||||||
|
|
||||||
|
// API for access to other variables
|
||||||
|
bool IsCompiled() const; // is model already compiled
|
||||||
|
const mjCError& GetError(void) const; // get reference of error object
|
||||||
|
mjCBody* GetWorld() const; // pointer to world body
|
||||||
|
mjCDef* FindDef(std::string name) const; // find default class name
|
||||||
|
mjCDef* AddDef(std::string name, int parentid); // add default class to array
|
||||||
|
mjCBase* FindObject(mjtObj type, std::string name) const; // find object given type and name
|
||||||
|
mjCBody* FindBody(mjCBody* body, std::string name) const; // find body given name
|
||||||
|
mjCFrame* FindFrame(mjCBody* body, std::string name) const; // find frame given name
|
||||||
|
bool IsNullPose(const mjtNum* pos, const mjtNum* quat) const; // detect null pose
|
||||||
|
|
||||||
|
// accessors
|
||||||
|
std::string get_meshdir(void) const { return meshdir_; }
|
||||||
|
std::string get_texturedir(void) const { return texturedir_; }
|
||||||
|
|
||||||
|
// resolve plugin instance, create a new one if needed
|
||||||
|
void ResolvePlugin(mjCBase* obj, const std::string& plugin_name,
|
||||||
|
const std::string& plugin_instance_name,
|
||||||
|
mjCPlugin** plugin_instance);
|
||||||
|
|
||||||
|
// settings for each defaults class
|
||||||
|
std::vector<mjCDef*> defaults;
|
||||||
|
|
||||||
|
// list of active plugins
|
||||||
|
std::vector<std::pair<const mjpPlugin*, int>> active_plugins;
|
||||||
|
|
||||||
|
private:
|
||||||
|
void TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs);
|
||||||
|
mjModel* _Compile(const mjVFS* vfs);
|
||||||
|
|
||||||
|
// clear objects allocated by Compile
|
||||||
|
void Clear(void);
|
||||||
|
|
||||||
|
// add object of any type
|
||||||
|
template <class T> T* AddObject(std::vector<T*>& list, std::string type);
|
||||||
|
|
||||||
|
// add object of any type, with def parameter
|
||||||
|
template <class T> T* AddObjectDef(std::vector<T*>& list, std::string type,
|
||||||
|
mjCDef* def);
|
||||||
|
|
||||||
|
// if asset name is missing, set to filename
|
||||||
|
template<class T> void SetDefaultNames(std::vector<T*>& assets);
|
||||||
|
|
||||||
|
// delete material from object
|
||||||
|
template <class T> void DeleteMaterial(std::vector<T*>& list,
|
||||||
|
std::string_view name = "");
|
||||||
|
|
||||||
|
// compile phases
|
||||||
|
void MakeLists(mjCBody* body); // make lists of bodies, geoms, joints, sites
|
||||||
|
void SetNuser(); // set nuser fields
|
||||||
|
void IndexAssets(bool discard); // convert asset names into indices
|
||||||
|
void CheckEmptyNames(); // check empty names
|
||||||
|
void SetSizes(); // compute sizes
|
||||||
|
void AutoSpringDamper(mjModel*); // automatic stiffness and damping computation
|
||||||
|
void LengthRange(mjModel*, mjData*); // compute actuator lengthrange
|
||||||
|
void CopyNames(mjModel*); // copy names, compute name addresses
|
||||||
|
void CopyPaths(mjModel*); // copy paths, compute path addresses
|
||||||
|
void CopyObjects(mjModel*); // copy objects outside kinematic tree
|
||||||
|
void CopyTree(mjModel*); // copy objects inside kinematic tree
|
||||||
|
|
||||||
// objects created here
|
// objects created here
|
||||||
std::vector<mjCFlex*> flexes; // list of flexes
|
std::vector<mjCFlex*> flexes; // list of flexes
|
||||||
std::vector<mjCMesh*> meshes; // list of meshes
|
std::vector<mjCMesh*> meshes; // list of meshes
|
||||||
@@ -255,32 +298,14 @@ class mjCModel : private mjSpec {
|
|||||||
// array of pointers to each object list (enumerated by type)
|
// array of pointers to each object list (enumerated by type)
|
||||||
std::array<std::vector<mjCBase*>*, mjNOBJECT> object_lists;
|
std::array<std::vector<mjCBase*>*, mjNOBJECT> object_lists;
|
||||||
|
|
||||||
// statistics, as computed by mj_setConst
|
// create mjCBase lists from children lists
|
||||||
double meaninertia_auto; // mean diagonal inertia, as computed by mj_setConst
|
void CreateObjectLists();
|
||||||
double meanmass_auto; // mean body mass, as computed by mj_setConst
|
|
||||||
double meansize_auto; // mean body size, as computed by mj_setConst
|
|
||||||
double extent_auto; // spatial extent, as computed by mj_setConst
|
|
||||||
double center_auto[3]; // center of model, as computed by mj_setConst
|
|
||||||
|
|
||||||
|
// populate objects ids
|
||||||
|
void ProcessLists();
|
||||||
|
|
||||||
mjListKeyMap ids; // map from object names to ids
|
mjListKeyMap ids; // map from object names to ids
|
||||||
bool compiled; // already compiled flag (cannot be compiled again)
|
|
||||||
mjCError errInfo; // last error info
|
mjCError errInfo; // last error info
|
||||||
int fixCount; // how many bodies have been fixed
|
bool plugin_owner; // this class allocated the plugins
|
||||||
|
|
||||||
// save qpos0, to recognize changed key_qpos in write
|
|
||||||
std::vector<mjtNum> qpos0;
|
|
||||||
|
|
||||||
// variable-size attributes
|
|
||||||
std::string comment_; // comment at top of XML
|
|
||||||
std::string modelfiledir_; // path to model file
|
|
||||||
std::string modelname_;
|
|
||||||
std::string meshdir_;
|
|
||||||
std::string texturedir_;
|
|
||||||
std::string spec_comment_;
|
|
||||||
std::string spec_modelfiledir_;
|
|
||||||
std::string spec_modelname_;
|
|
||||||
std::string spec_meshdir_;
|
|
||||||
std::string spec_texturedir_;
|
|
||||||
};
|
};
|
||||||
#endif // MUJOCO_SRC_USER_USER_MODEL_H_
|
#endif // MUJOCO_SRC_USER_USER_MODEL_H_
|
||||||
|
|||||||
+806
-442
File diff suppressed because it is too large
Load Diff
+135
-82
@@ -15,10 +15,8 @@
|
|||||||
#ifndef MUJOCO_SRC_USER_USER_OBJECTS_H_
|
#ifndef MUJOCO_SRC_USER_USER_OBJECTS_H_
|
||||||
#define MUJOCO_SRC_USER_USER_OBJECTS_H_
|
#define MUJOCO_SRC_USER_USER_OBJECTS_H_
|
||||||
|
|
||||||
#include <array>
|
|
||||||
#include <functional>
|
#include <functional>
|
||||||
#include <map>
|
#include <map>
|
||||||
#include <optional>
|
|
||||||
#include <string>
|
#include <string>
|
||||||
#include <string_view>
|
#include <string_view>
|
||||||
#include <utility>
|
#include <utility>
|
||||||
@@ -28,10 +26,10 @@
|
|||||||
#include <mujoco/mjmodel.h>
|
#include <mujoco/mjmodel.h>
|
||||||
#include <mujoco/mjplugin.h>
|
#include <mujoco/mjplugin.h>
|
||||||
#include "user/user_api.h"
|
#include "user/user_api.h"
|
||||||
|
#include "user/user_cache.h"
|
||||||
|
|
||||||
// forward declarations of all mjC/X classes
|
// forward declarations of all mjC/X classes
|
||||||
class mjCError;
|
class mjCError;
|
||||||
class mjCAlternative;
|
|
||||||
class mjCBase;
|
class mjCBase;
|
||||||
class mjCBody;
|
class mjCBody;
|
||||||
class mjCFrame;
|
class mjCFrame;
|
||||||
@@ -83,13 +81,10 @@ class [[nodiscard]] mjCError {
|
|||||||
|
|
||||||
|
|
||||||
// alternative specifications of frame orientation
|
// alternative specifications of frame orientation
|
||||||
class mjCAlternative : public mjmOrientation {
|
const char* ResolveOrientation(double* quat, // set frame quat
|
||||||
public:
|
|
||||||
mjCAlternative(); // constuctor
|
|
||||||
const char* Set(double* quat, // set frame quat
|
|
||||||
bool degree, // angle format: degree/radian
|
bool degree, // angle format: degree/radian
|
||||||
const char* sequence); // euler sequence format: "xyz"
|
const char* sequence, // euler sequence format: "xyz"
|
||||||
};
|
const mjsOrientation& orient);
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
@@ -144,7 +139,27 @@ class mjCBoundingVolumeHierarchy : public mjCBoundingVolumeHierarchy_ {
|
|||||||
mjCBoundingVolume* GetBoundingVolume(int id);
|
mjCBoundingVolume* GetBoundingVolume(int id);
|
||||||
|
|
||||||
private:
|
private:
|
||||||
int MakeBVH(std::vector<const mjCBoundingVolume*>& elements, int lev = 0);
|
// internal class used during BVH construction, for partial sorting of bounding volumes
|
||||||
|
struct BVElement {
|
||||||
|
const mjCBoundingVolume* e;
|
||||||
|
// position of the element in the BVH axes
|
||||||
|
mjtNum lpos[3];
|
||||||
|
};
|
||||||
|
|
||||||
|
struct BVElementCompare {
|
||||||
|
int axis = 0;
|
||||||
|
|
||||||
|
bool operator()(const BVElement& e1, const BVElement& e2) const {
|
||||||
|
if (e1.lpos[axis] != e2.lpos[axis]) {
|
||||||
|
return e1.lpos[axis] < e2.lpos[axis];
|
||||||
|
}
|
||||||
|
// comparing pointers gives a stable sort, because they both come from the same array
|
||||||
|
return e1.e < e2.e;
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
int MakeBVH(std::vector<BVElement>::iterator elements_begin,
|
||||||
|
std::vector<BVElement>::iterator elements_end, int lev = 0);
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
||||||
@@ -152,13 +167,14 @@ class mjCBoundingVolumeHierarchy : public mjCBoundingVolumeHierarchy_ {
|
|||||||
//------------------------- class mjCBase ----------------------------------------------------------
|
//------------------------- class mjCBase ----------------------------------------------------------
|
||||||
// Generic functionality for all derived classes
|
// Generic functionality for all derived classes
|
||||||
|
|
||||||
class mjCBase_ {
|
class mjCBase_ : public mjElement {
|
||||||
public:
|
public:
|
||||||
|
int id; // object id
|
||||||
std::string name; // object name
|
std::string name; // object name
|
||||||
std::string classname; // defaults class name
|
std::string classname; // defaults class name
|
||||||
int id; // object id
|
|
||||||
std::string info; // error message info set by the user
|
std::string info; // error message info set by the user
|
||||||
mjCModel* model; // pointer to model that created object
|
std::string prefix; // prefix for model operations
|
||||||
|
std::string suffix; // suffix for model operations
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCBase : public mjCBase_ {
|
class mjCBase : public mjCBase_ {
|
||||||
@@ -178,11 +194,18 @@ class mjCBase : public mjCBase_ {
|
|||||||
// Copy spec into private attributes
|
// Copy spec into private attributes
|
||||||
virtual void CopyFromSpec() {}
|
virtual void CopyFromSpec() {}
|
||||||
|
|
||||||
|
// Throws an error if any of the references is missing
|
||||||
|
virtual void ResolveReferences(const mjCModel* m) {}
|
||||||
|
|
||||||
|
// Appends prefix and suffix to reference
|
||||||
|
virtual void NameSpace(const mjCModel* m) {}
|
||||||
|
|
||||||
// Copy assignment
|
// Copy assignment
|
||||||
mjCBase& operator=(const mjCBase& other);
|
mjCBase& operator=(const mjCBase& other);
|
||||||
|
|
||||||
mjCDef* def; // defaults class used to init this object
|
mjCDef* def; // defaults class used to init this object
|
||||||
mjCFrame* frame; // pointer to frame transformation
|
mjCFrame* frame; // pointer to frame transformation
|
||||||
|
mjCModel* model; // pointer to model that created object
|
||||||
|
|
||||||
protected:
|
protected:
|
||||||
mjCBase(); // constructor
|
mjCBase(); // constructor
|
||||||
@@ -196,10 +219,6 @@ class mjCBase : public mjCBase_ {
|
|||||||
// Describes a rigid body
|
// Describes a rigid body
|
||||||
|
|
||||||
class mjCBody_ : public mjCBase {
|
class mjCBody_ : public mjCBase {
|
||||||
public:
|
|
||||||
mjCAlternative alt_;
|
|
||||||
mjCAlternative ialt_;
|
|
||||||
|
|
||||||
protected:
|
protected:
|
||||||
// variables computed by 'Compile' and 'AddXXX'
|
// variables computed by 'Compile' and 'AddXXX'
|
||||||
int parentid; // parent index in global array
|
int parentid; // parent index in global array
|
||||||
@@ -226,12 +245,13 @@ class mjCBody_ : public mjCBase {
|
|||||||
std::vector<double> spec_userdata_;
|
std::vector<double> spec_userdata_;
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCBody : public mjCBody_, private mjmBody {
|
class mjCBody : public mjCBody_, private mjsBody {
|
||||||
friend class mjCJoint;
|
friend class mjCJoint;
|
||||||
friend class mjCGeom;
|
friend class mjCGeom;
|
||||||
friend class mjCSite;
|
friend class mjCSite;
|
||||||
friend class mjCCamera;
|
friend class mjCCamera;
|
||||||
friend class mjCComposite;
|
friend class mjCComposite;
|
||||||
|
friend class mjCFrame;
|
||||||
friend class mjCLight;
|
friend class mjCLight;
|
||||||
friend class mjCFlex;
|
friend class mjCFlex;
|
||||||
friend class mjCFlexcomp;
|
friend class mjCFlexcomp;
|
||||||
@@ -253,11 +273,17 @@ class mjCBody : public mjCBody_, private mjmBody {
|
|||||||
mjCCamera* AddCamera(mjCDef* = 0);
|
mjCCamera* AddCamera(mjCDef* = 0);
|
||||||
mjCLight* AddLight(mjCDef* = 0);
|
mjCLight* AddLight(mjCDef* = 0);
|
||||||
|
|
||||||
|
