From 1d2a62c16b81a1378d88d67398196dcb83f471fa Mon Sep 17 00:00:00 2001 From: Nathan Zhao Date: Fri, 16 Aug 2024 23:09:22 +0000 Subject: [PATCH] dora + model interchangeablility --- .gitignore | 5 +- README.md | 73 +- examples/main.js | 95 +- examples/mujocoUtils.js | 132 +- examples/scenes/brax_humanoid.xml | 125 + examples/scenes/brax_humanoidstandup.xml | 126 + examples/scenes/dora/dora2.xml | 269 + examples/scenes/dora/dora2_terrain.xml | 270 + examples/scenes/dora/meshes/base_link.STL | Bin 0 -> 256984 bytes .../scenes/dora/meshes/l_arm_elbow_Link.STL | Bin 0 -> 1084 bytes .../dora/meshes/l_arm_shoulder_pitch_Link.STL | Bin 0 -> 9934 bytes .../dora/meshes/l_arm_shoulder_roll_Link.STL | Bin 0 -> 10184 bytes .../dora/meshes/l_arm_shoulder_yaw_Link.STL | Bin 0 -> 11784 bytes .../dora/meshes/l_leg_ankle_pitch_Link.STL | Bin 0 -> 1334 bytes .../dora/meshes/l_leg_ankle_roll_Link.STL | Bin 0 -> 2684 bytes .../dora/meshes/l_leg_hip_pitch_Link.STL | Bin 0 -> 66984 bytes 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examples/scenes/stompy/meshes/right_foot_1_rubber_grip_3_simple.stl create mode 100644 examples/scenes/stompy/stompy.xml create mode 100644 examples/scenes/stompy/stompy_edited.xml create mode 100644 examples/scenes/stompy/stompylegs.xml diff --git a/.gitignore b/.gitignore index 29f6b34..185f9eb 100644 --- a/.gitignore +++ b/.gitignore @@ -77,4 +77,7 @@ jspm_packages/ #!node_modules/three/examples/jsm/utils/ #!node_modules/three/examples/jsm/utils/* #!node_modules/three/examples/jsm/loaders/ -#!node_modules/three/examples/jsm/loaders/* \ No newline at end of file +#!node_modules/three/examples/jsm/loaders/* + +scratch/ +models/ \ No newline at end of file diff --git a/README.md b/README.md index bc866d9..0478dd1 100644 --- a/README.md +++ b/README.md @@ -1,72 +1,3 @@ -

- -

-

- - - - - - - - -

+# Interactive MUJOCO -## The Power of MuJoCo in your Browser. - -Load and Run MuJoCo 2.3.1 Models using JavaScript and WebAssembly. - -This repo is a fork of @stillonearth 's starter repository, adding tons of functionality and a comprehensive example scene. - -### [See the Live Demo Here](https://zalo.github.io/mujoco_wasm/) - -### [See a more Advanced Example Here](https://kzakka.com/robopianist/) - -## Building - -**1. Install emscripten** - -**2. Build the mujoco_wasm Binary** - -On Linux, use: -```bash -mkdir build -cd build -emcmake cmake .. -make -``` - -On Windows, run `build_windows.bat`. - -*3. (Optional) Update MuJoCo libs* - -Build MuJoCo libs with wasm target and place to lib. Currently v2.3.1 included. - -## JavaScript API - -```javascript -import load_mujoco from "./mujoco_wasm.js"; - -// Load the MuJoCo Module -const mujoco = await load_mujoco(); - -// Set up Emscripten's Virtual File System -mujoco.FS.mkdir('/working'); -mujoco.FS.mount(mujoco.MEMFS, { root: '.' }, '/working'); -mujoco.FS.writeFile("/working/humanoid.xml", await (await fetch("./examples/scenes/humanoid.xml")).text()); - -// Load in the state from XML -let model = new mujoco.Model("/working/humanoid.xml"); -let state = new mujoco.State(model); -let simulation = new mujoco.Simulation(model, state); -``` - -Typescript definitions are available. - -## Work In Progress Disclaimer - -So far, most mjModel and mjData state variables and functions (that do not require custom structs) are exposed. - -At some point, I'd like to de-opinionate the binding and make it match the original MuJoCo API better. +When building new models, make sure to run `generate_index.py` \ No newline at end of file