File size: 18,091 Bytes
33c14d6 9ffd3e8 33c14d6 9ffd3e8 33c14d6 9ffd3e8 33c14d6 9ffd3e8 33c14d6 9ffd3e8 33c14d6 | 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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 | """A domestic worktable and camera rig, authored in metres for the chess scene.
The tabletop stays at z=0. Small cosmetic details have no contacts; the table,
stand, board and tray have physical support geometry. No training postprocessing.
"""
from __future__ import annotations
import itertools
import math
TABLE_CENTER = (0.18, 0, -0.02)
TABLE_HALF = (0.60, 0.40, 0.02)
FLOOR_Z = -0.74
OVERHEAD_POS = (0.42, 0, 0.56)
ROVER_CAMERA_POS = (0.105, -0.14, 0.18)
ROVER_CAMERA_FOV = 90
MAST_XY = (-0.16, 0.23)
# Deck placeholder footprint (x from the arm axis). The front stops at the board's near
# edge: at 0.11 the board border ran 12 mm under the deck, and diagonal grasps on rank 8
# put a finger over the deck. The real rover body must not reach further forward than
# this below finger height.
DECK_BACK = -0.110
DECK_FRONT = 0.098
DECK_HALF_Y = 0.090
DECK_CX = (DECK_FRONT + DECK_BACK) / 2
DECK_HX = (DECK_FRONT - DECK_BACK) / 2
def numbers(values):
return " ".join(f"{x:.8g}" for x in values)
def bevel_asset(name, half, bevel, uv=False):
vertices = []
for signs in itertools.product((-1, 1), repeat=3):
for axis in range(3):
vertices.extend(signs[i] * (half[i] if i == axis else half[i] - bevel) for i in range(3))
coords = []
for i in range(0, len(vertices), 3):
coords.extend((vertices[i] / (2 * half[0]) + 0.5, vertices[i+1] / (2 * half[1]) + 0.5))
texture = f' texcoord="{numbers(coords)}"' if uv else ''
return f'<mesh name="{name}" vertex="{numbers(vertices)}"{texture}/>'
def box(name, pos, half, material, cosmetic=True, extra=""):
contact = 'contype="0" conaffinity="0" group="1"' if cosmetic else ''
return (f'<geom name="{name}" type="box" pos="{numbers(pos)}" size="{numbers(half)}" '
f'material="{material}" {contact} {extra}/>')
def rod(name, start, end, radius, material="rubber", cosmetic=True):
contact = 'contype="0" conaffinity="0" group="1"' if cosmetic else ''
return (f'<geom name="{name}" type="capsule" fromto="{numbers((*start, *end))}" '
f'size="{radius}" material="{material}" {contact}/>')
def mesh_geom(name, mesh, pos, material):
return (f'<geom name="{name}" type="mesh" mesh="{mesh}" pos="{numbers(pos)}" '
f'material="{material}" group="1" contype="0" conaffinity="0"/>')
def screw(name, x, y, z, radius=0.0022):
return (f'<geom name="{name}" type="cylinder" pos="{x} {y} {z}" size="{radius} 0.0006" '
'material="steel" contype="0" conaffinity="0" group="1"/>'
+ box(name + "_slot", (x, y, z + 0.00061), (radius * 0.65, radius * 0.13, 0.000025), "rubber"))
def assets():
return "\n".join([
bevel_asset("tabletop_mesh", TABLE_HALF, 0.003, uv=True),
bevel_asset("stand_case_mesh", (DECK_HX - 0.002, DECK_HALF_Y - 0.002, 0.024), 0.002),
bevel_asset("stand_plate_mesh", (DECK_HX, DECK_HALF_Y, 0.003), 0.001),
bevel_asset("camera_case_mesh", (0.024, 0.018, 0.011), 0.002),
bevel_asset("power_supply_mesh", (0.038, 0.022, 0.014), 0.002),
'<texture name="oak_tex" type="2d" file="assets/environment/oak_color.png"/>',
'<texture name="pale_wood_tex" type="2d" file="assets/environment/pale_wood_color.png"/>',
'<texture name="dark_wood_tex" type="2d" file="assets/environment/dark_wood_color.png"/>',
'<material name="table_mat" texture="pale_wood_tex" texrepeat="1.5 1" specular="0.12" shininess="0.2" reflectance="0"/>',