// API for adding existing objects to body
|
||||||
|
mjCBody& operator+=(mjCBody& other);
|
||||||
|
|
||||||
// API for accessing objects
|
// API for accessing objects
|
||||||
int NumObjects(mjtObj type);
|
int NumObjects(mjtObj type);
|
||||||
mjCBase* GetObject(mjtObj type, int id);
|
mjCBase* GetObject(mjtObj type, int id);
|
||||||
mjCBase* FindObject(mjtObj type, std::string name, bool recursive = true);
|
mjCBase* FindObject(mjtObj type, std::string name, bool recursive = true);
|
||||||
|
|
||||||
|
// Propagate suffix and prefix to the whole tree
|
||||||
|
void NameSpace(const mjCModel* m);
|
||||||
|
|
||||||
// set explicitinertial to true
|
// set explicitinertial to true
|
||||||
void MakeInertialExplicit();
|
void MakeInertialExplicit();
|
||||||
|
|
||||||
@@ -266,7 +292,7 @@ class mjCBody : public mjCBody_, private mjmBody {
|
|||||||
const char* FullInertia(double quat[4], double inertia[3]);
|
const char* FullInertia(double quat[4], double inertia[3]);
|
||||||
|
|
||||||
// variables set by user
|
// variables set by user
|
||||||
mjmBody spec;
|
mjsBody spec;
|
||||||
|
|
||||||
// inherited
|
// inherited
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
@@ -278,7 +304,7 @@ class mjCBody : public mjCBody_, private mjmBody {
|
|||||||
|
|
||||||
private:
|
private:
|
||||||
mjCBody(mjCModel*); // constructor
|
mjCBody(mjCModel*); // constructor
|
||||||
mjCBody(const mjCBody& other); // copy constructor
|
mjCBody(const mjCBody& other, mjCModel* _model); // copy constructor
|
||||||
mjCBody& operator=(const mjCBody& other); // copy assignment
|
mjCBody& operator=(const mjCBody& other); // copy assignment
|
||||||
~mjCBody(); // destructor
|
~mjCBody(); // destructor
|
||||||
|
|
||||||
@@ -306,10 +332,9 @@ class mjCBody : public mjCBody_, private mjmBody {
|
|||||||
class mjCFrame_ : public mjCBase {
|
class mjCFrame_ : public mjCBase {
|
||||||
protected:
|
protected:
|
||||||
bool compiled; // frame already compiled
|
bool compiled; // frame already compiled
|
||||||
mjCAlternative alt_;
|
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCFrame : public mjCFrame_, private mjmFrame {
|
class mjCFrame : public mjCFrame_, private mjsFrame {
|
||||||
friend class mjCBase;
|
friend class mjCBase;
|
||||||
friend class mjCBody;
|
friend class mjCBody;
|
||||||
friend class mjCGeom;
|
friend class mjCGeom;
|
||||||
@@ -320,19 +345,25 @@ class mjCFrame : public mjCFrame_, private mjmFrame {
|
|||||||
friend class mjCModel;
|
friend class mjCModel;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
mjmFrame spec;
|
mjsFrame spec;
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
using mjCBase::classname;
|
using mjCBase::classname;
|
||||||
using mjCBase::info;
|
using mjCBase::info;
|
||||||
|
|
||||||
void CopyFromSpec(void);
|
void CopyFromSpec(void);
|
||||||
void PointToLocal(void);
|
void PointToLocal(void);
|
||||||
|
void SetParent(mjCBody* _body);
|
||||||
|
|
||||||
|
mjCFrame& operator+=(const mjCBody& other);
|
||||||
|
mjCFrame& operator+=(const mjCFrame& other);
|
||||||
|
|
||||||
private:
|
private:
|
||||||
mjCFrame(mjCModel* = 0, mjCFrame* = 0); // constructor
|
mjCFrame(mjCModel* = 0, mjCFrame* = 0); // constructor
|
||||||
mjCFrame(const mjCFrame& other); // copy constructor
|
mjCFrame(const mjCFrame& other); // copy constructor
|
||||||
mjCFrame& operator=(const mjCFrame& other); // copy assignment
|
mjCFrame& operator=(const mjCFrame& other); // copy assignment
|
||||||
void Compile(void); // compiler
|
void Compile(void); // compiler
|
||||||
|
|
||||||
|
mjCBody* body; // body that owns the frame
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
||||||
@@ -349,7 +380,7 @@ class mjCJoint_ : public mjCBase {
|
|||||||
std::vector<double> spec_userdata_;
|
std::vector<double> spec_userdata_;
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCJoint : public mjCJoint_, private mjmJoint {
|
class mjCJoint : public mjCJoint_, private mjsJoint {
|
||||||
friend class mjCDef;
|
friend class mjCDef;
|
||||||
friend class mjCEquality;
|
friend class mjCEquality;
|
||||||
friend class mjCBody;
|
friend class mjCBody;
|
||||||
@@ -359,7 +390,7 @@ class mjCJoint : public mjCJoint_, private mjmJoint {
|
|||||||
friend class mjXURDF;
|
friend class mjXURDF;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
mjmJoint spec;
|
mjsJoint spec;
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
using mjCBase::classname;
|
using mjCBase::classname;
|
||||||
using mjCBase::info;
|
using mjCBase::info;
|
||||||
@@ -393,7 +424,6 @@ class mjCGeom_ : public mjCBase {
|
|||||||
bool inferinertia; // true if inertia should be computed from geom
|
bool inferinertia; // true if inertia should be computed from geom
|
||||||
|
|
||||||
protected:
|
protected:
|
||||||
mjCAlternative alt_;
|
|
||||||
bool visual_; // true: geom does not collide and is unreferenced
|
bool visual_; // true: geom does not collide and is unreferenced
|
||||||
int matid; // id of geom's material
|
int matid; // id of geom's material
|
||||||
mjCMesh* mesh; // geom's mesh
|
mjCMesh* mesh; // geom's mesh
|
||||||
@@ -417,7 +447,7 @@ class mjCGeom_ : public mjCBase {
|
|||||||
std::vector<double> spec_userdata_;
|
std::vector<double> spec_userdata_;
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCGeom : public mjCGeom_, private mjmGeom {
|
class mjCGeom : public mjCGeom_, private mjsGeom {
|
||||||
friend class mjCDef;
|
friend class mjCDef;
|
||||||
friend class mjCMesh;
|
friend class mjCMesh;
|
||||||
friend class mjCPair;
|
friend class mjCPair;
|
||||||
@@ -429,7 +459,7 @@ class mjCGeom : public mjCGeom_, private mjmGeom {
|
|||||||
|
|
||||||
public:
|
public:
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
mjmGeom spec; // variables set by user
|
mjsGeom spec; // variables set by user
|
||||||
double GetVolume(void); // compute geom volume
|
double GetVolume(void); // compute geom volume
|
||||||
void SetInertia(void); // compute and set geom inertia
|
void SetInertia(void); // compute and set geom inertia
|
||||||
bool IsVisual(void) const { return visual_; }
|
bool IsVisual(void) const { return visual_; }
|
||||||
@@ -473,8 +503,6 @@ class mjCGeom : public mjCGeom_, private mjmGeom {
|
|||||||
|
|
||||||
class mjCSite_ : public mjCBase {
|
class mjCSite_ : public mjCBase {
|
||||||
protected:
|
protected:
|
||||||
mjCAlternative alt_;
|
|
||||||
|
|
||||||
// variable-size data
|
// variable-size data
|
||||||
std::string material_;
|
std::string material_;
|
||||||
std::vector<double> userdata_;
|
std::vector<double> userdata_;
|
||||||
@@ -486,7 +514,7 @@ class mjCSite_ : public mjCBase {
|
|||||||
int matid; // material id for rendering
|
int matid; // material id for rendering
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCSite : public mjCSite_, private mjmSite {
|
class mjCSite : public mjCSite_, private mjsSite {
|
||||||
friend class mjCDef;
|
friend class mjCDef;
|
||||||
friend class mjCBody;
|
friend class mjCBody;
|
||||||
friend class mjCModel;
|
friend class mjCModel;
|
||||||
@@ -494,9 +522,9 @@ class mjCSite : public mjCSite_, private mjmSite {
|
|||||||
friend class mjXURDF;
|
friend class mjXURDF;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
mjmSite spec; // variables set by user
|
mjsSite spec; // variables set by user
|
||||||
|
|
||||||
// use strings from mjCBase rather than mjStrings from mjmSite
|
// use strings from mjCBase rather than mjStrings from mjsSite
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
using mjCBase::classname;
|
using mjCBase::classname;
|
||||||
using mjCBase::info;
|
using mjCBase::info;
|
||||||
@@ -525,14 +553,13 @@ class mjCCamera_ : public mjCBase {
|
|||||||
protected:
|
protected:
|
||||||
mjCBody* body; // camera's body
|
mjCBody* body; // camera's body
|
||||||
int targetbodyid; // id of target body; -1: none
|
int targetbodyid; // id of target body; -1: none
|
||||||
mjCAlternative alt_;
|
|
||||||
std::string targetbody_;
|
std::string targetbody_;
|
||||||
std::string spec_targetbody_;
|
std::string spec_targetbody_;
|
||||||
std::vector<double> userdata_;
|
std::vector<double> userdata_;
|
||||||
std::vector<double> spec_userdata_;
|
std::vector<double> spec_userdata_;
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCCamera : public mjCCamera_, private mjmCamera {
|
class mjCCamera : public mjCCamera_, private mjsCamera {
|
||||||
friend class mjCDef;
|
friend class mjCDef;
|
||||||
friend class mjCBody;
|
friend class mjCBody;
|
||||||
friend class mjCModel;
|
friend class mjCModel;
|
||||||
@@ -540,7 +567,7 @@ class mjCCamera : public mjCCamera_, private mjmCamera {
|
|||||||
friend class mjXWriter;
|
friend class mjXWriter;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
mjmCamera spec;
|
mjsCamera spec;
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
using mjCBase::classname;
|
using mjCBase::classname;
|
||||||
using mjCBase::info;
|
using mjCBase::info;
|
||||||
@@ -572,14 +599,14 @@ class mjCLight_ : public mjCBase {
|
|||||||
std::string spec_targetbody_;
|
std::string spec_targetbody_;
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCLight : public mjCLight_, private mjmLight {
|
class mjCLight : public mjCLight_, private mjsLight {
|
||||||
friend class mjCDef;
|
friend class mjCDef;
|
||||||
friend class mjCBody;
|
friend class mjCBody;
|
||||||
friend class mjCModel;
|
friend class mjCModel;
|
||||||
friend class mjXWriter;
|
friend class mjXWriter;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
mjmLight spec;
|
mjsLight spec;
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
using mjCBase::classname;
|
using mjCBase::classname;
|
||||||
using mjCBase::info;
|
using mjCBase::info;
|
||||||
@@ -633,7 +660,7 @@ class mjCFlex_ : public mjCBase {
|
|||||||
std::vector<float> spec_texcoord_;
|
std::vector<float> spec_texcoord_;
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCFlex: public mjCFlex_, private mjmFlex {
|
class mjCFlex: public mjCFlex_, private mjsFlex {
|
||||||
friend class mjCDef;
|
friend class mjCDef;
|
||||||
friend class mjCModel;
|
friend class mjCModel;
|
||||||
friend class mjCFlexcomp;
|
friend class mjCFlexcomp;
|
||||||
@@ -641,13 +668,15 @@ class mjCFlex: public mjCFlex_, private mjmFlex {
|
|||||||
friend class mjXWriter;
|
friend class mjXWriter;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
mjmFlex spec;
|
mjsFlex spec;
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
using mjCBase::classname;
|
using mjCBase::classname;
|
||||||
using mjCBase::info;
|
using mjCBase::info;
|
||||||
|
|
||||||
void CopyFromSpec(void);
|
void CopyFromSpec(void);
|
||||||
void PointToLocal(void);
|
void PointToLocal(void);
|
||||||
|
void ResolveReferences(const mjCModel* m);
|
||||||
|
void NameSpace(const mjCModel* m);
|
||||||
|
|
||||||
// used by mjXWriter and mjCModel
|
// used by mjXWriter and mjCModel
|
||||||
const std::string& get_material() { return material_; }
|
const std::string& get_material() { return material_; }
|
||||||
@@ -735,7 +764,8 @@ class mjCMesh_ : public mjCBase {
|
|||||||
std::vector<double> face_aabb_; // bounding boxes of all faces
|
std::vector<double> face_aabb_; // bounding boxes of all faces
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCMesh: public mjCMesh_, private mjmMesh {
|
class mjCMesh: public mjCMesh_, private mjsMesh {
|
||||||
|
friend class mjCModel;
|
||||||
friend class mjCFlexcomp;
|
friend class mjCFlexcomp;
|
||||||
friend class mjXWriter;
|
friend class mjXWriter;
|
||||||
public:
|
public:
|
||||||
@@ -744,7 +774,7 @@ class mjCMesh: public mjCMesh_, private mjmMesh {
|
|||||||
mjCMesh& operator=(const mjCMesh& other); // copy assignment
|
mjCMesh& operator=(const mjCMesh& other); // copy assignment
|
||||||
~mjCMesh();
|
~mjCMesh();
|
||||||
|
|
||||||
mjmMesh spec;
|
mjsMesh spec;
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
using mjCBase::classname;
|
using mjCBase::classname;
|
||||||
using mjCBase::info;
|
using mjCBase::info;
|
||||||
@@ -808,6 +838,7 @@ class mjCMesh: public mjCMesh_, private mjmMesh {
|
|||||||
|
|
||||||
private:
|
private:
|
||||||
void LoadOBJ(mjResource* resource); // load mesh in wavefront OBJ format
|
void LoadOBJ(mjResource* resource); // load mesh in wavefront OBJ format
|
||||||
|
bool LoadCachedOBJ(const mjCAsset& asset); // load OBJ from cache asset, return true on success
|
||||||
void LoadSTL(mjResource* resource); // load mesh in STL BIN format
|
void LoadSTL(mjResource* resource); // load mesh in STL BIN format
|
||||||