diff --git a/examples/main.js b/examples/main.js index 9f02b41..2fb59f4 100644 --- a/examples/main.js +++ b/examples/main.js @@ -25,7 +25,7 @@ export class MuJoCoDemo { this.simulation = new mujoco.Simulation(this.model, this.state); // Define Random State Variables - this.params = { scene: initialScene, paused: false, help: false, ctrlnoiserate: 0.0, ctrlnoisestd: 0.0, keyframeNumber: 0 }; + this.params = { scene: initialScene, paused: false, useModel: true, help: false, ctrlnoiserate: 0.0, ctrlnoisestd: 0.0, keyframeNumber: 0 }; this.mujoco_time = 0.0; this.bodies = {}, this.lights = {}; this.tmpVec = new THREE.Vector3(); @@ -70,6 +70,7 @@ export class MuJoCoDemo { this.actuatorNames = []; this.actuatorRanges = []; + this.loadPPOModel(); window.addEventListener('resize', this.onWindowResize.bind(this)); @@ -89,10 +90,10 @@ export class MuJoCoDemo { this.gui = new GUI(); setupGUI(this); - this.initializeActuators(); + // this.initializeActuators(); } - + // does this ordering align with the ordering of the model output? initializeActuators() { const textDecoder = new TextDecoder(); for (let i = 0; i < this.model.nu; i++) { @@ -109,6 +110,53 @@ export class MuJoCoDemo { } + // should re-get pawel-diff + async loadPPOModel() { + switch (this.params.scene) { + case 'humanoid.xml': + this.ppo_model = await tf.loadLayersModel('models/2_frame/model.json'); + this.getObservation = () => this.getObservationSkeleton(2, 10, 6); + break; + case 'blank': + this.ppo_model = await tf.loadLayersModel('models/cvals+2_frames/model.json'); + break; + case 'brax_humanoid.xml': + this.ppo_model = await tf.loadLayersModel('models/brax_humanoid_cvalless_just_stand/model.json'); + this.getObservation = () => this.getObservationSkeleton(0, -1, -1); + break; + case 'brax_humanoidstandup.xml': + this.ppo_model = await tf.loadLayersModel('models/brax_humanoid_standup/model.json'); + this.getObservation = () => this.getObservationSkeleton(0, 20, 12); + break; + default: + throw new Error(`Unknown model path: ${this.params.scene}`); + } + } + + getObservationSkeleton(qpos_slice, cinert_slice, cvel_slice) { + const qpos = this.simulation.qpos.slice(qpos_slice); + const qvel = this.simulation.qvel; + const cinert = cinert_slice !== -1 ? this.simulation.cinert.slice(cinert_slice) : []; + const cvel = cvel_slice !== -1 ? this.simulation.cvel.slice(cvel_slice) : []; + const qfrc_actuator = this.simulation.qfrc_actuator; + + // console.log('qpos length:', qpos.length); + // console.log('qvel length:', qvel.length); + // console.log('cinert length:', cinert.length); + // console.log('cvel length:', cvel.length); + // console.log('qfrc_actuator length:', qfrc_actuator.length); + + const obsComponents = [ + ...qpos, + ...qvel, + ...cinert, + ...cvel, + ...qfrc_actuator + ]; + + return obsComponents; + } + handleKeyPress(event) { const key = event.key.toLowerCase(); const stepSize = 0.1; @@ -184,7 +232,41 @@ export class MuJoCoDemo { this.controls.update(); if (!this.params["paused"]) { - // this.simulation.xfrc_applied.fill(3.0) + + if (this.ppo_model && this.params["useModel"]) { + const observationArray = this.getObservation(); + const inputTensor = tf.tensor2d([observationArray]); + const resultTensor = this.ppo_model.predict(inputTensor); + + resultTensor.data().then(data => { + // console.log('Model output:', data); + + // Assuming the model output corresponds to actuator values + for (let i = 0; i < data.length; i++) { + // Ensure the actuator index is within bounds + if (i < this.simulation.ctrl.length) { + + let