File size: 8,079 Bytes
32502a8 | 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 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 | """Generate a collision-safe 5x5 Microduck MJCF scene from the official model."""
from __future__ import annotations
import argparse
from copy import deepcopy
from pathlib import Path
import xml.etree.ElementTree as ET
from choreography import STAND_POSE, formation_positions
PROJECT_ROOT = Path(__file__).resolve().parents[1]
SOURCE_MODEL = PROJECT_ROOT / "src/mjlab_microduck/robot/microduck/robot_allcollisions.xml"
DEFAULT_OUTPUT = Path(__file__).resolve().parent / "generated/microduck_25_scene.xml"
REFERENCE_ATTRIBUTES = {
"body", "body1", "body2", "child", "geom", "geom1", "geom2", "joint",
"joint1", "joint2", "objname", "site", "site1", "site2", "target", "tendon",
}
PALETTE = (
"0.98 0.72 0.04 1", # candy gold
"0.19 0.82 0.78 1", # teal
"0.82 0.33 0.72 1", # magenta
"0.94 0.35 0.24 1", # red-orange
"0.42 0.57 0.96 1", # electric blue
)
ACCENT_MESHES = {
"left_shell", "right_shell", "top_head_shell", "bottom_head_shell",
"foot_left", "foot_right", "ankle_left", "ankle_right", "jaw",
}
START_YAW = 0.5 * 3.141592653589793
START_QUATERNION = (
0.7071067811865476,
0.0,
0.0,
0.7071067811865475,
)
def _prefix_instance(element: ET.Element, prefix: str, color: str) -> None:
for node in element.iter():
if "name" in node.attrib:
node.set("name", prefix + node.get("name", ""))
for attribute in REFERENCE_ATTRIBUTES:
if attribute in node.attrib:
node.set(attribute, prefix + node.get(attribute, ""))
if node.tag == "geom" and node.get("mesh") in ACCENT_MESHES and node.get("class") == "visual":
node.attrib.pop("material", None)
node.set("rgba", color)
def _add_stage(worldbody: ET.Element, extent: float) -> None:
# Bright, soft studio lighting keeps the duck silhouettes and footwork
# legible. Colored rim lights add energy without darkening the background.
ET.SubElement(worldbody, "light", {
"pos": "0 0 5.2", "dir": "0 0 -1", "directional": "true",
"diffuse": "0.72 0.74 0.80", "ambient": "0.34 0.36 0.40",
})
ET.SubElement(worldbody, "light", {
"pos": "-3 -3 2.8", "dir": "0.65 0.65 -0.8",
"diffuse": "0.9 0.40 0.66", "specular": "0.4 0.2 0.3",
})
ET.SubElement(worldbody, "light", {
"pos": "3 3 2.8", "dir": "-0.65 -0.65 -0.8",
"diffuse": "0.28 0.72 0.94", "specular": "0.2 0.35 0.4",
})
ET.SubElement(worldbody, "geom", {
"name": "dance_floor", "type": "plane", "size": f"{extent:.2f} {extent:.2f} 0.05",
"material": "dance_floor_material", "condim": "3", "friction": "0.9 0.02 0.002",
})