void LoadMSH(mjResource* resource); // load mesh in MSH BIN format
|
void LoadMSH(mjResource* resource); // load mesh in MSH BIN format
|
||||||
void LoadSDF(); // generate mesh using marching cubes
|
void LoadSDF(); // generate mesh using marching cubes
|
||||||
@@ -870,12 +901,12 @@ class mjCSkin_ : public mjCBase {
|
|||||||
std::vector<int> bodyid; // body ids
|
std::vector<int> bodyid; // body ids
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCSkin: public mjCSkin_, private mjmSkin {
|
class mjCSkin: public mjCSkin_, private mjsSkin {
|
||||||
friend class mjCModel;
|
friend class mjCModel;
|
||||||
friend class mjXWriter;
|
friend class mjXWriter;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
mjmSkin spec;
|
mjsSkin spec;
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
using mjCBase::classname;
|
using mjCBase::classname;
|
||||||
using mjCBase::info;
|
using mjCBase::info;
|
||||||
@@ -901,6 +932,8 @@ class mjCSkin: public mjCSkin_, private mjmSkin {
|
|||||||
mjCSkin& operator=(const mjCSkin& other); // copy assignment
|
mjCSkin& operator=(const mjCSkin& other); // copy assignment
|
||||||
~mjCSkin(); // destructor
|
~mjCSkin(); // destructor
|
||||||
|
|
||||||
|
void ResolveReferences(const mjCModel* m);
|
||||||
|
void NameSpace(const mjCModel* m);
|
||||||
void Compile(const mjVFS* vfs); // compiler
|
void Compile(const mjVFS* vfs); // compiler
|
||||||
void LoadSKN(mjResource* resource); // load skin in SKN BIN format
|
void LoadSKN(mjResource* resource); // load skin in SKN BIN format
|
||||||
};
|
};
|
||||||
@@ -912,6 +945,8 @@ class mjCSkin: public mjCSkin_, private mjmSkin {
|
|||||||
|
|
||||||
class mjCHField_ : public mjCBase {
|
class mjCHField_ : public mjCBase {
|
||||||
protected:
|
protected:
|
||||||
|
std::vector<float> data; // elevation data, row-major format
|
||||||
|
|
||||||
std::string file_;
|
std::string file_;
|
||||||
std::string content_type_;
|
std::string content_type_;
|
||||||
std::vector<float> userdata_;
|
std::vector<float> userdata_;
|
||||||
@@ -920,13 +955,13 @@ class mjCHField_ : public mjCBase {
|
|||||||
std::vector<float> spec_userdata_;
|
std::vector<float> spec_userdata_;
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCHField : public mjCHField_, private mjmHField {
|
class mjCHField : public mjCHField_, private mjsHField {
|
||||||
friend class mjCGeom;
|
friend class mjCGeom;
|
||||||
friend class mjCModel;
|
friend class mjCModel;
|
||||||
friend class mjXWriter;
|
friend class mjXWriter;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
mjmHField spec;
|
mjsHField spec;
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
using mjCBase::info;
|
using mjCBase::info;
|
||||||
|
|
||||||
@@ -944,7 +979,6 @@ class mjCHField : public mjCHField_, private mjmHField {
|
|||||||
mjCHField& operator=(const mjCHField& other); // copy assignment
|
mjCHField& operator=(const mjCHField& other); // copy assignment
|
||||||
~mjCHField(); // destructor
|
~mjCHField(); // destructor
|
||||||
|
|
||||||
float* data; // elevation data, row-major format
|
|
||||||
void Compile(const mjVFS* vfs); // compiler
|
void Compile(const mjVFS* vfs); // compiler
|
||||||
|
|
||||||
void LoadCustom(mjResource* resource); // load from custom format
|
void LoadCustom(mjResource* resource); // load from custom format
|
||||||
@@ -958,6 +992,8 @@ class mjCHField : public mjCHField_, private mjmHField {
|
|||||||
|
|
||||||
class mjCTexture_ : public mjCBase {
|
class mjCTexture_ : public mjCBase {
|
||||||
protected:
|
protected:
|
||||||
|
std::vector<mjtByte> rgb; // rgb data
|
||||||
|
|
||||||
std::string file_;
|
std::string file_;
|
||||||
std::string content_type_;
|
std::string content_type_;
|
||||||
std::vector<std::string> cubefiles_;
|
std::vector<std::string> cubefiles_;
|
||||||
@@ -966,7 +1002,7 @@ class mjCTexture_ : public mjCBase {
|
|||||||
std::vector<std::string> spec_cubefiles_;
|
std::vector<std::string> spec_cubefiles_;
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCTexture : public mjCTexture_, private mjmTexture {
|
class mjCTexture : public mjCTexture_, private mjsTexture {
|
||||||
friend class mjCModel;
|
friend class mjCModel;
|
||||||
friend class mjXReader;
|
friend class mjXReader;
|
||||||
friend class mjXWriter;
|
friend class mjXWriter;
|
||||||
@@ -974,7 +1010,7 @@ class mjCTexture : public mjCTexture_, private mjmTexture {
|
|||||||
public:
|
public:
|
||||||
~mjCTexture(); // destructor
|
~mjCTexture(); // destructor
|
||||||
|
|
||||||
mjmTexture spec;
|
mjsTexture spec;
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
using mjCBase::classname;
|
using mjCBase::classname;
|
||||||
using mjCBase::info;
|
using mjCBase::info;
|
||||||
@@ -1009,8 +1045,6 @@ class mjCTexture : public mjCTexture_, private mjmTexture {
|
|||||||
void LoadCustom(mjResource* resource,
|
void LoadCustom(mjResource* resource,
|
||||||
std::vector<unsigned char>& image,
|
std::vector<unsigned char>& image,
|
||||||
unsigned int& w, unsigned int& h);
|
unsigned int& w, unsigned int& h);
|
||||||
|
|
||||||
mjtByte* rgb; // rgb data
|
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
||||||
@@ -1025,13 +1059,13 @@ class mjCMaterial_ : public mjCBase {
|
|||||||
std::string spec_texture_;
|
std::string spec_texture_;
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCMaterial : public mjCMaterial_, private mjmMaterial {
|
class mjCMaterial : public mjCMaterial_, private mjsMaterial {
|
||||||
friend class mjCDef;
|
friend class mjCDef;
|
||||||
friend class mjCModel;
|
friend class mjCModel;
|
||||||
friend class mjXWriter;
|
friend class mjXWriter;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
mjmMaterial spec;
|
mjsMaterial spec;
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
using mjCBase::classname;
|
using mjCBase::classname;
|
||||||
using mjCBase::info;
|
using mjCBase::info;
|
||||||
@@ -1064,20 +1098,22 @@ class mjCPair_ : public mjCBase {
|
|||||||
std::string spec_geomname2_;
|
std::string spec_geomname2_;
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCPair : public mjCPair_, private mjmPair {
|
class mjCPair : public mjCPair_, private mjsPair {
|
||||||
friend class mjCDef;
|
friend class mjCDef;
|
||||||
friend class mjCBody;
|
friend class mjCBody;
|
||||||
friend class mjCModel;
|
friend class mjCModel;
|
||||||
friend class mjXWriter;
|
friend class mjXWriter;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
mjmPair spec;
|
mjsPair spec;
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
using mjCBase::classname;
|
using mjCBase::classname;
|
||||||
using mjCBase::info;
|
using mjCBase::info;
|
||||||
|
|
||||||
void CopyFromSpec();
|
void CopyFromSpec();
|
||||||
void PointToLocal();
|
void PointToLocal();
|
||||||
|
void ResolveReferences(const mjCModel* m);
|
||||||
|
void NameSpace(const mjCModel* m);
|
||||||
|
|
||||||
std::string get_geomname1() { return geomname1_; }
|
std::string get_geomname1() { return geomname1_; }
|
||||||
std::string get_geomname2() { return geomname2_; }
|
std::string get_geomname2() { return geomname2_; }
|
||||||
@@ -1114,17 +1150,19 @@ class mjCBodyPair_ : public mjCBase {
|
|||||||
std::string spec_bodyname2_;
|
std::string spec_bodyname2_;
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCBodyPair : public mjCBodyPair_, private mjmExclude {
|
class mjCBodyPair : public mjCBodyPair_, private mjsExclude {
|
||||||
friend class mjCBody;
|
friend class mjCBody;
|
||||||
friend class mjCModel;
|
friend class mjCModel;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
mjmExclude spec;
|
mjsExclude spec;
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
using mjCBase::info;
|
using mjCBase::info;
|
||||||
|
|
||||||
void CopyFromSpec();
|
void CopyFromSpec();
|
||||||
void PointToLocal();
|
void PointToLocal();
|
||||||
|
void ResolveReferences(const mjCModel* m);
|
||||||
|
void NameSpace(const mjCModel* m);
|
||||||
|
|
||||||
std::string get_bodyname1() const { return bodyname1_; }
|
std::string get_bodyname1() const { return bodyname1_; }
|
||||||
std::string get_bodyname2() const { return bodyname2_; }
|
std::string get_bodyname2() const { return bodyname2_; }
|
||||||
@@ -1156,20 +1194,22 @@ class mjCEquality_ : public mjCBase {
|
|||||||
std::string spec_name2_;
|
std::string spec_name2_;
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCEquality : public mjCEquality_, private mjmEquality {
|
class mjCEquality : public mjCEquality_, private mjsEquality {
|
||||||
friend class mjCDef;
|
friend class mjCDef;
|
||||||
friend class mjCBody;
|
friend class mjCBody;
|
||||||
friend class mjCModel;
|
friend class mjCModel;
|
||||||
friend class mjXWriter;
|
friend class mjXWriter;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
mjmEquality spec;
|
mjsEquality spec;
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
using mjCBase::classname;
|
using mjCBase::classname;
|
||||||
using mjCBase::info;
|
using mjCBase::info;
|
||||||
|
|
||||||
void CopyFromSpec();
|
void CopyFromSpec();
|
||||||
void PointToLocal();
|
void PointToLocal();
|
||||||
|
void ResolveReferences(const mjCModel* m);
|
||||||
|
void NameSpace(const mjCModel* m);
|
||||||
|
|
||||||
private:
|
private:
|
||||||
mjCEquality(mjCModel* = 0, mjCDef* = 0); // constructor
|
mjCEquality(mjCModel* = 0, mjCDef* = 0); // constructor
|
||||||
@@ -1195,13 +1235,13 @@ class mjCTendon_ : public mjCBase {
|
|||||||
std::vector<double> spec_userdata_;
|
std::vector<double> spec_userdata_;
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCTendon : public mjCTendon_, private mjmTendon {
|
class mjCTendon : public mjCTendon_, private mjsTendon {
|
||||||
friend class mjCDef;
|
friend class mjCDef;
|
||||||
friend class mjCModel;
|
friend class mjCModel;
|
||||||
friend class mjXWriter;
|
friend class mjXWriter;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
mjmTendon spec;
|
mjsTendon spec;
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
using mjCBase::classname;
|
using mjCBase::classname;
|
||||||
using mjCBase::info;
|
using mjCBase::info;
|
||||||
@@ -1227,6 +1267,9 @@ class mjCTendon : public mjCTendon_, private mjmTendon {
|
|||||||
|
|
||||||
void CopyFromSpec();
|
void CopyFromSpec();
|
||||||
void PointToLocal();
|
void PointToLocal();
|
||||||
|
void ResolveReferences(const mjCModel* m);
|
||||||
|
void NameSpace(const mjCModel* m);
|
||||||
|
void SetModel(mjCModel* _model);
|
||||||
|
|
||||||
bool is_limited() const;
|
bool is_limited() const;
|
||||||
|
|
||||||
@@ -1252,15 +1295,18 @@ class mjCWrap_ : public mjCBase {
|
|||||||
std::string sidesite; // name of side site
|
std::string sidesite; // name of side site
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCWrap : public mjCWrap_, private mjmWrap {
|
class mjCWrap : public mjCWrap_, private mjsWrap {
|
||||||
friend class mjCTendon;
|
friend class mjCTendon;
|
||||||
friend class mjCModel;
|
friend class mjCModel;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
mjmWrap spec;
|
mjsWrap spec;
|
||||||
using mjCBase::info;
|
using mjCBase::info;
|
||||||
|
|
||||||
void PointToLocal();
|
void PointToLocal();
|
||||||
|
void ResolveReferences(const mjCModel* m);
|
||||||
|
void NameSpace(const mjCModel* m);
|
||||||
|
|
||||||
mjCBase* obj; // wrap object pointer
|
mjCBase* obj; // wrap object pointer
|
||||||
|
|
||||||
private:
|
private:
|
||||||
@@ -1268,8 +1314,6 @@ class mjCWrap : public mjCWrap_, private mjmWrap {
|
|||||||
mjCWrap(const mjCWrap& other); // copy constructor
|
mjCWrap(const mjCWrap& other); // copy constructor
|
||||||
mjCWrap& operator=(const mjCWrap& other); // copy assignment
|
mjCWrap& operator=(const mjCWrap& other); // copy assignment
|
||||||
|
|
||||||
void Compile(void); // compiler
|
|
||||||
|
|
||||||
mjCTendon* tendon; // tendon owning this wrap
|
mjCTendon* tendon; // tendon owning this wrap
|
||||||
};
|
};
|
||||||
|
|
||||||
@@ -1293,12 +1337,12 @@ class mjCPlugin : public mjCPlugin_ {
|
|||||||
friend class mjXWriter;
|
friend class mjXWriter;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
mjmPlugin spec;
|
mjsPlugin spec;
|
||||||
mjCBase* parent; // parent object (only used when generating error message)
|
mjCBase* parent; // parent object (only used when generating error message)
|
||||||
|
mjCPlugin(const mjCPlugin& other); // copy constructor
|
||||||
|
|
||||||
private:
|
private:
|
||||||
mjCPlugin(mjCModel*); // constructor
|
mjCPlugin(mjCModel*); // constructor
|
||||||
mjCPlugin(const mjCPlugin& other); // copy constructor