clippedValue = Math.max(-1, Math.min(1, data[i])); + + let [min, max] = this.actuatorRanges[i]; + + // Scale to fit between min and max + let newValue = min + (clippedValue + 1) * (max - min) / 2; + + // Update the actuator value + this.simulation.ctrl[i] = newValue; + + // Optionally, update the corresponding parameter + this.params[this.actuatorNames[i]] = newValue; + } else { + console.error('Model output index out of bounds:', i); + } + } + }); + } + + // console.log(this.model) + // console.log(this.model.getOptions().timestep); let timestep = this.model.getOptions().timestep; if (timeMS - this.mujoco_time > 35.0) { this.mujoco_time = timeMS; } @@ -199,12 +281,9 @@ export class MuJoCoDemo { let currentCtrl = this.simulation.ctrl; for (let i = 0; i < currentCtrl.length; i++) { currentCtrl[i] = rate * currentCtrl[i] + scale * standardNormal(); - this.params["Actuator " + i] = currentCtrl[i]; + this.params[this.actuatorNames[i]] = currentCtrl[i]; } } - - // actions = this.simulation.ctrl - console.log("c", this.simulation.ctrl) // Clear old perturbations, apply new ones. for (let i = 0; i < this.simulation.qfrc_applied.length; i++) { this.simulation.qfrc_applied[i] = 0.0; } diff --git a/examples/mujocoUtils.js b/examples/mujocoUtils.js index 74bfb0b..a5b3a1d 100644 --- a/examples/mujocoUtils.js +++ b/examples/mujocoUtils.js @@ -7,6 +7,9 @@ export async function reloadFunc() { this.scene.remove(this.scene.getObjectByName("MuJoCo Root")); [this.model, this.state, this.simulation, this.bodies, this.lights] = await loadSceneFromURL(this.mujoco, this.params.scene, this); + + // console.log(this.model, this.state, this.simulation, this.bodies, this.lights); + this.simulation.forward(); for (let i = 0; i < this.updateGUICallbacks.length; i++) { this.updateGUICallbacks[i](this.model, this.simulation, this.params); @@ -27,9 +30,16 @@ export function setupGUI(parentContext) { // Add scene selection dropdown. let reload = reloadFunc.bind(parentContext); parentContext.gui.add(parentContext.params, 'scene', { - "Humanoid": "humanoid.xml", "Cassie": "agility_cassie/scene.xml", - "Hammock": "hammock.xml", "Balloons": "balloons.xml", "Hand": "shadow_hand/scene_right.xml", - "Flag": "flag.xml", "Mug": "mug.xml", "Tendon": "model_with_tendon.xml" + "Humanoid": "humanoid.xml", + "Brax Humanoid": "brax_humanoid.xml", + "Brax Humanoid Standup": "brax_humanoidstandup.xml", + "Dora": "dora/dora2.xml", + "Hammock": "hammock.xml", + "Mug": "mug.xml", + "Stompy Legs": "stompy/legs.xml", + // "Cassie": "agility_cassie/scene.xml", + // "Hammock": "hammock.xml", "Balloons": "balloons.xml", "Hand": "shadow_hand/scene_right.xml", + // "Flag": "flag.xml", "Mug": "mug.xml", "Tendon": "model_with_tendon.xml" }).name('Example Scene').onChange(reload); // Add a help menu. @@ -158,6 +168,16 @@ export function setupGUI(parentContext) { actionInnerHTML += 'Play / Pause
'; keyInnerHTML += 'Space
'; + // Add enable / disable model checkbox. + document.addEventListener('keydown', (event) => { + if (event.ctrlKey && event.code === 'KeyM') { + parentContext.params.useModel = !parentContext.params.useModel; + event.preventDefault(); + } + }); + actionInnerHTML += 'Enable / Disable Model
'; + keyInnerHTML += 'Ctrl M