# Explicit non-colliding tiles make the checkerboard visible even when
# bright lights or video compression flatten the procedural texture.
tile_count = 14
tile_half_size = extent / tile_count
for row in range(tile_count):
for col in range(tile_count):
x = -extent + tile_half_size + col * tile_half_size * 2
y = -extent + tile_half_size + row * tile_half_size * 2
ET.SubElement(worldbody, "geom", {
"name": f"checker_{row:02d}_{col:02d}",
"type": "box",
"size": f"{tile_half_size:.6f} {tile_half_size:.6f} 0.001",
"pos": f"{x:.6f} {y:.6f} 0.001",
"material": "tile_light" if (row + col) % 2 == 0 else "tile_slate",
"contype": "0",
"conaffinity": "0",
})
def build_scene(output: Path = DEFAULT_OUTPUT, grid: int = 5, spacing: float = 1.5) -> Path:
source = ET.parse(SOURCE_MODEL).getroot()
root = ET.Element("mujoco", {"model": f"microduck_electric_slide_{grid}x{grid}"})
ET.SubElement(root, "compiler", {
"angle": "radian",
"meshdir": str(SOURCE_MODEL.parent.joinpath("assets").resolve()),
"autolimits": "true",
})
ET.SubElement(root, "option", {"timestep": "0.005", "integrator": "implicitfast"})
for defaults in source.findall("default"):
root.append(deepcopy(defaults))
visual = ET.SubElement(root, "visual")
ET.SubElement(visual, "headlight", {
"diffuse": "0.68 0.68 0.72", "ambient": "0.34 0.34 0.38", "specular": "0.15 0.15 0.15",
})
ET.SubElement(visual, "rgba", {"haze": "0.88 0.92 0.98 1"})
ET.SubElement(visual, "global", {
"azimuth": "135", "elevation": "-32", "offwidth": "1280", "offheight": "720",
})
asset = deepcopy(source.find("asset"))
if asset is None:
raise ValueError(f"No asset section in {SOURCE_MODEL}")
ET.SubElement(asset, "texture", {
"type": "skybox", "builtin": "gradient", "rgb1": "0.98 0.99 1",
"rgb2": "0.72 0.82 0.94", "width": "512", "height": "3072",
})
ET.SubElement(asset, "texture", {
"type": "2d", "name": "dance_floor", "builtin": "checker", "mark": "edge",
"rgb1": "0.86 0.88 0.92", "rgb2": "0.32 0.38 0.47", "markrgb": "0.20 0.54 0.72",
"width": "512", "height": "512",
})
ET.SubElement(asset, "material", {
"name": "dance_floor_material", "texture": "dance_floor", "texuniform": "true",
"texrepeat": "14 14", "reflectance": "0.08",
})
ET.SubElement(asset, "material", {
"name": "tile_light", "rgba": "0.82 0.84 0.88 1", "reflectance": "0.04",
})
ET.SubElement(asset, "material", {
"name": "tile_slate", "rgba": "0.24 0.30 0.38 1", "reflectance": "0.04",
})
root.append(asset)
source_worldbody = source.find("worldbody")
if source_worldbody is None or source_worldbody.find("body") is None:
raise ValueError(f"No robot body in {SOURCE_MODEL}")
source_body = source_worldbody.find("body")
worldbody = ET.SubElement(root, "worldbody")
_add_stage(worldbody, extent=max(3.0, spacing * grid * 1.4))
positions = formation_positions(grid, spacing)
for index, (x, y) in enumerate(positions):
body = deepcopy(source_body)
prefix = f"duck_{index:02d}_"
_prefix_instance(body, prefix, PALETTE[index % len(PALETTE)])
body.set("pos", f"{x:.6f} {y:.6f} 0.12")
worldbody.append(body)
actuator = ET.SubElement(root, "actuator")
source_actuator = source.find("actuator")
if source_actuator is None:
raise ValueError(f"No actuator section in {SOURCE_MODEL}")
for index in range(grid * grid):
prefix = f"duck_{index:02d}_"
for item in source_actuator:
copied = deepcopy(item)
_prefix_instance(copied, prefix, PALETTE[index % len(PALETTE)])
actuator.append(copied)
source_sensor = source.find("sensor")
if source_sensor is not None:
sensor = ET.SubElement(root, "sensor")
for index in range(grid * grid):
prefix = f"duck_{index:02d}_"
for item in source_sensor:
copied = deepcopy(item)
_prefix_instance(copied, prefix, PALETTE[index % len(PALETTE)])
sensor.append(copied)
keyframe = ET.SubElement(root, "keyframe")
qpos: list[float] = []
ctrl: list[float] = []
for x, y in positions:
qpos.extend((x, y, 0.12, *START_QUATERNION, *STAND_POSE))
ctrl.extend(STAND_POSE)
ET.SubElement(keyframe, "key", {
"name": "STAND_5X5", "qpos": " ".join(f"{value:.9g}" for value in qpos),
"ctrl": " ".join(f"{value:.9g}" for value in ctrl),
})
output.parent.mkdir(parents=True, exist_ok=True)
tree = ET.ElementTree(root)
ET.indent(tree, space=" ")
tree.write(output, encoding="utf-8", xml_declaration=True)
return output
def main() -> None:
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument("--output", type=Path, default=DEFAULT_OUTPUT)
parser.add_argument("--grid", type=int, default=5)
parser.add_argument("--spacing", type=float, default=1.5)
args = parser.parse_args()
path = build_scene(args.output.resolve(), args.grid, args.spacing)
print(path)
if __name__ == "__main__":
main()
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