|
|
||||||
mjCPlugin& operator=(const mjCPlugin& other); // copy assignment
|
mjCPlugin& operator=(const mjCPlugin& other); // copy assignment
|
||||||
|
|
||||||
void Compile(void); // compiler
|
void Compile(void); // compiler
|
||||||
@@ -1326,13 +1370,13 @@ class mjCActuator_ : public mjCBase {
|
|||||||
std::vector<double> spec_userdata_;
|
std::vector<double> spec_userdata_;
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCActuator : public mjCActuator_, private mjmActuator {
|
class mjCActuator : public mjCActuator_, private mjsActuator {
|
||||||
friend class mjCDef;
|
friend class mjCDef;
|
||||||
friend class mjCModel;
|
friend class mjCModel;
|
||||||
friend class mjXWriter;
|
friend class mjXWriter;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
mjmActuator spec;
|
mjsActuator spec;
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
using mjCBase::classname;
|
using mjCBase::classname;
|
||||||
using mjCBase::info;
|
using mjCBase::info;
|
||||||
@@ -1355,6 +1399,10 @@ class mjCActuator : public mjCActuator_, private mjmActuator {
|
|||||||
void Compile(void); // compiler
|
void Compile(void); // compiler
|
||||||
void CopyFromSpec();
|
void CopyFromSpec();
|
||||||
void PointToLocal();
|
void PointToLocal();
|
||||||
|
void ResolveReferences(const mjCModel* m);
|
||||||
|
void NameSpace(const mjCModel* m);
|
||||||
|
|
||||||
|
mjCBase* ptarget; // transmission target
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
||||||
@@ -1377,13 +1425,13 @@ class mjCSensor_ : public mjCBase {
|
|||||||
std::vector<double> spec_userdata_;
|
std::vector<double> spec_userdata_;
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCSensor : public mjCSensor_, private mjmSensor {
|
class mjCSensor : public mjCSensor_, private mjsSensor {
|
||||||
friend class mjCDef;
|
friend class mjCDef;
|
||||||
friend class mjCModel;
|
friend class mjCModel;
|
||||||
friend class mjXWriter;
|
friend class mjXWriter;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
mjmSensor spec;
|
mjsSensor spec;
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
using mjCBase::classname;
|
using mjCBase::classname;
|
||||||
using mjCBase::info;
|
using mjCBase::info;
|
||||||
@@ -1400,9 +1448,12 @@ class mjCSensor : public mjCSensor_, private mjmSensor {
|
|||||||
|
|
||||||
void Compile(void); // compiler
|
void Compile(void); // compiler
|
||||||
void CopyFromSpec();
|
void CopyFromSpec();
|
||||||
void MakePointerLocal();
|
void PointToLocal();
|
||||||
|
void ResolveReferences(const mjCModel* m);
|
||||||
|
void NameSpace(const mjCModel* m);
|
||||||
|
|
||||||
mjCBase* obj; // sensorized object
|
mjCBase* obj; // sensorized object
|
||||||
|
mjCBase* ref; // sensorized reference
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
||||||
@@ -1416,12 +1467,12 @@ class mjCNumeric_ : public mjCBase {
|
|||||||
std::vector<double> spec_data_;
|
std::vector<double> spec_data_;
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCNumeric : public mjCNumeric_, private mjmNumeric {
|
class mjCNumeric : public mjCNumeric_, private mjsNumeric {
|
||||||
friend class mjCModel;
|
friend class mjCModel;
|
||||||
friend class mjXWriter;
|
friend class mjXWriter;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
mjmNumeric spec;
|
mjsNumeric spec;
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
using mjCBase::info;
|
using mjCBase::info;
|
||||||
|
|
||||||
@@ -1448,12 +1499,12 @@ class mjCText_ : public mjCBase {
|
|||||||
std::string spec_data_;
|
std::string spec_data_;
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCText : public mjCText_, private mjmText {
|
class mjCText : public mjCText_, private mjsText {
|
||||||
friend class mjCModel;
|
friend class mjCModel;
|
||||||
friend class mjXWriter;
|
friend class mjXWriter;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
mjmText spec;
|
mjsText spec;
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
using mjCBase::info;
|
using mjCBase::info;
|
||||||
|
|
||||||
@@ -1485,17 +1536,19 @@ class mjCTuple_ : public mjCBase {
|
|||||||
std::vector<double> spec_objprm_;
|
std::vector<double> spec_objprm_;
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCTuple : public mjCTuple_, private mjmTuple {
|
class mjCTuple : public mjCTuple_, private mjsTuple {
|
||||||
friend class mjCModel;
|
friend class mjCModel;
|
||||||
friend class mjXWriter;
|
friend class mjXWriter;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
mjmTuple spec;
|
mjsTuple spec;
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
using mjCBase::info;
|
using mjCBase::info;
|
||||||
|
|
||||||
void PointToLocal();
|
void PointToLocal();
|
||||||
void CopyFromSpec();
|
void CopyFromSpec();
|
||||||
|
void ResolveReferences(const mjCModel* m);
|
||||||
|
void NameSpace(const mjCModel* m);
|
||||||
|
|
||||||
private:
|
private:
|
||||||
mjCTuple(mjCModel*); // constructor
|
mjCTuple(mjCModel*); // constructor
|
||||||
@@ -1527,12 +1580,12 @@ class mjCKey_ : public mjCBase {
|
|||||||
std::vector<double> spec_ctrl_;
|
std::vector<double> spec_ctrl_;
|
||||||
};
|
};
|
||||||
|
|
||||||
class mjCKey : public mjCKey_, private mjmKey {
|
class mjCKey : public mjCKey_, private mjsKey {
|
||||||
friend class mjCModel;
|
friend class mjCModel;
|
||||||
friend class mjXWriter;
|
friend class mjXWriter;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
mjmKey spec;
|
mjsKey spec;
|
||||||
using mjCBase::name;
|
using mjCBase::name;
|
||||||
using mjCBase::info;
|
using mjCBase::info;
|
||||||
|
|
||||||
@@ -1553,7 +1606,7 @@ class mjCKey : public mjCKey_, private mjmKey {
|
|||||||
//------------------------- class mjCDef -----------------------------------------------------------
|
//------------------------- class mjCDef -----------------------------------------------------------
|
||||||
// Describes one set of defaults
|
// Describes one set of defaults
|
||||||
|
|
||||||
class mjCDef {
|
class mjCDef : public mjElement {
|
||||||
friend class mjXWriter;
|
friend class mjXWriter;
|
||||||
|
|
||||||
public:
|
public:
|
||||||
@@ -1569,7 +1622,7 @@ class mjCDef {
|
|||||||
int parentid; // id of parent class
|
int parentid; // id of parent class
|
||||||
std::vector<int> childid; // ids of child classes
|
std::vector<int> childid; // ids of child classes
|
||||||
|
|
||||||
mjmDefault spec;
|
mjsDefault spec;
|
||||||
|
|
||||||
// default objects (TODO: they should become private)
|
// default objects (TODO: they should become private)
|
||||||
mjCJoint joint;
|
mjCJoint joint;
|
||||||
|
|||||||
+38
-7
@@ -15,7 +15,7 @@
|
|||||||
#include "xml/xml.h"
|
#include "xml/xml.h"
|
||||||
|
|
||||||
#include <locale.h>
|
#include <locale.h>
|
||||||
#include "user/user_api.h"
|
#include <cstring>
|
||||||
|
|
||||||
#if defined(__APPLE__) || defined(__FreeBSD__)
|
#if defined(__APPLE__) || defined(__FreeBSD__)
|
||||||
#include <xlocale.h>
|
#include <xlocale.h>
|
||||||
@@ -29,6 +29,7 @@
|
|||||||
|
|
||||||
#include "tinyxml2.h"
|
#include "tinyxml2.h"
|
||||||
|
|
||||||
|
#include <mujoco/mujoco.h>
|
||||||
#include <mujoco/mjmodel.h>
|
#include <mujoco/mjmodel.h>
|
||||||
#include <mujoco/mjplugin.h>
|
#include <mujoco/mjplugin.h>
|
||||||
#include "cc/array_safety.h"
|
#include "cc/array_safety.h"
|
||||||
@@ -344,14 +345,14 @@ mjSpec* mjParseXML(const char* filename, const mjVFS* vfs,
|
|||||||
}
|
}
|
||||||
|
|
||||||
// create model, set filedir
|
// create model, set filedir
|
||||||
model = mjm_createSpec();
|
model = mjs_createSpec();
|
||||||
const char* dir;
|
const char* dir;
|
||||||
int ndir = 0;
|
int ndir = 0;
|
||||||
mju_getResourceDir(resource, &dir, &ndir);
|
mju_getResourceDir(resource, &dir, &ndir);
|
||||||
if (dir != nullptr) {
|
if (dir != nullptr) {
|
||||||
mjm_setString(model->modelfiledir, std::string(dir, ndir).c_str());
|
mjs_setString(model->modelfiledir, std::string(dir, ndir).c_str());
|
||||||
} else {
|
} else {
|
||||||
mjm_setString(model->modelfiledir, "");
|
mjs_setString(model->modelfiledir, "");
|
||||||
}
|
}
|
||||||
|
|
||||||
// close resource
|
// close resource
|
||||||
@@ -363,8 +364,8 @@ mjSpec* mjParseXML(const char* filename, const mjVFS* vfs,
|
|||||||
// find include elements, replace them with subtree from xml file
|
// find include elements, replace them with subtree from xml file
|
||||||
std::unordered_set<std::string> included = {filename};
|
std::unordered_set<std::string> included = {filename};
|
||||||
mjXReader parser;
|
mjXReader parser;
|
||||||
parser.SetModelFileDir(mjm_getString(model->modelfiledir));
|
parser.SetModelFileDir(mjs_getString(model->modelfiledir));
|
||||||
mjIncludeXML(parser, root, mjm_getString(model->modelfiledir), vfs, included);
|
mjIncludeXML(parser, root, mjs_getString(model->modelfiledir), vfs, included);
|
||||||
|
|
||||||
// parse MuJoCo model
|
// parse MuJoCo model
|
||||||
parser.SetModel(model);
|
parser.SetModel(model);
|
||||||
@@ -393,9 +394,39 @@ mjSpec* mjParseXML(const char* filename, const mjVFS* vfs,
|
|||||||
// catch known errors
|
// catch known errors
|
||||||
catch (mjXError err) {
|
catch (mjXError err) {
|
||||||
mjCopyError(error, err.message, error_sz);
|
mjCopyError(error, err.message, error_sz);
|
||||||
mjm_deleteSpec(model);
|
mjs_deleteSpec(model);
|
||||||
return nullptr;
|
return nullptr;
|
||||||
}
|
}
|
||||||
|
|
||||||
return model;
|
return model;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
static void RegisterResourceProvider() {
|
||||||
|
// register string resource provider if not registered before
|
||||||
|
if (mjp_getResourceProvider("LoadModelFromString:") == nullptr) {
|
||||||
|
mjpResourceProvider resourceProvider;
|
||||||
|
mjp_defaultResourceProvider(&resourceProvider);
|
||||||
|
resourceProvider.prefix = "LoadModelFromString";
|
||||||
|
resourceProvider.open = +[](mjResource* resource) {
|
||||||
|
resource->data = &(resource->name[strlen("LoadModelFromString:")]);
|
||||||
|
return 1;
|
||||||
|
};
|
||||||
|
resourceProvider.read =
|
||||||
|
+[](mjResource* resource, const void** buffer) {
|
||||||
|
*buffer = resource->data;
|
||||||
|
return (int) strlen((const char*) resource->data);
|
||||||
|
};
|
||||||
|
resourceProvider.close = +[](mjResource* resource) {};
|
||||||
|
mjp_registerResourceProvider(&resourceProvider);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
mjSpec* ParseSpecFromString(std::string_view xml, char* error,
|
||||||
|
int error_size, mjVFS* vfs) {
|
||||||
|
RegisterResourceProvider();
|
||||||
|
std::string xml2 = {xml.begin(), xml.end()};
|
||||||
|
std::string str = "LoadModelFromString:" + xml2;
|
||||||
|
return mjParseXML(str.c_str(), vfs, error, error_size);
|
||||||
|
}
|
||||||
|
|||||||
@@ -29,5 +29,10 @@ std::string mjWriteXML(mjSpec* model, char* error, int error_sz);
|
|||||||
// Main parser function
|
// Main parser function
|
||||||
MJAPI mjSpec* mjParseXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
|
MJAPI mjSpec* mjParseXML(const char* filename, const mjVFS* vfs, char* error, int error_sz);
|
||||||
|
|
||||||
|
// Returns a newly-allocated mjSpec, loaded from the contents of xml.
|
||||||
|
// On failure returns nullptr and populates the error array if present.
|
||||||
|
MJAPI mjSpec* ParseSpecFromString(std::string_view xml, char* error = nullptr,
|
||||||
|
int error_size = 0, mjVFS* vfs = nullptr);
|
||||||
|
|
||||||
|
|
||||||
#endif // MUJOCO_SRC_XML_XML_H_
|
#endif // MUJOCO_SRC_XML_XML_H_
|
||||||
|
|||||||
+7
-7
@@ -56,7 +56,7 @@ std::optional<std::string> GlobalModel::ToXML(const mjModel* m, char* error,
|
|||||||
mjCopyError(error, "No XML model loaded", error_sz);
|
mjCopyError(error, "No XML model loaded", error_sz);
|
||||||
return std::nullopt;
|
return std::nullopt;
|
||||||
}
|
}
|
||||||
mjm_copyBack(model_, m);
|
mjs_copyBack(model_, m);
|
||||||
std::string result = mjWriteXML(model_, error, error_sz);
|
std::string result = mjWriteXML(model_, error, error_sz);
|
||||||
if (result.empty()) {
|
if (result.empty()) {
|
||||||
return std::nullopt;
|
return std::nullopt;
|
||||||
@@ -67,7 +67,7 @@ std::optional<std::string> GlobalModel::ToXML(const mjModel* m, char* error,
|
|||||||
void GlobalModel::Set(mjSpec* model) {
|
void GlobalModel::Set(mjSpec* model) {
|
||||||
std::lock_guard<std::mutex> lock(*mutex_);
|
std::lock_guard<std::mutex> lock(*mutex_);
|
||||||
if (model_ != nullptr) {
|
if (model_ != nullptr) {
|
||||||
mjm_deleteSpec(model_);
|
mjs_deleteSpec(model_);
|
||||||
}
|
}
|
||||||
model_ = model;
|
model_ = model;