'; + // Add reload model button. // Parameters: // Under "Simulation" folder. @@ -228,6 +248,7 @@ export function setupGUI(parentContext) { let actuatorGUI = actuatorFolder.add(parentContext.params, name, act_range[2 * i], act_range[2 * i + 1], 0.01).name(name).listen(); actuatorGUIs.push(actuatorGUI); actuatorGUI.onChange((value) => { + console.log("value", value) simulation.ctrl[i] = value; }); } @@ -247,7 +268,6 @@ export function setupGUI(parentContext) { document.addEventListener('keydown', (event) => { console.log("event", event); if (event.ctrlKey && event.code === 'KeyA') { - console.log() // TODO: Use free camera parameters from MuJoCo parentContext.camera.position.set(2.0, 1.7, 1.7); parentContext.controls.target.set(0, 0.7, 0); @@ -274,12 +294,32 @@ export async function loadSceneFromURL(mujoco, filename, parent) { parent.model = null; parent.state = null; parent.simulation = null; + parent.ppo_model = null; } + // Function to capture and log errors + mujoco.mj_error = function(msg) { + console.error("MuJoCo Error: " + msg); + }; + + // Function to capture and log warnings + mujoco.mj_warning = function(msg) { + console.warn("MuJoCo Warning: " + msg); + }; + // Load in the state from XML. - parent.model = mujoco.Model.load_from_xml("/working/"+filename); + try { + parent.model = mujoco.Model.load_from_xml("/working/"+filename); + } catch (error) { + console.error('Failed to load model:', error); + } parent.state = new mujoco.State(parent.model); parent.simulation = new mujoco.Simulation(parent.model, parent.state); + + parent.actuatorNames = []; + parent.actuatorRanges = []; + parent.loadPPOModel() + parent.initializeActuators(); let model = parent.model; let state = parent.state; @@ -537,70 +577,74 @@ export async function downloadExampleScenesFolder(mujoco) { let allFiles = [ "22_humanoids.xml", "adhesion.xml", - "agility_cassie/assets/achilles-rod.obj", - "agility_cassie/assets/cassie-texture.png", - "agility_cassie/assets/foot-crank.obj", - "agility_cassie/assets/foot.obj", - "agility_cassie/assets/heel-spring.obj", - "agility_cassie/assets/hip-pitch.obj", - "agility_cassie/assets/hip-roll.obj", - "agility_cassie/assets/hip-yaw.obj", - "agility_cassie/assets/knee-spring.obj", - "agility_cassie/assets/knee.obj", - "agility_cassie/assets/pelvis.obj", - "agility_cassie/assets/plantar-rod.obj", - "agility_cassie/assets/shin.obj", - "agility_cassie/assets/tarsus.obj", - "agility_cassie/cassie.xml", - "agility_cassie/scene.xml", "arm26.xml", "balloons.xml", + "brax_humanoid.xml", + "brax_humanoidstandup.xml", + "dora/dora2.xml", + "dora/dora2_terrain.xml", + "dora/meshes/base_link.STL", + "dora/meshes/l_arm_elbow_Link.STL", + "dora/meshes/l_arm_shoulder_pitch_Link.STL", + "dora/meshes/l_arm_shoulder_roll_Link.STL", + "dora/meshes/l_arm_shoulder_yaw_Link.STL", + "dora/meshes/l_leg_ankle_pitch_Link.STL", + "dora/meshes/l_leg_ankle_roll_Link.STL", + "dora/meshes/l_leg_hip_pitch_Link.STL", + "dora/meshes/l_leg_hip_roll_Link.STL", + "dora/meshes/l_leg_hip_yaw_Link.STL", + "dora/meshes/l_leg_knee_Link.STL", + "dora/meshes/r_arm_elbow_Link.STL", + "dora/meshes/r_arm_shoulder_pitch_Link.STL", + "dora/meshes/r_arm_shoulder_roll_Link.STL", + "dora/meshes/r_arm_shoulder_yaw_Link.STL", + "dora/meshes/r_leg_ankle_pitch_Link.STL", + "dora/meshes/r_leg_ankle_roll_Link.STL", + "dora/meshes/r_leg_hip_pitch_Link.STL", + "dora/meshes/r_leg_hip_roll_Link.STL", + "dora/meshes/r_leg_hip_yaw_Link.STL", + "dora/meshes/r_leg_knee_Link.STL", + "dora/terrain/uneven.png", "flag.xml", "hammock.xml", "humanoid.xml", "humanoid_body.xml", + "model_with_tendon.xml", "mug.obj", "mug.png", "mug.xml", "scene.xml", - "shadow_hand/assets/f_distal_pst.obj", - "shadow_hand/assets/f_knuckle.obj", - "shadow_hand/assets/f_middle.obj", - "shadow_hand/assets/f_proximal.obj", - "shadow_hand