a Vj\9@sdZddlZddlZddlmZddZddZdd Zd d Zd d Z ddZ ddZ d(ddZ ddZ ddZddZddZddZdd Zd!d"Zd)d#d$Zed%krddlZeeejd&krejd&neejjd'ZeeedS)*zRobot spec -> MJCF. The spec JSON is the single source of truth: this module turns it into a MuJoCo model, and bench/js/robot.js turns the same file into three.js meshes. If you change the spec schema, change both. N)PathcCsBt|}t|}Wdn1s(0Yt||d<|S)N_path)openjsonloadstr)pathfspecr (/home/ghrups/robot-bench/trainer/mjcf.py load_spec s ( r cCsddd|DS)N css|]}t|dVqdS).6gN)float).0cr r r z_v..)join)xr r r _vsrcCs"dt|ddt|ddS)Nzfromto="fromrto")r)gr r r _capsule_fromtosrcCs|d}d|dg}|dvrF|t||d|dddn|dkr|dt|d dd |vr|d t|d dn|d kr|d|dddd |vr|d t|d dnX|d kr|dt|d dd |vr(|d t|d dntd|d|vrJ|d|dddd|vrn|dt|ddd|vr|dt|ddd|vr|d|dd|ddur|dd|dd|dS)Ntypetype="r)ZcapsuleZcylindersize="radiusrboxsizepospos="sphereZ ellipsoidzunsupported geom type masszmass="rgbargba="friction friction="namename="ZcollideFzcontype="0" conaffinity="0"r)appendrr ValueErrorgetr)rindenttbitsr r r _geom_xmls:       r5cCsd|dddt|dgddg}|d|dd d|d t|d d gd|d d|dd|dS)Nr,r+rr$r#rrrrrr%rr"{Gzt?zrgba="1 0.4 0 0.25"rzrFz jointgeomssitescameraschildrenz ) rr1r/rHr5r:rL _body_xmlr) bodyr2is_rootpadoutrr9rchildr r r rTis ,rTc Cs|di}||dd}|s&dSdt|d}t|dd}|d kr^t|d d nd}t|d d }|d}|d} |dur|t|d}| dur|t|d|d} |||||| ||t|d|dtjd||d|ddudS)aMResolve an actuator's real limits from the motor part it names. A BLDC's torque is Kt * current, and Kt is 8.27/Kv. Putting the motor in the spec rather than a hand-written force_range means the model saturates where the real hardware saturates, which is most of what decides whether a learned policy transfers. ZmotorsmotorNg ףp= @kvZ gear_ratio?Z efficiencyg?Zvoltageg8@Z rated_torqueZ max_torqueZrated_current_aZ max_current_arNgN@)ktratiotau_conttau_peakZ no_load_rad_srZZfrom_datasheet)r1rrBpi) r alibmr_r`ZeffZvoltscontZpeakr r r motor_limits|s,       rhc Csd|}|dd}t||}d|ddd|ddg}|dkrd }|d |d d d d|dp|r|d |dgnddg}|dt|dn|dkrd}|d|ddd d|d|dd d d|dpt||d}|dt|dn\|dkrld}|d|dd d d|dt|dddgdntd||dr|d} n0|r|dkrdnd} ||  || g} nd} | r|dt| d|d |dd|d!S)"Nrmodetorquer,r+rjoint="rMrZzgear="gearr]rZ ctrl_rangerar^z ctrlrange="Zpositionzkp="Zkpg>@zkv="r\velocityizunsupported actuator mode Z force_rangerbz forcerange="      $  rtccs*|V|dgD]}t|EdHqdS)NrR)r1_walk)rUrr r r rusrucCsHt|dD]&}|d}|r |d|kr |Sq td|ddS)NrootrMr+z no joint z in spec)rur1KeyError)r r+brDr r r find_joints   rycCsDt||}|dsd|vr$ddgS|d\}}t|t|gS)Nr<r=g$g$@)ryr1rBrC)r r+rDrErFr r r rqs   rqc Csd|}|d}hd}hd}hd}||vrBd|dd}nb||vr||d d}|d |d} d |d | d}n(||vrd |dd}ntd||d|d|dd|dS)Nrr>ZgyroZ accelerometerZ velocimeterZtouch rangefinderZ magnetometer>Z frameangvelZframeposZ framelinvelZ framequatZ framezaxis>ZjointactuatorfrcZjointposZjointvelzsite="siterobjtypeobjnamez objtype="z " objname="rkrMzunsupported sensor type rpz name="r+z" r.)r1r0) r9r2rWr3Z site_typesZ frame_typesZ joint_typesrefr|r}r r r _sensor_xmls rc Csd|}d|ddd|ddddt|d gd dg}|dddkrr|d t|d dn|d t|d d|d t|dgddd|vr|dt|dd|dd|dS)z;Static scenery a task brings with it: steps, ramps, blocks.rr,r+rrrr!r$r#r6rr"r(r')g?gGz?g(\?r^r)r*r-r.)r1rr/r)pr2rWr4r r r _prop_xmls "rcsdi}di}|di}|drPd}dt|dgdd }nRd }d j|d d tt|ddtt|ddt|dgdd}|d d }tdddd}ddd|pgD} dfdddgD} ddddgD} dd} dd| d d| d d | d d!dd"d#dd d$dd"d#dd g} d%dd&|d'd(d)|d*d+d,t|d-gd.d/|d0|d| d|d1| d2| d| d3S)4awworld.floor may carry bank_deg / pitch_deg to tilt the ground. It has to be baked in here rather than set later: MuJoCo precomputes the frame of static world geoms, so writing geom_quat at runtime changes the number but leaves the plane's normal pointing straight up, and nothing happens. That silently produced identical results at 3, 6 and 10 degrees. simworldfloorZhillszAzJr[zsr"g(@Zbank_deggZ pitch_deg)fsZbeZpersrvT)rVrScss|]}t|dVqdSrN)r)rrr r r r*rzspec_to_mjcf..c3s|]}t|dVqdSr)rt)rrdr r r r+r actuatorscss|]}t|dVqdSr)r)rr9r r r r,rsensorsr+z7