|
||||||
}
|
}
|
||||||
@@ -93,21 +93,21 @@ mjModel* mj_loadXML(const char* filename, const mjVFS* vfs,
|
|||||||
// parse new model
|
// parse new model
|
||||||
std::unique_ptr<mjSpec, std::function<void(mjSpec*)>> model(
|
std::unique_ptr<mjSpec, std::function<void(mjSpec*)>> model(
|
||||||
mjParseXML(filename, vfs, error, error_sz),
|
mjParseXML(filename, vfs, error, error_sz),
|
||||||
[](mjSpec* m) { mjm_deleteSpec(m); });
|
[](mjSpec* m) { mjs_deleteSpec(m); });
|
||||||
if (!model) {
|
if (!model) {
|
||||||
return nullptr;
|
return nullptr;
|
||||||
}
|
}
|
||||||
|
|
||||||
// compile new model
|
// compile new model
|
||||||
mjModel* m = mjm_compile(model.get(), vfs);
|
mjModel* m = mjs_compile(model.get(), vfs);
|
||||||
if (!m) {
|
if (!m) {
|
||||||
mjCopyError(error, mjm_getError(model.get()), error_sz);
|
mjCopyError(error, mjs_getError(model.get()), error_sz);
|
||||||
return nullptr;
|
return nullptr;
|
||||||
}
|
}
|
||||||
|
|
||||||
// handle compile warning
|
// handle compile warning
|
||||||
if (mjm_isWarning(model.get())) {
|
if (mjs_isWarning(model.get())) {
|
||||||
mjCopyError(error, mjm_getError(model.get()), error_sz);
|
mjCopyError(error, mjs_getError(model.get()), error_sz);
|
||||||
} else if (error) {
|
} else if (error) {
|
||||||
error[0] = '\0';
|
error[0] = '\0';
|
||||||
}
|
}
|
||||||
|
|||||||
+2
-1
@@ -24,6 +24,7 @@
|
|||||||
#include "user/user_api.h"
|
#include "user/user_api.h"
|
||||||
#include "user/user_model.h"
|
#include "user/user_model.h"
|
||||||
#include "user/user_objects.h"
|
#include "user/user_objects.h"
|
||||||
|
#include "xml/xml_util.h"
|
||||||
#include "tinyxml2.h"
|
#include "tinyxml2.h"
|
||||||
|
|
||||||
namespace {
|
namespace {
|
||||||
@@ -51,7 +52,7 @@ void mjXBase::SetModel(mjSpec* _model) {
|
|||||||
|
|
||||||
|
|
||||||
// read alternative orientation specification
|
// read alternative orientation specification
|
||||||
int mjXBase::ReadAlternative(XMLElement* elem, mjmOrientation& alt) {
|
int mjXBase::ReadAlternative(XMLElement* elem, mjsOrientation& alt) {
|
||||||
string text;
|
string text;
|
||||||
int read = (int)(elem->Attribute("quat") != 0) +
|
int read = (int)(elem->Attribute("quat") != 0) +
|
||||||
(ReadAttr(elem, "axisangle", 4, alt.axisangle, text) ? 1 : 0) +
|
(ReadAttr(elem, "axisangle", 4, alt.axisangle, text) ? 1 : 0) +
|
||||||
|
|||||||
+1
-1
@@ -90,7 +90,7 @@ class mjXBase : public mjXUtil {
|
|||||||
virtual void SetModel(mjSpec*);
|
virtual void SetModel(mjSpec*);
|
||||||
|
|
||||||
// read alternative orientation specification
|
// read alternative orientation specification
|
||||||
static int ReadAlternative(tinyxml2::XMLElement* elem, mjmOrientation& alt);
|
static int ReadAlternative(tinyxml2::XMLElement* elem, mjsOrientation& alt);
|
||||||
|
|
||||||
protected:
|
protected:
|
||||||
mjSpec* model; // internally-allocated model
|
mjSpec* model; // internally-allocated model
|
||||||
|
|||||||
+259
-256
File diff suppressed because it is too large
Load Diff
+19
-19
@@ -54,8 +54,8 @@ class mjXReader : public mjXBase {
|
|||||||
void Visual(tinyxml2::XMLElement* section); // visual section
|
void Visual(tinyxml2::XMLElement* section); // visual section
|
||||||
void Statistic(tinyxml2::XMLElement* section); // statistic section
|
void Statistic(tinyxml2::XMLElement* section); // statistic section
|
||||||
void Asset(tinyxml2::XMLElement* section); // asset section
|
void Asset(tinyxml2::XMLElement* section); // asset section
|
||||||
void Body(tinyxml2::XMLElement* section, mjmBody* pbody,
|
void Body(tinyxml2::XMLElement* section, mjsBody* pbody,
|
||||||
mjmFrame* pframe); // body/world section
|
mjsFrame* pframe); // body/world section
|
||||||
void Contact(tinyxml2::XMLElement* section); // contact section
|
void Contact(tinyxml2::XMLElement* section); // contact section
|
||||||
void Deformable(tinyxml2::XMLElement* section); // deformable section
|
void Deformable(tinyxml2::XMLElement* section); // deformable section
|
||||||
void Equality(tinyxml2::XMLElement* section); // equality section
|
void Equality(tinyxml2::XMLElement* section); // equality section
|
||||||
@@ -65,25 +65,25 @@ class mjXReader : public mjXBase {
|
|||||||
void Keyframe(tinyxml2::XMLElement* section); // keyframe section
|
void Keyframe(tinyxml2::XMLElement* section); // keyframe section
|
||||||
|
|
||||||
// single element parsers, used in defaults and main body
|
// single element parsers, used in defaults and main body
|
||||||
void OneFlex(tinyxml2::XMLElement* elem, mjmFlex* pflex);
|
void OneFlex(tinyxml2::XMLElement* elem, mjsFlex* pflex);
|
||||||
void OneMesh(tinyxml2::XMLElement* elem, mjmMesh* pmesh);
|
void OneMesh(tinyxml2::XMLElement* elem, mjsMesh* pmesh);
|
||||||
void OneSkin(tinyxml2::XMLElement* elem, mjmSkin* pskin);
|
void OneSkin(tinyxml2::XMLElement* elem, mjsSkin* pskin);
|
||||||
void OneMaterial(tinyxml2::XMLElement* elem, mjmMaterial* pmaterial);
|
void OneMaterial(tinyxml2::XMLElement* elem, mjsMaterial* pmaterial);
|
||||||
void OneJoint(tinyxml2::XMLElement* elem, mjmJoint* pjoint);
|
void OneJoint(tinyxml2::XMLElement* elem, mjsJoint* pjoint);
|
||||||
void OneGeom(tinyxml2::XMLElement* elem, mjmGeom* pgeom);
|
void OneGeom(tinyxml2::XMLElement* elem, mjsGeom* pgeom);
|
||||||
void OneSite(tinyxml2::XMLElement* elem, mjmSite* site);
|
void OneSite(tinyxml2::XMLElement* elem, mjsSite* site);
|
||||||
void OneCamera(tinyxml2::XMLElement* elem, mjmCamera* pcamera);
|
void OneCamera(tinyxml2::XMLElement* elem, mjsCamera* pcamera);
|
||||||
void OneLight(tinyxml2::XMLElement* elem, mjmLight* plight);
|
void OneLight(tinyxml2::XMLElement* elem, mjsLight* plight);
|
||||||
void OnePair(tinyxml2::XMLElement* elem, mjmPair* ppair);
|
void OnePair(tinyxml2::XMLElement* elem, mjsPair* ppair);
|
||||||
void OneEquality(tinyxml2::XMLElement* elem, mjmEquality* pequality);
|
void OneEquality(tinyxml2::XMLElement* elem, mjsEquality* pequality);
|
||||||
void OneTendon(tinyxml2::XMLElement* elem, mjmTendon* ptendon);
|
void OneTendon(tinyxml2::XMLElement* elem, mjsTendon* ptendon);
|
||||||
void OneActuator(tinyxml2::XMLElement* elem, mjmActuator* pactuator);
|
void OneActuator(tinyxml2::XMLElement* elem, mjsActuator* pactuator);
|
||||||
void OneComposite(tinyxml2::XMLElement* elem, mjmBody* pbody, mjmDefault* def);
|
void OneComposite(tinyxml2::XMLElement* elem, mjsBody* pbody, mjsDefault* def);
|
||||||
void OneFlexcomp(tinyxml2::XMLElement* elem, mjmBody* pbody);
|
void OneFlexcomp(tinyxml2::XMLElement* elem, mjsBody* pbody);
|
||||||
void OnePlugin(tinyxml2::XMLElement* elem, mjmPlugin* plugin);
|
void OnePlugin(tinyxml2::XMLElement* elem, mjsPlugin* plugin);
|
||||||
|
|
||||||
mjXSchema schema; // schema used for validation
|
mjXSchema schema; // schema used for validation
|
||||||
mjmDefault* GetClass(tinyxml2::XMLElement* section); // get default class name
|
mjsDefault* GetClass(tinyxml2::XMLElement* section); // get default class name
|
||||||
|
|
||||||
bool readingdefaults; // true while reading defaults
|
bool readingdefaults; // true while reading defaults
|
||||||
|
|
||||||
|
|||||||
@@ -307,6 +307,7 @@ void mjXWriter::OneJoint(XMLElement* elem, mjCJoint* pjoint, mjCDef* def) {
|
|||||||
WriteAttr(elem, "range", 2, pjoint->range, def->joint.range);
|
WriteAttr(elem, "range", 2, pjoint->range, def->joint.range);
|
||||||
WriteAttrKey(elem, "actuatorfrclimited", TFAuto_map, 3, pjoint->actfrclimited,
|
WriteAttrKey(elem, "actuatorfrclimited", TFAuto_map, 3, pjoint->actfrclimited,
|
||||||
def->joint.actfrclimited);
|
def->joint.actfrclimited);
|
||||||
|
WriteAttrKey(elem, "actuatorgravcomp", bool_map, 2, pjoint->actgravcomp, def->joint.actgravcomp);
|
||||||
WriteAttr(elem, "actuatorfrcrange", 2, pjoint->actfrcrange, def->joint.actfrcrange);
|
WriteAttr(elem, "actuatorfrcrange", 2, pjoint->actfrcrange, def->joint.actfrcrange);
|
||||||
WriteAttr(elem, "margin", 1, &pjoint->margin, &def->joint.margin);
|
WriteAttr(elem, "margin", 1, &pjoint->margin, &def->joint.margin);
|
||||||
WriteAttr(elem, "armature", 1, &pjoint->armature, &def->joint.armature);
|
WriteAttr(elem, "armature", 1, &pjoint->armature, &def->joint.armature);
|
||||||
@@ -553,33 +554,33 @@ void mjXWriter::OneEquality(XMLElement* elem, mjCEquality* peq, mjCDef* def) {
|
|||||||
|
|
||||||
switch (peq->type) {
|
switch (peq->type) {
|
||||||
case mjEQ_CONNECT:
|
case mjEQ_CONNECT:
|
||||||
WriteAttrTxt(elem, "body1", mjm_getString(peq->name1));
|
WriteAttrTxt(elem, "body1", mjs_getString(peq->name1));
|
||||||
WriteAttrTxt(elem, "body2", mjm_getString(peq->name2));
|
WriteAttrTxt(elem, "body2", mjs_getString(peq->name2));
|
||||||
WriteAttr(elem, "anchor", 3, peq->data);
|
WriteAttr(elem, "anchor", 3, peq->data);
|
||||||
break;
|
break;
|
||||||
|
|
||||||
case mjEQ_WELD:
|
case mjEQ_WELD:
|
||||||
WriteAttrTxt(elem, "body1", mjm_getString(peq->name1));
|
WriteAttrTxt(elem, "body1", mjs_getString(peq->name1));
|
||||||
WriteAttrTxt(elem, "body2", mjm_getString(peq->name2));
|
WriteAttrTxt(elem, "body2", mjs_getString(peq->name2));
|
||||||
WriteAttr(elem, "anchor", 3, peq->data);
|
WriteAttr(elem, "anchor", 3, peq->data);
|
||||||
WriteAttr(elem, "torquescale", 1, peq->data+10);
|
WriteAttr(elem, "torquescale", 1, peq->data+10);
|
||||||
WriteAttr(elem, "relpose", 7, peq->data+3);
|
WriteAttr(elem, "relpose", 7, peq->data+3);
|
||||||
break;
|
break;
|
||||||
|
|
||||||
case mjEQ_JOINT:
|
case mjEQ_JOINT:
|
||||||
WriteAttrTxt(elem, "joint1", mjm_getString(peq->name1));
|
WriteAttrTxt(elem, "joint1", mjs_getString(peq->name1));
|
||||||
WriteAttrTxt(elem, "joint2", mjm_getString(peq->name2));
|
WriteAttrTxt(elem, "joint2", mjs_getString(peq->name2));
|
||||||
WriteAttr(elem, "polycoef", 5, peq->data);
|
WriteAttr(elem, "polycoef", 5, peq->data);
|
||||||
break;
|
break;
|
||||||
|
|
||||||
case mjEQ_TENDON:
|
case mjEQ_TENDON:
|
||||||
WriteAttrTxt(elem, "tendon1", mjm_getString(peq->name1));
|
WriteAttrTxt(elem, "tendon1", mjs_getString(peq->name1));
|
||||||
WriteAttrTxt(elem, "tendon2", mjm_getString(peq->name2));
|
WriteAttrTxt(elem, "tendon2", mjs_getString(peq->name2));
|
||||||
WriteAttr(elem, "polycoef", 5, peq->data);
|
WriteAttr(elem, "polycoef", 5, peq->data);
|
||||||
break;
|
break;
|
||||||
|
|
||||||
case mjEQ_FLEX:
|
case mjEQ_FLEX:
|
||||||
WriteAttrTxt(elem, "flex", mjm_getString(peq->name1));
|
WriteAttrTxt(elem, "flex", mjs_getString(peq->name1));
|
||||||
break;
|
break;
|
||||||
|
|
||||||
default:
|
default:
|
||||||
@@ -731,16 +732,16 @@ void mjXWriter::OneActuator(XMLElement* elem, mjCActuator* pact, mjCDef* def) {
|
|||||||
|
|
||||||
|
|
||||||
// write plugin
|
// write plugin
|
||||||
void mjXWriter::OnePlugin(XMLElement* elem, mjmPlugin* plugin) {
|
void mjXWriter::OnePlugin(XMLElement* elem, mjsPlugin* plugin) {
|
||||||
const std::string instance_name = std::string(mjm_getString(plugin->instance_name));
|
const std::string instance_name = std::string(mjs_getString(plugin->instance_name));
|
||||||
const std::string plugin_name = std::string(mjm_getString(plugin->name));
|
const std::string plugin_name = std::string(mjs_getString(plugin->name));
|
||||||
if (!instance_name.empty()) {
|
if (!instance_name.empty()) {
|
||||||
WriteAttrTxt(elem, "instance", instance_name);
|
WriteAttrTxt(elem, "instance", instance_name);
|
||||||
} else {
|
} else {
|
||||||
WriteAttrTxt(elem, "plugin", plugin_name);
|
WriteAttrTxt(elem, "plugin", plugin_name);
|
||||||
const mjpPlugin* pplugin = mjp_getPluginAtSlot(
|
const mjpPlugin* pplugin = mjp_getPluginAtSlot(
|
||||||
((mjCPlugin*)plugin->instance)->spec.plugin_slot);
|
static_cast<mjCPlugin*>(plugin->instance)->spec.plugin_slot);
|
||||||
const char* c = &((mjCPlugin*)plugin->instance)->flattened_attributes[0];
|
const char* c = &(static_cast<mjCPlugin*>(plugin->instance)->flattened_attributes[0]);
|
||||||
for (int i = 0; i < pplugin->nattribute; ++i) {
|
for (int i = 0; i < pplugin->nattribute; ++i) {
|
||||||
std::string value(c);
|
std::string value(c);
|
||||||
if (!value.empty()) {
|
if (!value.empty()) {
|
||||||
@@ -783,13 +784,13 @@ string mjXWriter::Write(char *error, size_t error_sz) {
|
|||||||
// create document and root
|
// create document and root
|
||||||
XMLDocument doc;
|
XMLDocument doc;
|
||||||
XMLElement* root = doc.NewElement("mujoco");
|
XMLElement* root = doc.NewElement("mujoco");
|
||||||
root->SetAttribute("model", mjm_getString(model->modelname));
|
root->SetAttribute("model", mjs_getString(model->modelname));
|
||||||