/assets/forearm_0.obj", - "shadow_hand/assets/forearm_1.obj", - "shadow_hand/assets/forearm_collision.obj", - "shadow_hand/assets/lf_metacarpal.obj", - "shadow_hand/assets/mounting_plate.obj", - "shadow_hand/assets/palm.obj", - "shadow_hand/assets/th_distal_pst.obj", - "shadow_hand/assets/th_middle.obj", - "shadow_hand/assets/th_proximal.obj", - "shadow_hand/assets/wrist.obj", - "shadow_hand/left_hand.xml", - "shadow_hand/right_hand.xml", - "shadow_hand/scene_left.xml", - "shadow_hand/scene_right.xml", "simple.xml", "slider_crank.xml", - "model_with_tendon.xml", ]; let requests = allFiles.map((url) => fetch("./examples/scenes/" + url)); let responses = await Promise.all(requests); + for (let i = 0; i < responses.length; i++) { let split = allFiles[i].split("/"); let working = '/working/'; for (let f = 0; f < split.length - 1; f++) { working += split[f]; - if (!mujoco.FS.analyzePath(working).exists) { mujoco.FS.mkdir(working); } + if (!mujoco.FS.analyzePath(working).exists) { + mujoco.FS.mkdir(working); + } working += "/"; } - if (allFiles[i].endsWith(".png") || allFiles[i].endsWith(".stl") || allFiles[i].endsWith(".skn")) { - mujoco.FS.writeFile("/working/" + allFiles[i], new Uint8Array(await responses[i].arrayBuffer())); + let filePath = "/working/" + allFiles[i]; + + if (allFiles[i].endsWith(".png") || allFiles[i].endsWith(".stl") || allFiles[i].endsWith(".skn") || allFiles[i].endsWith(".STL")) { + mujoco.FS.writeFile(filePath, new Uint8Array(await responses[i].arrayBuffer())); + } else { + mujoco.FS.writeFile(filePath, await responses[i].text()); + } + + // Check if the file exists in the Mujoco filesystem after writing + if (mujoco.FS.analyzePath(filePath).exists) { + console.log(`File ${filePath} written successfully.`); } else { - mujoco.FS.writeFile("/working/" + allFiles[i], await responses[i].text()); + console.error(`Failed to write file ${filePath}.`); } } } diff --git a/examples/scenes/brax_humanoid.xml b/examples/scenes/brax_humanoid.xml new file mode 100644 index 0000000..18d9b76 --- /dev/null +++ b/examples/scenes/brax_humanoid.xml @@ -0,0 +1,125 @@ + + + + + + + + + diff --git a/examples/scenes/brax_humanoidstandup.xml b/examples/scenes/brax_humanoidstandup.xml new file mode 100644 index 0000000..8fa6c04 --- /dev/null +++ b/examples/scenes/brax_humanoidstandup.xml @@ -0,0 +1,126 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/scenes/dora/dora2.xml b/examples/scenes/dora/dora2.xml new file mode 100644 index 0000000..5d6c0c7 --- /dev/null +++ b/examples/scenes/dora/dora2.xml @@ -0,0 +1,269 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/scenes/dora/dora2_terrain.xml b/examples/scenes/dora/dora2_terrain.xml new file mode 100644 index 0000000..9a51da7 --- /dev/null +++ b/examples/scenes/dora/dora2_terrain.xml @@ -0,0 +1,270 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/scenes/dora/meshes/base_link.STL 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"__main__": +def main(ignored_extensions): files_to_download = [] for path in _HERE.rglob("*"): - if path.is_file() and path.suffix in _ALLOWED_EXTENSIONS: - files_to_download.append(str(path.relative_to(_HERE))) + if path.is_file() and path.suffix in _ALLOWED_EXTENSIONS and path.suffix not in ignored_extensions: + files_to_download.append(str(path.relative_to(_HERE))) files_to_download.sort() - with open("index.json", mode="w") as f: + index_file_path = _HERE / "index.json" + with open(index_file_path, mode="w") as f: json.dump(files_to_download, f, indent=2) + + print(f"File written to: {index_file_path}") + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description='Generate index.json for allowed files, ignoring specified extensions.') + parser.add_argument('--ignore', nargs='*', default=[], help='List of file extensions to ignore') + args = parser.parse_args() + + main(args.ignore) \ No newline at end of file diff --git a/examples/scenes/index.json b/examples/scenes/index.json index 630dbc6..d88b2d1 100644 --- a/examples/scenes/index.json +++ b/examples/scenes/index.json @@ -19,32 +19,136 @@ "agility_cassie/scene.xml", "arm26.xml", "balloons.xml", + "brax_humanoid.xml", + "brax_humanoidstandup.xml", + "dora/dora2.xml", + "dora/dora2_terrain.xml", + "dora/meshes/base_link.STL", + "dora/meshes/l_arm_elbow_Link.STL", + "dora/meshes/l_arm_shoulder_pitch_Link.STL", + "dora/meshes/l_arm_shoulder_roll_Link.STL", + "dora/meshes/l_arm_shoulder_yaw_Link.STL", + "dora/meshes/l_leg_ankle_pitch_Link.STL", + "dora/meshes/l_leg_ankle_roll_Link.STL", + "dora/meshes/l_leg_hip_pitch_Link.STL", + "dora/meshes/l_leg_hip_roll_Link.STL", + "dora/meshes/l_leg_hip_yaw_Link.STL", + "dora/meshes/l_leg_knee_Link.STL", + "dora/meshes/r_arm_elbow_Link.STL", + "dora/meshes/r_arm_shoulder_pitch_Link.STL", + "dora/meshes/r_arm_shoulder_roll_Link.STL", + "dora/meshes/r_arm_shoulder_yaw_Link.STL", + "dora/meshes/r_leg_ankle_pitch_Link.STL", + "dora/meshes/r_leg_ankle_roll_Link.STL", + "dora/meshes/r_leg_hip_pitch_Link.STL", + "dora/meshes/r_leg_hip_roll_Link.STL", + "dora/meshes/r_leg_hip_yaw_Link.STL", + "dora/meshes/r_leg_knee_Link.STL", + "dora/terrain/uneven.png", "flag.xml", "hammock.xml", "humanoid.xml", "humanoid_body.xml", + "model_with_tendon.xml", "mug.obj", "mug.png", "mug.xml", "scene.xml", - "shadow_hand/assets/f_distal_pst.obj", - "shadow_hand/assets/f_knuckle.obj", - "shadow_hand/assets/f_middle.obj", - "shadow_hand/assets/f_proximal.obj", - "shadow_hand/assets/forearm_0.obj", - "shadow_hand/assets/forearm_1.obj", - "shadow_hand/assets/forearm_collision.obj", - "shadow_hand/assets/lf_metacarpal.obj", - "shadow_hand/assets/mounting_plate.obj", - "shadow_hand/assets/palm.obj", - "shadow_hand/assets/th_distal_pst.obj", - "shadow_hand/assets/th_middle.obj", - "shadow_hand/assets/th_proximal.obj", - "shadow_hand/assets/wrist.obj", - "shadow_hand/left_hand.xml", - "shadow_hand/right_hand.xml", - "shadow_hand/scene_left.xml", - "shadow_hand/scene_right.xml", "simple.xml", - "slider_crank.xml" + "slider_crank.xml", + "stompy/legs.xml", + "stompy/meshes/fused_component_left_foot_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1_simple.stl", + "stompy/meshes/fused_component_leg_assembly_left_1_leg_part_1_2_simple.stl", + "stompy/meshes/fused_component_leg_assembly_left_1_rmd_x12_150_mock_1_inner_x12_150_1_simple.stl", + "stompy/meshes/fused_component_leg_assembly_left_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1_simple.stl", + "stompy/meshes/fused_component_leg_assembly_left_1_rmd_x8_90_mock_1_inner_rmd_x8_90_1_simple.stl", + "stompy/meshes/fused_component_leg_assembly_left_1_rmd_x8_90_mock_2_inner_rmd_x8_90_1_simple.stl", + "stompy/meshes/fused_component_leg_assembly_left_1_rmd_x8_90_mock_3_inner_rmd_x8_90_1_simple.stl", + "stompy/meshes/fused_component_leg_assembly_right_1_rmd_x12_150_mock_1_inner_x12_150_1_simple.stl", + 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"stompy/meshes/right_foot_1_rmd_x4_24_mock_1_inner_rmd_x4_24_1_simple.stl", + "stompy/meshes/right_foot_1_rmd_x4_24_mock_1_outer_rmd_x4_24_1_simple.stl", + "stompy/meshes/right_foot_1_rubber_grip_3_simple.stl", + "stompy/stompy.xml", + "stompy/stompy_edited.xml", + "stompy/stompylegs.xml" ] \ No newline at end of file diff --git a/examples/scenes/shadow_hand/LICENSE b/examples/scenes/shadow_hand/LICENSE deleted file mode 100644 index 34e4082..0000000 --- a/examples/scenes/shadow_hand/LICENSE +++ /dev/null @@ -1,202 +0,0 @@ - - Apache License - Version 2.0, January 2004 - http://www.apache.org/licenses/ - - TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - - 1. 