|
|
||||||
// insert root
|
// insert root
|
||||||
doc.InsertFirstChild(root);
|
doc.InsertFirstChild(root);
|
||||||
|
|
||||||
// write comment if present
|
// write comment if present
|
||||||
string text = mjm_getString(model->comment);
|
string text = mjs_getString(model->comment);
|
||||||
if (!text.empty()) {
|
if (!text.empty()) {
|
||||||
XMLComment* comment = doc.NewComment(text.c_str());
|
XMLComment* comment = doc.NewComment(text.c_str());
|
||||||
root->LinkEndChild(comment);
|
root->LinkEndChild(comment);
|
||||||
@@ -937,7 +938,6 @@ void mjXWriter::Option(XMLElement* root) {
|
|||||||
WRITEENBL("energy", mjENBL_ENERGY)
|
WRITEENBL("energy", mjENBL_ENERGY)
|
||||||
WRITEENBL("fwdinv", mjENBL_FWDINV)
|
WRITEENBL("fwdinv", mjENBL_FWDINV)
|
||||||
WRITEENBL("invdiscrete", mjENBL_INVDISCRETE)
|
WRITEENBL("invdiscrete", mjENBL_INVDISCRETE)
|
||||||
WRITEENBL("sensornoise", mjENBL_SENSORNOISE)
|
|
||||||
WRITEENBL("multiccd", mjENBL_MULTICCD)
|
WRITEENBL("multiccd", mjENBL_MULTICCD)
|
||||||
WRITEENBL("island", mjENBL_ISLAND)
|
WRITEENBL("island", mjENBL_ISLAND)
|
||||||
#undef WRITEENBL
|
#undef WRITEENBL
|
||||||
|
|||||||
@@ -72,7 +72,7 @@ class mjXWriter : public mjXBase {
|
|||||||
void OneEquality(tinyxml2::XMLElement* elem, mjCEquality* pequality, mjCDef* def);
|
void OneEquality(tinyxml2::XMLElement* elem, mjCEquality* pequality, mjCDef* def);
|
||||||
void OneTendon(tinyxml2::XMLElement* elem, mjCTendon* ptendon, mjCDef* def);
|
void OneTendon(tinyxml2::XMLElement* elem, mjCTendon* ptendon, mjCDef* def);
|
||||||
void OneActuator(tinyxml2::XMLElement* elem, mjCActuator* pactuator, mjCDef* def);
|
void OneActuator(tinyxml2::XMLElement* elem, mjCActuator* pactuator, mjCDef* def);
|
||||||
void OnePlugin(tinyxml2::XMLElement* elem, mjmPlugin* plugin);
|
void OnePlugin(tinyxml2::XMLElement* elem, mjsPlugin* plugin);
|
||||||
|
|
||||||
bool writingdefaults; // true during defaults write
|
bool writingdefaults; // true during defaults write
|
||||||
};
|
};
|
||||||
|
|||||||
+50
-50
@@ -20,7 +20,6 @@
|
|||||||
|
|
||||||
#include <mujoco/mjmodel.h>
|
#include <mujoco/mjmodel.h>
|
||||||
#include "user/user_api.h"
|
#include "user/user_api.h"
|
||||||
#include "user/user_objects.h"
|
|
||||||
#include "user/user_util.h"
|
#include "user/user_util.h"
|
||||||
#include "xml/xml_native_reader.h"
|
#include "xml/xml_native_reader.h"
|
||||||
#include "xml/xml_urdf.h"
|
#include "xml/xml_urdf.h"
|
||||||
@@ -112,7 +111,7 @@ void mjXURDF::Parse(
|
|||||||
// get model name
|
// get model name
|
||||||
std::string modelname;
|
std::string modelname;
|
||||||
if (ReadAttrTxt(root, "name", modelname)) {
|
if (ReadAttrTxt(root, "name", modelname)) {
|
||||||
mjm_setString(model->modelname, modelname.c_str());
|
mjs_setString(model->modelname, modelname.c_str());
|
||||||
}
|
}
|
||||||
|
|
||||||
// find and register all materials
|
// find and register all materials
|
||||||
@@ -206,16 +205,16 @@ void mjXURDF::Parse(
|
|||||||
// override the pose for the base link and add a free joint
|
// override the pose for the base link and add a free joint
|
||||||
for (int i = 0; i < (int)urName.size(); i++) {
|
for (int i = 0; i < (int)urName.size(); i++) {
|
||||||
if (urParent[i] < 0) {
|
if (urParent[i] < 0) {
|
||||||
mjmBody* world = mjm_findBody(model, "world");
|
mjsBody* world = mjs_findBody(model, "world");
|
||||||
mjmBody* pbody = mjm_findChild(world, urName[i].c_str());
|
mjsBody* pbody = mjs_findChild(world, urName[i].c_str());
|
||||||
mjuu_copyvec(pbody->pos, pos, 3);
|
mjuu_copyvec(pbody->pos, pos, 3);
|
||||||
mjuu_copyvec(pbody->quat, quat, 4);
|
mjuu_copyvec(pbody->quat, quat, 4);
|
||||||
|
|
||||||
// add a free joint to allow motion of the body
|
// add a free joint to allow motion of the body
|
||||||
// if the mass is 0, assume the object is static
|
// if the mass is 0, assume the object is static
|
||||||
if (!static_body && pbody->mass > 0) {
|
if (!static_body && pbody->mass > 0) {
|
||||||
mjmJoint* pjoint = mjm_addJoint(pbody, 0);
|
mjsJoint* pjoint = mjs_addJoint(pbody, 0);
|
||||||
mjm_setString(pjoint->name, (urName[i] + "_free_joint").c_str());
|
mjs_setString(pjoint->name, (urName[i] + "_free_joint").c_str());
|
||||||
pjoint->type = mjJNT_FREE;
|
pjoint->type = mjJNT_FREE;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -226,14 +225,14 @@ void mjXURDF::Parse(
|
|||||||
void mjXURDF::Body(XMLElement* body_elem) {
|
void mjXURDF::Body(XMLElement* body_elem) {
|
||||||
std::string name, text;
|
std::string name, text;
|
||||||
XMLElement *elem, *temp, *temp1;
|
XMLElement *elem, *temp, *temp1;
|
||||||
mjmBody *pbody, *world;
|
mjsBody *pbody, *world;
|
||||||
mjmGeom* pgeom;
|
mjsGeom* pgeom;
|
||||||
|
|
||||||
// get body name and pointer to mjmBody
|
// get body name and pointer to mjsBody
|
||||||
ReadAttrTxt(body_elem, "name", name, true);
|
ReadAttrTxt(body_elem, "name", name, true);
|
||||||
name = GetPrefixedName(name);
|
name = GetPrefixedName(name);
|
||||||
world = mjm_findBody(model, "world");
|
world = mjs_findBody(model, "world");
|
||||||
pbody = mjm_findChild(world, name.c_str());
|
pbody = mjs_findChild(world, name.c_str());
|
||||||
if (!pbody) {
|
if (!pbody) {
|
||||||
throw mjXError(body_elem, "URDF body not found"); // SHOULD NOT OCCUR
|
throw mjXError(body_elem, "URDF body not found"); // SHOULD NOT OCCUR
|
||||||
}
|
}
|
||||||
@@ -272,7 +271,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
|
|||||||
// lquat = rotation from specified to default (joint/body) inertial frame
|
// lquat = rotation from specified to default (joint/body) inertial frame
|
||||||
double lquat[4] = {1, 0, 0, 0};
|
double lquat[4] = {1, 0, 0, 0};
|
||||||
double tmpquat[4] = {1, 0, 0, 0};
|
double tmpquat[4] = {1, 0, 0, 0};
|
||||||
const char* altres = mjm_setFullInertia(pbody, lquat, pbody->inertia);
|
const char* altres = mjs_setFullInertia(pbody, lquat, pbody->inertia);
|
||||||
|
|
||||||
// inertia are sometimes 0 in URDF files: ignore error in altres, fix later
|
// inertia are sometimes 0 in URDF files: ignore error in altres, fix later
|
||||||
(void) altres;
|
(void) altres;
|
||||||
@@ -326,7 +325,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
|
|||||||
mjXUtil::ReadAttrTxt(elem, "name", geom_name);
|
mjXUtil::ReadAttrTxt(elem, "name", geom_name);
|
||||||
name = GetPrefixedName(name);
|
name = GetPrefixedName(name);
|
||||||
if (urGeomNames.find(geom_name) == urGeomNames.end()) {
|
if (urGeomNames.find(geom_name) == urGeomNames.end()) {
|
||||||
mjm_setString(pgeom->name, geom_name.c_str());
|
mjs_setString(pgeom->name, geom_name.c_str());
|
||||||
urGeomNames.insert(geom_name);
|
urGeomNames.insert(geom_name);
|
||||||
} else {
|
} else {
|
||||||
std::cerr << "WARNING: Geom with duplicate name '" << geom_name
|
std::cerr << "WARNING: Geom with duplicate name '" << geom_name
|
||||||
@@ -349,7 +348,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
|
|||||||
mjXUtil::ReadAttrTxt(elem, "name", geom_name);
|
mjXUtil::ReadAttrTxt(elem, "name", geom_name);
|
||||||
geom_name = GetPrefixedName(geom_name);
|
geom_name = GetPrefixedName(geom_name);
|
||||||
if (urGeomNames.find(geom_name) == urGeomNames.end()) {
|
if (urGeomNames.find(geom_name) == urGeomNames.end()) {
|
||||||
mjm_setString(pgeom->name, geom_name.c_str());
|
mjs_setString(pgeom->name, geom_name.c_str());
|
||||||
urGeomNames.insert(geom_name);
|
urGeomNames.insert(geom_name);
|
||||||
} else {
|
} else {
|
||||||
std::cerr << "WARNING: Geom with duplicate name '" << geom_name
|
std::cerr << "WARNING: Geom with duplicate name '" << geom_name
|
||||||
@@ -374,8 +373,8 @@ void mjXURDF::Parse(XMLElement* root) {
|
|||||||
void mjXURDF::Joint(XMLElement* joint_elem) {
|
void mjXURDF::Joint(XMLElement* joint_elem) {
|
||||||
std::string jntname, name, text;
|
std::string jntname, name, text;
|
||||||
XMLElement *elem;
|
XMLElement *elem;
|
||||||
mjmBody *pbody, *parent, *world;
|
mjsBody *pbody, *parent, *world;
|
||||||
mjmJoint *pjoint=0, *pjoint1=0, *pjoint2=0;
|
mjsJoint *pjoint=0, *pjoint1=0, *pjoint2=0;
|
||||||
int jointtype;
|
int jointtype;
|
||||||
|
|
||||||
// get type and name
|
// get type and name
|
||||||
@@ -390,8 +389,8 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
|
|||||||
elem = FindSubElem(joint_elem, "parent", true);
|
elem = FindSubElem(joint_elem, "parent", true);
|
||||||
ReadAttrTxt(elem, "link", name, true);
|
ReadAttrTxt(elem, "link", name, true);
|
||||||
name = GetPrefixedName(name);
|
name = GetPrefixedName(name);
|
||||||
world = mjm_findBody(model, "world");
|
world = mjs_findBody(model, "world");
|
||||||
parent = mjm_findChild(world, name.c_str());
|
parent = mjs_findChild(world, name.c_str());
|
||||||
if (!parent) { // SHOULD NOT OCCUR
|
if (!parent) { // SHOULD NOT OCCUR
|
||||||
throw mjXError(elem, "invalid parent name in URDF joint definition");
|
throw mjXError(elem, "invalid parent name in URDF joint definition");
|
||||||
}
|
}
|
||||||
@@ -400,8 +399,8 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
|
|||||||
elem = FindSubElem(joint_elem, "child", true);
|
elem = FindSubElem(joint_elem, "child", true);
|
||||||
ReadAttrTxt(elem, "link", name, true);
|
ReadAttrTxt(elem, "link", name, true);
|
||||||
name = GetPrefixedName(name);
|
name = GetPrefixedName(name);
|
||||||
world = mjm_findBody(model, "world");
|
world = mjs_findBody(model, "world");
|
||||||
pbody = mjm_findChild(world, name.c_str());
|
pbody = mjs_findChild(world, name.c_str());
|
||||||
if (!pbody) { // SHOULD NOT OCCUR
|
if (!pbody) { // SHOULD NOT OCCUR
|
||||||
throw mjXError(elem, "invalid child name in URDF joint definition");
|
throw mjXError(elem, "invalid child name in URDF joint definition");
|
||||||
}
|
}
|
||||||
@@ -418,16 +417,16 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
|
|||||||
switch (jointtype) {
|
switch (jointtype) {
|
||||||
case 0: // revolute
|
case 0: // revolute
|
||||||
case 1: // continuous
|
case 1: // continuous
|
||||||
pjoint = mjm_addJoint(pbody, 0);
|
pjoint = mjs_addJoint(pbody, 0);
|
||||||
mjm_setString(pjoint->name, jntname.c_str());
|
mjs_setString(pjoint->name, jntname.c_str());
|
||||||
pjoint->type = mjJNT_HINGE;
|
pjoint->type = mjJNT_HINGE;
|
||||||
mjuu_setvec(pjoint->pos, 0, 0, 0);
|
mjuu_setvec(pjoint->pos, 0, 0, 0);
|
||||||
mjuu_copyvec(pjoint->axis, axis, 3);
|
mjuu_copyvec(pjoint->axis, axis, 3);
|
||||||
break;
|
break;
|
||||||
|
|
||||||
case 2: // prismatic
|
case 2: // prismatic
|
||||||
pjoint = mjm_addJoint(pbody, 0);
|
pjoint = mjs_addJoint(pbody, 0);
|
||||||
mjm_setString(pjoint->name, jntname.c_str());
|
mjs_setString(pjoint->name, jntname.c_str());
|
||||||
pjoint->type = mjJNT_SLIDE;
|
pjoint->type = mjJNT_SLIDE;
|
||||||
mjuu_setvec(pjoint->pos, 0, 0, 0);
|
mjuu_setvec(pjoint->pos, 0, 0, 0);
|
||||||
mjuu_copyvec(pjoint->axis, axis, 3);
|
mjuu_copyvec(pjoint->axis, axis, 3);
|
||||||
@@ -437,8 +436,8 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
|
|||||||
return;
|
return;
|
||||||
|
|
||||||
case 4: // floating
|
case 4: // floating
|
||||||
pjoint = mjm_addJoint(pbody, 0);
|
pjoint = mjs_addJoint(pbody, 0);
|
||||||
mjm_setString(pjoint->name, jntname.c_str());
|
mjs_setString(pjoint->name, jntname.c_str());
|
||||||
pjoint->type = mjJNT_FREE;
|
pjoint->type = mjJNT_FREE;
|
||||||
break;
|
break;
|
||||||
|
|
||||||
@@ -448,8 +447,8 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
|
|||||||
mjuu_quat2mat(mat, quat);
|
mjuu_quat2mat(mat, quat);
|
||||||
|
|
||||||
// construct slider along x
|
// construct slider along x
|
||||||
pjoint = mjm_addJoint(pbody, 0);
|
pjoint = mjs_addJoint(pbody, 0);
|
||||||
mjm_setString(pjoint->name, (jntname + "_TX").c_str());
|
mjs_setString(pjoint->name, (jntname + "_TX").c_str());
|
||||||
pjoint->type = mjJNT_SLIDE;
|
pjoint->type = mjJNT_SLIDE;
|
||||||
tmpaxis[0] = mat[0];
|
tmpaxis[0] = mat[0];
|
||||||
tmpaxis[1] = mat[3];
|
tmpaxis[1] = mat[3];
|
||||||
@@ -458,8 +457,8 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
|
|||||||
mjuu_copyvec(pjoint->axis, tmpaxis, 3);
|
mjuu_copyvec(pjoint->axis, tmpaxis, 3);
|
||||||
|
|
||||||
// construct slider along y
|
// construct slider along y
|
||||||
pjoint1 = mjm_addJoint(pbody, 0);
|
pjoint1 = mjs_addJoint(pbody, 0);
|
||||||
mjm_setString(pjoint1->name, (jntname + "_TY").c_str());
|
mjs_setString(pjoint1->name, (jntname + "_TY").c_str());
|
||||||
pjoint1->type = mjJNT_SLIDE;
|
pjoint1->type = mjJNT_SLIDE;
|
||||||
tmpaxis[0] = mat[1];
|
tmpaxis[0] = mat[1];
|
||||||
tmpaxis[1] = mat[4];
|
tmpaxis[1] = mat[4];
|
||||||
@@ -468,8 +467,8 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
|
|||||||
mjuu_copyvec(pjoint1->axis, tmpaxis, 3);
|
mjuu_copyvec(pjoint1->axis, tmpaxis, 3);
|
||||||
|
|
||||||
// construct hinge around z = locaxis
|
// construct hinge around z = locaxis
|
||||||
pjoint2 = mjm_addJoint(pbody, 0);
|
pjoint2 = mjs_addJoint(pbody, 0);
|
||||||
mjm_setString(pjoint2->name, (jntname + "_RZ").c_str());
|
mjs_setString(pjoint2->name, (jntname + "_RZ").c_str());
|
||||||
pjoint2->type = mjJNT_HINGE;
|
pjoint2->type = mjJNT_HINGE;
|
||||||
mjuu_setvec(pjoint2->pos, 0, 0, 0);
|
mjuu_setvec(pjoint2->pos, 0, 0, 0);
|
||||||
mjuu_copyvec(pjoint2->axis, axis, 3);
|
mjuu_copyvec(pjoint2->axis, axis, 3);
|
||||||
@@ -506,7 +505,7 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
|
|||||||
|
|
||||||
|
|
||||||
// parse origin and geometry elements of visual or collision
|
// parse origin and geometry elements of visual or collision
|
||||||
mjmGeom* mjXURDF::Geom(XMLElement* geom_elem, mjmBody* pbody, bool collision) {
|
mjsGeom* mjXURDF::Geom(XMLElement* geom_elem, mjsBody* pbody, bool collision) {
|
||||||
XMLElement *elem, *temp;
|
XMLElement *elem, *temp;
|
||||||
std::string text, meshfile;
|
std::string text, meshfile;
|
||||||
|
|
||||||
@@ -514,8 +513,8 @@ mjmGeom* mjXURDF::Geom(XMLElement* geom_elem, mjmBody* pbody, bool collision) {
|
|||||||
elem = FindSubElem(geom_elem, "geometry", true);
|
elem = FindSubElem(geom_elem, "geometry", true);
|
||||||
|
|
||||||
// add BOX geom, modify type later
|
// add BOX geom, modify type later
|
||||||
mjmGeom* pgeom = mjm_addGeom(pbody, 0);
|
mjsGeom* pgeom = mjs_addGeom(pbody, 0);
|
||||||
mjm_setString(pgeom->name, "");
|
mjs_setString(pgeom->name, "");
|
||||||
pgeom->type = mjGEOM_BOX;
|
pgeom->type = mjGEOM_BOX;
|
||||||
if (collision) {
|
if (collision) {
|
||||||
pgeom->contype = 1;
|
pgeom->contype = 1;
|
||||||
@@ -576,19 +575,19 @@ mjmGeom* mjXURDF::Geom(XMLElement* geom_elem, mjmBody* pbody, bool collision) {
|
|||||||
meshname = mjuu_stripext(meshname);
|
meshname = mjuu_stripext(meshname);
|
||||||
|
|
||||||
// look for existing mesh
|
// look for existing mesh
|
||||||
mjmMesh* mesh = mjm_findMesh(model, meshname.c_str());
|
mjsMesh* mesh = mjs_findMesh(model, meshname.c_str());
|
||||||
mjmMesh* pmesh = 0;
|
mjsMesh* pmesh = 0;
|
||||||
|
|
||||||
// does not exist: create
|
// does not exist: create
|
||||||
if (!mesh) {
|
if (!mesh) {
|
||||||
pmesh = mjm_addMesh(model, 0);
|
pmesh = mjs_addMesh(model, 0);
|
||||||
}
|
}
|
||||||
|
|
||||||
// exists with different scale: append name with '1', create
|
// exists with different scale: append name with '1', create
|
||||||
else if (mesh->scale[0]!=meshscale[0] ||
|
else if (mesh->scale[0]!=meshscale[0] ||
|
||||||
mesh->scale[1]!=meshscale[1] ||
|
mesh->scale[1]!=meshscale[1] ||
|
||||||
mesh->scale[2]!=meshscale[2]) {
|
mesh->scale[2]!=meshscale[2]) {
|
||||||
pmesh = mjm_addMesh(model, 0);
|
pmesh = mjs_addMesh(model, 0);
|
||||||
meshname = meshname + "1";
|
meshname = meshname + "1";
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -598,9 +597,9 @@ mjmGeom* mjXURDF::Geom(XMLElement* geom_elem, mjmBody* pbody, bool collision) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
// set fields
|
// set fields
|
||||||
mjm_setString(pmesh->file, meshfile.c_str());
|
mjs_setString(pmesh->file, meshfile.c_str());
|
||||||
mjm_setString(pmesh->name, meshname.c_str());
|
mjs_setString(pmesh->name, meshname.c_str());
|
||||||
mjm_setString(pgeom->meshname, meshname.c_str());
|
mjs_setString(pgeom->meshname, meshname.c_str());
|
||||||
pmesh->scale[0] = meshscale[0];
|
pmesh->scale[0] = meshscale[0];
|
||||||
pmesh->scale[1] = meshscale[1];
|
pmesh->scale[1] = meshscale[1];
|
||||||
pmesh->scale[2] = meshscale[2];
|
pmesh->scale[2] = meshscale[2];
|
||||||
@@ -633,9 +632,10 @@ void mjXURDF::Origin(XMLElement* origin_elem, double* pos, double* quat) {
|
|||||||
ReadAttr(temp, "xyz", 3, pos, text);
|
ReadAttr(temp, "xyz", 3, pos, text);
|
||||||
|
|
||||||
// orientation
|
// orientation
|
||||||
mjCAlternative alt;
|
mjsOrientation alt;
|
||||||
|
mjs_defaultOrientation(alt);
|
||||||
if (ReadAttr(temp, "rpy", 3, alt.euler, text)) {
|
if (ReadAttr(temp, "rpy", 3, alt.euler, text)) {
|
||||||
alt.Set(quat, 0, "XYZ");
|
mjs_resolveOrientation(quat, 0, "XYZ", &alt);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@@ -683,22 +683,22 @@ void mjXURDF::AddBody(std::string name) {
|
|||||||
// add body with given number to the mjCModel tree, process children
|
// add body with given number to the mjCModel tree, process children
|
||||||
void mjXURDF::AddToTree(int n) {
|
void mjXURDF::AddToTree(int n) {
|
||||||
// get pointer to parent in mjCModel tree
|
// get pointer to parent in mjCModel tree
|
||||||
mjmBody *parent = 0, *child = 0, *world = 0;
|
mjsBody *parent = 0, *child = 0, *world = 0;
|
||||||
if (urParent[n]>=0) {
|
if (urParent[n]>=0) {
|
||||||
world = mjm_findBody(model, "world");
|
world = mjs_findBody(model, "world");
|
||||||
parent = mjm_findChild(world, urName[urParent[n]].c_str());
|
parent = mjs_findChild(world, urName[urParent[n]].c_str());
|
||||||
|
|
||||||
if (!parent)
|
if (!parent)
|
||||||
throw mjXError(0, "URDF body parent should already be in tree: %s",
|
throw mjXError(0, "URDF body parent should already be in tree: %s",
|
||||||
urName[urParent[n]].c_str()); // SHOULD NOT OCCUR
|
urName[urParent[n]].c_str()); // SHOULD NOT OCCUR
|
||||||
} else {
|
} else {
|
||||||
parent = mjm_findBody(model, "world");
|
parent = mjs_findBody(model, "world");
|
||||||
}
|
}
|
||||||
|
|
||||||
// add this body
|
// add this body
|
||||||
if (urName[n] != "world") {
|
if (urName[n] != "world") {
|
||||||
child = mjm_addBody(parent, 0);
|
child = mjs_addBody(parent, 0);
|
||||||
mjm_setString(child->name, urName[n].c_str());
|
mjs_setString(child->name, urName[n].c_str());
|
||||||
}
|
}
|
||||||
|
|
||||||
// add children recursively
|
// add children recursively
|
||||||
|
|||||||
+2
-2
@@ -51,8 +51,8 @@ class mjXURDF : public mjXBase {
|
|||||||
void AddToTree(int n); // add body to mjCModel tree
|
void AddToTree(int n); // add body to mjCModel tree
|
||||||
void Body(tinyxml2::XMLElement* body_elem); // parse body
|
void Body(tinyxml2::XMLElement* body_elem); // parse body
|
||||||
void Joint(tinyxml2::XMLElement* joint_elem); // parse joint
|
void Joint(tinyxml2::XMLElement* joint_elem); // parse joint
|
||||||
mjmGeom* Geom(tinyxml2::XMLElement* geom_elem,
|
mjsGeom* Geom(tinyxml2::XMLElement* geom_elem,
|
||||||
mjmBody* pbody, bool collision); // parse origin and geometry of geom
|
mjsBody* pbody, bool collision); // parse origin and geometry of geom
|
||||||
void Origin(tinyxml2::XMLElement* origin_elem, double* pos, double* quat); // parse origin element
|
void Origin(tinyxml2::XMLElement* origin_elem, double* pos, double* quat); // parse origin element
|
||||||
|
|
||||||
void MakeMaterials(tinyxml2::XMLElement* elem); // find all materials recursively
|
void MakeMaterials(tinyxml2::XMLElement* elem); // find all materials recursively
|
||||||
|
|||||||
+2
-3
@@ -523,14 +523,13 @@ bool mjXUtil::SameVector(const T* vec1, const T* vec2, int n) {
|
|||||||
return false;
|
return false;
|
||||||
}
|
}
|
||||||
|
|
||||||
bool same = true;
|
|
||||||
for (int i = 0; i < n; i++) {
|
for (int i = 0; i < n; i++) {
|
||||||
if (std::abs(vec1[i] - vec2[i]) > std::numeric_limits<T>::epsilon()) {
|
if (std::abs(vec1[i] - vec2[i]) > std::numeric_limits<T>::epsilon()) {
|
||||||
same = false;
|
return false;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
return same;
|
return true;
|
||||||
}
|
}
|
||||||
|
|
||||||
template bool mjXUtil::SameVector(const double* vec1, const double* vec2, int n);
|
template bool mjXUtil::SameVector(const double* vec1, const double* vec2, int n);
|
||||||
|
|||||||
@@ -765,6 +765,80 @@ TEST_F(ActuatorTest, ActuatorForceClamping) {
|
|||||||
mj_deleteModel(model);
|
mj_deleteModel(model);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// Apply gravity compensation via actuators
|
||||||
|
TEST_F(ActuatorTest, ActuatorGravcomp) {
|
||||||
|
static constexpr char xml[] = R"(
|
||||||
|
<mujoco>
|
||||||
|
<worldbody>
|
||||||
|
<body gravcomp="1">
|
||||||
|
<joint name="joint" type="slide" axis="0 0 1"
|
||||||
|
actuatorfrcrange="-2 2" actuatorgravcomp="true"/>
|
||||||
|
<geom type="box" size=".05 .05 .05" mass="1"/>
|
||||||
|
</body>
|
||||||
|
</worldbody>
|
||||||
|
|
||||||
|
<actuator>
|
||||||
|
<motor name="actuator" joint="joint"/>
|
||||||
|
</actuator>
|
||||||
|
|
||||||
|
<sensor>
|
||||||
|
<actuatorfrc actuator="actuator"/>
|
||||||
|
<jointactuatorfrc joint="joint"/>
|
||||||
|
</sensor>
|
||||||
|
</mujoco>
|
||||||
|
)";
|
||||||
|
mjModel* model = LoadModelFromString(xml);
|
||||||
|
mjData* data = mj_makeData(model);
|
||||||
|
|
||||||
|
mj_forward(model, data);
|
||||||
|
|
||||||
|
// expect force clamping as specified in the model
|
||||||
|
EXPECT_EQ(data->actuator_force[0], 0);
|
||||||
|
EXPECT_EQ(data->qfrc_actuator[0], 2);
|
||||||
|
EXPECT_EQ(data->qfrc_passive[0], 0);
|
||||||
|
EXPECT_EQ(data->sensordata[0], 0);
|
||||||
|
EXPECT_EQ(data->sensordata[1], 2);
|
||||||
|
|
||||||
|
// reduce gravity so gravcomp is not clamped
|
||||||
|
model->opt.gravity[2] = -1;
|
||||||
|
mj_forward(model, data);
|
||||||
|
EXPECT_EQ(data->actuator_force[0], 0);
|
||||||
|
EXPECT_EQ(data->qfrc_actuator[0], 1);
|
||||||
|
EXPECT_EQ(data->qfrc_passive[0], 0);
|
||||||
|
EXPECT_EQ(data->sensordata[0], 0);
|
||||||
|
EXPECT_EQ(data->sensordata[1], 1);
|
||||||
|
|
||||||
|
// add control, see that it adds up
|
||||||
|
data->ctrl[0] = 0.5;
|
||||||
|
mj_forward(model, data);
|
||||||
|
EXPECT_EQ(data->actuator_force[0], 0.5);
|
||||||
|
EXPECT_EQ(data->qfrc_actuator[0], 1.5);
|
||||||
|
EXPECT_EQ(data->qfrc_passive[0], 0);
|
||||||
|
EXPECT_EQ(data->sensordata[0], 0.5);
|
||||||
|
EXPECT_EQ(data->sensordata[1], 1.5);
|
||||||
|
|
||||||
|
// add larger control, expect clamping
|
||||||
|
data->ctrl[0] = 1.5;
|
||||||
|
mj_forward(model, data);
|
||||||
|
EXPECT_EQ(data->actuator_force[0], 1.5);
|
||||||
|
EXPECT_EQ(data->qfrc_actuator[0], 2);
|
||||||
|
EXPECT_EQ(data->qfrc_passive[0], 0);
|
||||||
|
EXPECT_EQ(data->sensordata[0], 1.5);
|
||||||
|
EXPECT_EQ(data->sensordata[1], 2);
|
||||||
|
|
||||||
|
// disable actgravcomp, expect gravcomp as a passive force
|
||||||
|
model->jnt_actgravcomp[0] = 0;
|
||||||
|
mj_forward(model, data);
|
||||||
|
EXPECT_EQ(data->actuator_force[0], 1.5);
|
||||||
|
EXPECT_EQ(data->qfrc_actuator[0], 1.5);
|
||||||
|
EXPECT_EQ(data->qfrc_passive[0], 1);
|
||||||
|
EXPECT_EQ(data->sensordata[0], 1.5);
|
||||||
|
EXPECT_EQ(data->sensordata[1], 1.5);
|
||||||
|
|
||||||
|
mj_deleteData(data);
|
||||||
|
mj_deleteModel(model);
|
||||||
|
}
|
||||||
|
|
||||||
// ----------------------- filterexact actuators -------------------------------
|
// ----------------------- filterexact actuators -------------------------------
|
||||||
|
|
||||||
using FilterExactTest = MujocoTest;
|
using FilterExactTest = MujocoTest;
|
||||||
|
|||||||
@@ -15,7 +15,10 @@
|
|||||||
// Tests for engine/engine_resource.c
|
// Tests for engine/engine_resource.c
|
||||||
|
|
||||||
#include <array>
|
#include <array>
|
||||||
|
#include <cstdint>
|
||||||
#include <cstring>
|
#include <cstring>
|
||||||
|
#include <ctime>
|
||||||
|
#include <string>
|
||||||
|
|
||||||
#include <gmock/gmock.h>
|
#include <gmock/gmock.h>
|
||||||
#include <gtest/gtest.h>
|
#include <gtest/gtest.h>
|
||||||
@@ -24,6 +27,7 @@
|
|||||||
#include <mujoco/mujoco.h>
|
#include <mujoco/mujoco.h>
|
||||||
#include "src/engine/engine_plugin.h"
|
#include "src/engine/engine_plugin.h"
|
||||||
#include "src/engine/engine_resource.h"
|
#include "src/engine/engine_resource.h"
|
||||||
|
#include "src/engine/engine_util_misc.h"
|
||||||
#include "test/fixture.h"
|
#include "test/fixture.h"
|
||||||
|
|
||||||
namespace mujoco {
|
namespace mujoco {
|
||||||
@@ -327,5 +331,34 @@ TEST_F(ResourceTest, NameWithInvalidPrefix) {
|
|||||||
ASSERT_THAT(resource, IsNull());
|
ASSERT_THAT(resource, IsNull());
|
||||||
}
|
}
|
||||||
|
|
||||||
|
TEST_F(ResourceTest, OSFilesystemTimestamps) {
|
||||||
|
time_t t;
|
||||||
|
|
||||||
|
// some random file
|
||||||
|
const char* const file = "engine/testdata/collision_box/boxbox_deep.xml";
|
||||||
|
const std::string xml_path = GetTestDataFilePath(file);
|
||||||