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However, in accepting such obligations, You may act only - on Your own behalf and on Your sole responsibility, not on behalf - of any other Contributor, and only if You agree to indemnify, - defend, and hold each Contributor harmless for any liability - incurred by, or claims asserted against, such Contributor by reason - of your accepting any such warranty or additional liability. - - END OF TERMS AND CONDITIONS - - APPENDIX: How to apply the Apache License to your work. - - To apply the Apache License to your work, attach the following - boilerplate notice, with the fields enclosed by brackets "[]" - replaced with your own identifying information. (Don't include - the brackets!) The text should be enclosed in the appropriate - comment syntax for the file format. We also recommend that a - file or class name and description of purpose be included on the - same "printed page" as the copyright notice for easier - identification within third-party archives. - - Copyright 2022 Shadow Robot Company Ltd - - 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. diff --git a/examples/scenes/shadow_hand/README.md b/examples/scenes/shadow_hand/README.md deleted file mode 100644 index 962c157..0000000 --- a/examples/scenes/shadow_hand/README.md +++ /dev/null @@ -1,39 +0,0 @@ -# Shadow Hand E3M5 Description (MJCF) - -## Overview - -This package contains assets of the "E3M5" version of the Shadow Hand robot, -including both right-handed and left-handed versions. -The original URDF and assets were provided directly by -[Shadow Robot Company](https://www.shadowrobot.com/) under the -[Apache 2.0 License](LICENSE). - -

- -

- -## URDF → MJCF derivation steps - -1. Converted the DAE [mesh - files](https://github.com/shadow-robot/sr_common/tree/noetic-devel/sr_description/meshes/) - to OBJ format using [Blender](https://www.blender.org/). -2. Processed `.obj` files with [`obj2mjcf`](https://github.com/kevinzakka/obj2mjcf). -3. Added ` ` to the - [URDF](https://github.com/shadow-robot/sr_common/blob/noetic-devel/sr_description/hand/xacro/forearm/forearm_e.urdf.xacro)'s - `` clause in order to preserve visual geometries. -4. Loaded the URDF into MuJoCo and saved a corresponding MJCF. -5. Removed `_E3M5` suffix from mesh names. -6. Added forearm body and its corresponding inertial specs. -7. Removed 2 artifact boxes left from the URDF conversion. -8. Manually edited the MJCF to extract common properties into the `` section. -9. Added `` clauses to prevent collisions between the forearm and the - wrist and thumb bodies. -10. Added position-controlled actuators. -11. Added `impratio=10` for better noslip. -12. Hardened the contacts on the hand geoms. -13. Added `scene_left.xml` and `scene_right.xml` which include the robot, with - an object, textured groundplane, skybox, and haze. - -## License - -These models are released under an [Apache-2.0 License](LICENSE). diff --git a/examples/scenes/shadow_hand/assets/f_distal_pst.obj b/examples/scenes/shadow_hand/assets/f_distal_pst.obj deleted file mode 100644 index ab55680..0000000 --- a/examples/scenes/shadow_hand/assets/f_distal_pst.obj +++ /dev/null @@ -1,10772 +0,0 @@ -#### -# -# OBJ File Generated by Meshlab -# -#### -# Object f_distal_pst.obj -# -# Vertices: 2691 -# Faces: 5374 -# -#### -vn -2.369832 -0.648621 -5.711679 -v 5.945692 0.880776 9.412342 -vn -1.488666 -0.675501 -6.029662 -v 5.382925 0.898676 9.582110 -vn -1.534818 -1.466749 -5.877191 -v 5.382925 1.933097 9.394129 -vn -1.494067 -4.483484 -2.412496 -v 6.223668 4.060254 8.074911 -vn -1.840093 -4.462685 -2.172221 -v 6.403651 4.060254 7.945047 -vn -3.455157 -2.655269 -4.452151 -v 6.464344 3.625828 8.188947 -vn -1.863712 -3.272080 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782//782 781//781 175//175 -f 175//175 381//381 782//782 -f 199//199 197//197 806//806 -f 806//806 925//925 199//199 -f 199//199 925//925 382//382 -# 1842 faces, 0 coords texture - -# End of File diff --git a/examples/scenes/shadow_hand/left_hand.xml b/examples/scenes/shadow_hand/left_hand.xml deleted file mode 100644 index 0e7d166..0000000 --- a/examples/scenes/shadow_hand/left_hand.xml +++ /dev/null @@ -1,344 +0,0 @@ - - - - diff --git a/examples/scenes/shadow_hand/right_hand.xml b/examples/scenes/shadow_hand/right_hand.xml deleted file mode 100644 index 16ef23e..0000000 --- a/examples/scenes/shadow_hand/right_hand.xml +++ /dev/null @@ -1,345 +0,0 @@ - - - - diff --git a/examples/scenes/shadow_hand/scene_left.xml b/examples/scenes/shadow_hand/scene_left.xml deleted file mode 100644 index 89516da..0000000 --- a/examples/scenes/shadow_hand/scene_left.xml +++ /dev/null @@ -1,33 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/scenes/shadow_hand/scene_right.xml b/examples/scenes/shadow_hand/scene_right.xml deleted file mode 100644 index 38788bd..0000000 --- a/examples/scenes/shadow_hand/scene_right.xml +++ /dev/null @@ -1,33 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/scenes/stl_to_obj.py b/examples/scenes/stl_to_obj.py new file mode 100644 index 0000000..241f731 --- /dev/null +++ b/examples/scenes/stl_to_obj.py @@ -0,0 +1,36 @@ +import trimesh +import os +import argparse + +def convert_stl_to_obj(input_dir, output_dir): + # Ensure the output directory exists + os.makedirs(output_dir, exist_ok=True) + + # Iterate over all files in the input directory + for filename in os.listdir(input_dir): + if filename.endswith('.stl') or filename.endswith('.STL'): + # Load the STL file + mesh = trimesh.load_mesh(os.path.join(input_dir, filename)) + + # Define the output OBJ file path + obj_filename = os.path.splitext(filename)[0] + '.obj' + obj_filepath = os.path.join(output_dir, obj_filename) + + # Export the mesh to OBJ format + mesh.export(obj_filepath) + print(f"Converted {filename} to {obj_filename}") + +def main(): + # Set up argument parser + parser = argparse.ArgumentParser(description='Convert STL files to OBJ files.') + parser.add_argument('--inp', type=str, help='Directory containing STL files') + parser.add_argument('--out', type=str, help='Directory to save OBJ files') + + # Parse arguments + args = parser.parse_args() + + # Convert STL files to OBJ files + convert_stl_to_obj(args.inp, args.out) + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/examples/scenes/stompy/legs.xml b/examples/scenes/stompy/legs.xml new file mode 100644 index 0000000..9e558dd --- /dev/null +++ b/examples/scenes/stompy/legs.xml @@ -0,0 +1,287 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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