|
|
||||||
|
mjResource* resource = mju_openResource(xml_path.c_str(), nullptr, 0);
|
||||||
|
mju_decodeBase64((uint8_t*) &t, resource->timestamp);
|
||||||
|
|
||||||
|
// equal timestamps
|
||||||
|
EXPECT_EQ(mju_isModifiedResource(resource, resource->timestamp), 0);
|
||||||
|
|
||||||
|
std::array<char, 512> test_timestamp;
|
||||||
|
|
||||||
|
// older resource timestamp
|
||||||
|
t++;
|
||||||
|
mju_encodeBase64(test_timestamp.data(), (uint8_t*) &t, sizeof(time_t));
|
||||||
|
EXPECT_EQ(mju_isModifiedResource(resource, test_timestamp.data()), -1);
|
||||||
|
|
||||||
|
|
||||||
|
// newer resource timestamp
|
||||||
|
t -= 2;
|
||||||
|
mju_encodeBase64(test_timestamp.data(), (uint8_t*) &t, sizeof(time_t));
|
||||||
|
EXPECT_EQ(mju_isModifiedResource(resource, test_timestamp.data()), 1);
|
||||||
|
|
||||||
|
mju_closeResource(resource);
|
||||||
|
}
|
||||||
|
|
||||||
} // namespace
|
} // namespace
|
||||||
} // namespace mujoco
|
} // namespace mujoco
|
||||||
|
|||||||
@@ -95,5 +95,38 @@ TEST_F(EngineUtilBlasTest, MjuSymmetrize) {
|
|||||||
3, 3.5, 3));
|
3, 3.5, 3));
|
||||||
}
|
}
|
||||||
|
|
||||||
|
TEST_F(EngineUtilBlasTest, MjuMulMat3) {
|
||||||
|
const mjtNum mat1[9] = {
|
||||||
|
1, 2, 3,
|
||||||
|
4, 5, 6,
|
||||||
|
7, 8, 9
|
||||||
|
};
|
||||||
|
const mjtNum mat2[9] = {
|
||||||
|
2, 3, 4,
|
||||||
|
5, 6, 7,
|
||||||
|
8, 9, 10
|
||||||
|
};
|
||||||
|
mjtNum res1[9] = {0};
|
||||||
|
mjtNum res2[9] = {0};
|
||||||
|
|
||||||
|
mju_mulMatMat3(res1, mat1, mat2);
|
||||||
|
mju_mulMatMat(res2, mat1, mat2, 3, 3, 3);
|
||||||
|
for (int i = 0; i < 9; ++i) {
|
||||||
|
EXPECT_EQ(res1[i], res2[i]);
|
||||||
|
}
|
||||||
|
|
||||||
|
mju_mulMatTMat3(res1, mat1, mat2);
|
||||||
|
mju_mulMatTMat(res2, mat1, mat2, 3, 3, 3);
|
||||||
|
for (int i = 0; i < 9; ++i) {
|
||||||
|
EXPECT_EQ(res1[i], res2[i]);
|
||||||
|
}
|
||||||
|
|
||||||
|
mju_mulMatMatT3(res1, mat1, mat2);
|
||||||
|
mju_mulMatMatT(res2, mat1, mat2, 3, 3, 3);
|
||||||
|
for (int i = 0; i < 9; ++i) {
|
||||||
|
EXPECT_EQ(res1[i], res2[i]);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
} // namespace
|
} // namespace
|
||||||
} // namespace mujoco
|
} // namespace mujoco
|
||||||
|
|||||||
@@ -20,6 +20,8 @@
|
|||||||
#include <gmock/gmock.h>
|
#include <gmock/gmock.h>
|
||||||
#include <gtest/gtest.h>
|
#include <gtest/gtest.h>
|
||||||
#include <mujoco/mujoco.h>
|
#include <mujoco/mujoco.h>
|
||||||
|
#include "src/engine/engine_resource.h"
|
||||||
|
#include "src/engine/engine_vfs.h"
|
||||||
#include "test/fixture.h"
|
#include "test/fixture.h"
|
||||||
|
|
||||||
namespace mujoco {
|
namespace mujoco {
|
||||||
@@ -28,7 +30,7 @@ namespace {
|
|||||||
using ::testing::NotNull;
|
using ::testing::NotNull;
|
||||||
using EngineVfsTest = MujocoTest;
|
using EngineVfsTest = MujocoTest;
|
||||||
|
|
||||||
TEST_F(EngineVfsTest, AddFileTest) {
|
TEST_F(EngineVfsTest, AddFile) {
|
||||||
constexpr char path[] = "engine/testdata/actuation/";
|
constexpr char path[] = "engine/testdata/actuation/";
|
||||||
const std::string dir = GetTestDataFilePath(path);
|
const std::string dir = GetTestDataFilePath(path);
|
||||||
std::string file1 = "activation.xml";
|
std::string file1 = "activation.xml";
|
||||||
@@ -81,7 +83,7 @@ TEST_F(EngineVfsTest, AddFileTest) {
|
|||||||
mj_deleteVFS(vfs.get());
|
mj_deleteVFS(vfs.get());
|
||||||
}
|
}
|
||||||
|
|
||||||
TEST_F(EngineVfsTest, AddBufferTest) {
|
TEST_F(EngineVfsTest, AddBuffer) {
|
||||||
auto vfs = std::make_unique<mjVFS>();
|
auto vfs = std::make_unique<mjVFS>();
|
||||||
mj_defaultVFS(vfs.get());
|
mj_defaultVFS(vfs.get());
|
||||||
std::string buffer = "<mujoco/>";
|
std::string buffer = "<mujoco/>";
|
||||||
@@ -94,5 +96,32 @@ TEST_F(EngineVfsTest, AddBufferTest) {
|
|||||||
mj_deleteVFS(vfs.get());
|
mj_deleteVFS(vfs.get());
|
||||||
}
|
}
|
||||||
|
|
||||||
|
TEST_F(EngineVfsTest, Timestamps) {
|
||||||
|
static constexpr char cube[] = R"(
|
||||||
|
v -0.500000 -0.500000 0.500000
|
||||||
|
v 0.500000 -0.500000 0.500000
|
||||||
|
v -0.500000 0.500000 0.500000
|
||||||
|
v 0.500000 0.500000 0.500000
|
||||||
|
v -0.500000 0.500000 -0.500000
|
||||||
|
v 0.500000 0.500000 -0.500000
|
||||||
|
v -0.500000 -0.500000 -0.500000
|
||||||
|
v 0.500000 -0.500000 -0.500000)";
|
||||||
|
|
||||||
|
auto vfs = std::make_unique<mjVFS>();
|
||||||
|
mj_defaultVFS(vfs.get());
|
||||||
|
mj_addBufferVFS(vfs.get(), "cube.obj", cube, sizeof(cube));
|
||||||
|
|
||||||
|
mjResource* resource = mju_openVfsResource("cube.obj", vfs.get());
|
||||||
|
|
||||||
|
// same timestamps
|
||||||
|
EXPECT_EQ(mju_isModifiedResource(resource, resource->timestamp), 0);
|
||||||
|
|
||||||
|
// different timestamps
|
||||||
|
EXPECT_EQ(mju_isModifiedResource(resource, "QQ=="), 1);
|
||||||
|
|
||||||
|
mju_closeResource(resource);
|
||||||
|
mj_deleteVFS(vfs.get());
|
||||||
|
}
|
||||||
|
|
||||||
} // namespace
|
} // namespace
|
||||||
} // namespace mujoco
|
} // namespace mujoco
|
||||||
|
|||||||
+6
-6
@@ -6,7 +6,7 @@
|
|||||||
(e.g. 4 consecutive ball joints is not a realistic kinematic design)
|
(e.g. 4 consecutive ball joints is not a realistic kinematic design)
|
||||||
-->
|
-->
|
||||||
<option viscosity="10" integrator="implicit">
|
<option viscosity="10" integrator="implicit">
|
||||||
<flag gravity="disable" contact="disable"/>
|
<flag contact="disable"/>
|
||||||
</option>
|
</option>
|
||||||
|
|
||||||
<statistic meansize=".05"/>
|
<statistic meansize=".05"/>
|
||||||
@@ -29,7 +29,7 @@
|
|||||||
commands is achievable by individual joint actuators with the specified torque limits.
|
commands is achievable by individual joint actuators with the specified torque limits.
|
||||||
See https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping
|
See https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping
|
||||||
-->
|
-->
|
||||||
<joint stiffness="1e-1" actuatorfrcrange="-1 1"/>
|
<joint armature="1e-3" damping="1e-3" stiffness="1e-2" actuatorfrcrange="-1 1" actuatorgravcomp="true"/>
|
||||||
<site type="box" size=".012 .012 .012" rgba=".7 .7 .8 1"/>
|
<site type="box" size=".012 .012 .012" rgba=".7 .7 .8 1"/>
|
||||||
</default>
|
</default>
|
||||||
|
|
||||||
@@ -37,19 +37,19 @@
|
|||||||
<light pos="0 0 2"/>
|
<light pos="0 0 2"/>
|
||||||
<geom type="box" size=".25 .25 .01" pos="0 0 -.01"/>
|
<geom type="box" size=".25 .25 .01" pos="0 0 -.01"/>
|
||||||
<site name="reference" pos="0 0 .25"/>
|
<site name="reference" pos="0 0 .25"/>
|
||||||
<body name="arm" pos="-.25 .25 0">
|
<body name="arm" pos="-.25 .25 0" gravcomp="1">
|
||||||
<joint axis="1 0 0"/>
|
<joint axis="1 0 0"/>
|
||||||
<joint axis="0 1 0"/>
|
<joint axis="0 1 0"/>
|
||||||
<geom type="box" size=".01" fromto="0 0 0 0 0 .25"/>
|
<geom type="box" size=".01" fromto="0 0 0 0 0 .25"/>
|
||||||
<body pos="0 0 .25">
|
<body pos="0 0 .25" gravcomp="1">
|
||||||
<joint axis="0 1 0"/>
|
<joint axis="0 1 0"/>
|
||||||
<joint axis="0 0 1"/>
|
<joint axis="0 0 1"/>
|
||||||
<geom type="box" size=".01" fromto="0 0 0 .25 0 0"/>
|
<geom type="box" size=".01" fromto="0 0 0 .25 0 0"/>
|
||||||
<body pos=".25 0 0">
|
<body pos=".25 0 0" gravcomp="1">
|
||||||
<joint axis="1 0 0"/>
|
<joint axis="1 0 0"/>
|
||||||
<joint axis="0 0 1"/>
|
<joint axis="0 0 1"/>
|
||||||
<geom type="box" size=".01" fromto="0 0 0 0 -.2 0"/>
|
<geom type="box" size=".01" fromto="0 0 0 0 -.2 0"/>
|
||||||
<body pos="0 -.2 0">
|
<body pos="0 -.2 0" gravcomp="1">
|
||||||
<joint axis="1 0 0"/>
|
<joint axis="1 0 0"/>
|
||||||
<joint axis="0 0 1"/>
|
<joint axis="0 0 1"/>
|
||||||
<joint axis="0 1 0"/>
|
<joint axis="0 1 0"/>
|
||||||
|
|||||||
@@ -32,8 +32,14 @@ test_model() {
|
|||||||
# this test can take several minutes under ASAN
|
# this test can take several minutes under ASAN
|
||||||
return 0
|
return 0
|
||||||
fi
|
fi
|
||||||
if [[ "$model" == */benchmark/testdata/humanoid200.xml
|
if [[ "$model" == */benchmark/testdata/humanoid200.xml ||
|
||||||
|| "$model" == */engine/testdata/collision_convex/stacked_boxes.xml
|
"$model" == */engine/testdata/collision_convex/stacked_boxes.xml ||
|
||||||
|
"$model" == */user/testdata/shark_41_ascii_gmshApp.xml ||
|
||||||
|
"$model" == */user/testdata/shark_22_ascii_fTetWild.xml ||
|
||||||
|
"$model" == */user/testdata/shark_22_ascii_gmshApp.xml ||
|
||||||
|
"$model" == */user/testdata/shark_22_binary_fTetWild.xml ||
|
||||||
|
"$model" == */user/testdata/shark_41_binary_gmshApp.xml ||
|
||||||
|
"$model" == */user/testdata/shark_22_binary_gmshApp.xml
|
||||||
]]; then
|
]]; then
|
||||||
iterations=2
|
iterations=2
|
||||||
fi
|
fi
|
||||||
|
|||||||
Vendored
+16
-2
@@ -17,8 +17,13 @@
|
|||||||
1.618 0 -1
|
1.618 0 -1
|
||||||
-1.618 0 1
|
-1.618 0 1
|
||||||
-1.618 0 -1"/>
|
-1.618 0 -1"/>
|
||||||
<hfield name="hfield" nrow="3" ncol="3" size=".2 .2 .1 .03"/>
|
<hfield name="hfield" nrow="3" ncol="3" size=".2 .2 .03 .03"
|
||||||
|
elevation="1 0 1
|
||||||
|
0 1 0
|
||||||
|
1 0 1"/>
|
||||||
<texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
|
<texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
|
||||||
|
<texture name="grid" type="cube" builtin="checker" width="32" height="32" rgb1=".1 .2 .3" rgb2="1 1 1"/>
|
||||||
|
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
||||||
</asset>
|
</asset>
|
||||||
|
|
||||||
<default>
|
<default>
|
||||||
@@ -41,7 +46,7 @@
|
|||||||
<geom name="floor" type="plane" size="4 4 .1"/>
|
<geom name="floor" type="plane" size="4 4 .1"/>
|
||||||
<geom type="hfield" hfield="hfield" pos="-.4 .6 .05" rgba="0 0 1 1"/>
|
<geom type="hfield" hfield="hfield" pos="-.4 .6 .05" rgba="0 0 1 1"/>
|
||||||
<body name="head" pos="0 0 .7">
|
<body name="head" pos="0 0 .7">
|
||||||
<geom type="ellipsoid" size=".2 .2 .4" rgba="1 1 0 1" density="100"/>
|
<geom type="ellipsoid" size=".2 .2 .4" density="100" material="grid"/>
|
||||||
<site name="head" pos="0 0 .4" size=".1 .1 .05" type="box"/>
|
<site name="head" pos="0 0 .4" size=".1 .1 .05" type="box"/>
|
||||||
<site name="anchor0" pos="0 .2 0"/>
|
<site name="anchor0" pos="0 .2 0"/>
|
||||||
<site name="rf" pos="0 0 -0.41" zaxis="0 0 -1"/>
|
<site name="rf" pos="0 0 -0.41" zaxis="0 0 -1"/>
|
||||||
@@ -161,4 +166,13 @@
|
|||||||
qpos="0.0133625 -0.013799 0.659429 0.999776 0.019159 0.00902704 0.000572574 -0.00776575 0.0983289 0.999861 -0.00869796 -0.0141805 0.000912197 0.00700633 0.0930296 0.00637469 -0.00313231 0.119692 0.0051478 -0.0469067 0 -0.500224 0.300659 0.69913 1 -0.000367766 -0.000265698 -0.000109715 -0.319851 0.525628 0.702735 0.29858 0.698263 -0.0490604 -0.648746 -0.579432 0.4206 0.749601 0.900145 -0.208463 0.346664 -0.161576 -0.200033 0.300084 0.976421 0.878429 -0.00171382 0.00127086 -0.477867"
|
qpos="0.0133625 -0.013799 0.659429 0.999776 0.019159 0.00902704 0.000572574 -0.00776575 0.0983289 0.999861 -0.00869796 -0.0141805 0.000912197 0.00700633 0.0930296 0.00637469 -0.00313231 0.119692 0.0051478 -0.0469067 0 -0.500224 0.300659 0.69913 1 -0.000367766 -0.000265698 -0.000109715 -0.319851 0.525628 0.702735 0.29858 0.698263 -0.0490604 -0.648746 -0.579432 0.4206 0.749601 0.900145 -0.208463 0.346664 -0.161576 -0.200033 0.300084 0.976421 0.878429 -0.00171382 0.00127086 -0.477867"
|
||||||
qvel="0.508861 -0.243772 -0.327162 0.549686 1.13746 0.0282475 -0.0865243 1.06414 -0.239958 -0.532111 -0.00133789 -0.0654491 0.533148 -0.253161 0.122149 0.824764 0.723529 -0.674175 0 -0.00154509 -0.00568917 0.00479921 0.00541817 0.00115895 0.00317796 -0.160161 -0.599488 -1.38103 14.9789 -1.05454 -13.9252 -0.31223 -0.0102486 -0.405851 5.43992 -4.71514 0.114928 -0.00123758 0.000187845 -0.244109 -0.190199 0.0697975 -16.3286"/>
|
qvel="0.508861 -0.243772 -0.327162 0.549686 1.13746 0.0282475 -0.0865243 1.06414 -0.239958 -0.532111 -0.00133789 -0.0654491 0.533148 -0.253161 0.122149 0.824764 0.723529 -0.674175 0 -0.00154509 -0.00568917 0.00479921 0.00541817 0.00115895 0.00317796 -0.160161 -0.599488 -1.38103 14.9789 -1.05454 -13.9252 -0.31223 -0.0102486 -0.405851 5.43992 -4.71514 0.114928 -0.00123758 0.000187845 -0.244109 -0.190199 0.0697975 -16.3286"/>
|
||||||
</keyframe>
|
</keyframe>
|
||||||
|
|
||||||
|
<custom>
|
||||||
|
<numeric name="numeric" data="1 2 3"/>
|
||||||
|
<text name="text" data="abc"/>
|
||||||
|
<tuple name="tuple">
|
||||||
|
<element objtype="body" objname="cylinder" prm="1"/>
|
||||||
|
<element objtype="joint" objname="hipz_0" prm="2"/>
|
||||||
|
</tuple>
|
||||||
|
</custom>
|
||||||
</mujoco>
|
</mujoco>
|
||||||
|
|||||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user