'<material name="light_square_mat" texture="pale_wood_tex" texrepeat="0.18 0.18" specular="0.16" shininess="0.3"/>',
'<material name="dark_square_mat" texture="dark_wood_tex" texrepeat="0.18 0.18" specular="0.18" shininess="0.3"/>',
'<material name="border_mat" texture="oak_tex" texrepeat="0.28 0.28" rgba="0.55 0.42 0.31 1" specular="0.16" shininess="0.3"/>',
'<material name="case_mat" rgba="0.095 0.11 0.125 1" specular="0.12" shininess="0.15"/>',
'<material name="anodized" rgba="0.32 0.35 0.38 1" specular="0.35" shininess="0.4"/>',
'<material name="steel" rgba="0.55 0.57 0.59 1" specular="0.65" shininess="0.65"/>',
'<material name="rubber" rgba="0.025 0.030 0.035 1" specular="0.05" shininess="0.05"/>',
'<material name="lens" rgba="0.012 0.023 0.035 1" specular="0.7" shininess="0.8"/>',
'<material name="felt" rgba="0.14 0.20 0.18 1" specular="0.01" shininess="0.05"/>',
'<material name="bin_mat" rgba="0.22 0.24 0.25 1" specular="0.12" shininess="0.2"/>',
'<material name="wall_mat" rgba="0.90 0.89 0.85 1" specular="0"/>',
'<material name="floor_mat" rgba="0.34 0.35 0.34 1" specular="0.03" texuniform="true" texrepeat="3 3"/>',
# Floors the phase 2 randomiser can put under the table (besides the wood textures).
'<texture name="tile_tex" type="2d" builtin="checker" rgb1="0.86 0.86 0.84" rgb2="0.74 0.74 0.72" '
'width="512" height="512" mark="edge" markrgb="0.55 0.55 0.53"/>',
'<texture name="carpet_tex" type="2d" builtin="flat" rgb1="0.55 0.55 0.55" width="512" height="512" '
'mark="random" random="0.4" markrgb="0.38 0.38 0.38"/>',
'<texture name="concrete_tex" type="2d" builtin="flat" rgb1="0.64 0.64 0.62" width="512" height="512" '
'mark="random" random="0.1" markrgb="0.48 0.48 0.47"/>',
# Everyday clutter (colours set per episode).
'<material name="device_mat" rgba="0.55 0.56 0.58 1" specular="0.4" shininess="0.5"/>',
'<material name="device2_mat" rgba="0.08 0.08 0.09 1" specular="0.4" shininess="0.6"/>',
'<material name="mug_mat" rgba="0.85 0.85 0.82 1" specular="0.3" shininess="0.5"/>',
'<material name="notebook_mat" rgba="0.20 0.30 0.55 1" specular="0.05" shininess="0.1"/>',
'<material name="pen_mat" rgba="0.10 0.20 0.70 1" specular="0.3" shininess="0.4"/>',
'<material name="cable_mat_0" rgba="0.03 0.03 0.035 1" specular="0.1" shininess="0.2"/>',
'<material name="cable_mat_1" rgba="0.03 0.03 0.035 1" specular="0.1" shininess="0.2"/>',
'<material name="trim_mat" rgba="0.84 0.84 0.80 1" specular="0.06"/>',
'<material name="inlay_mat" rgba="0.79 0.70 0.51 1" specular="0.1"/>',
])
def room():
# The table is one static body so phase 2 can slide it under the robot and board
# (the board then sometimes sits near an edge or corner, with the floor in view).
table = [
# Same table contact height as the previous infinite plane, finite footprint.
'<geom name="table" type="box" pos="0.18 0 -0.02" size="0.60 0.40 0.02" '
'group="3" rgba="0.2 0.7 0.3 0.35" friction="1 0.005 0.0001"/>',
mesh_geom("table_surface", "tabletop_mesh", TABLE_CENTER, "table_mat"),
box("table_apron_front", (0.18, -0.33, -0.065), (0.54, 0.012, 0.025), "case_mat"),
box("table_apron_back", (0.18, 0.33, -0.065), (0.54, 0.012, 0.025), "case_mat"),
]
for i, (x, y) in enumerate(itertools.product((-0.34, 0.70), (-0.33, 0.33))):
table.append(box(f"table_leg_{i}", (x, y, -0.385), (0.018, 0.018, 0.345), "case_mat", False))
table.append(box(f"table_foot_{i}", (x, y, -0.733), (0.019, 0.019, 0.007), "rubber", False))
geoms = [
'<body name="table">' + "\n".join(table) + '</body>',
f'<geom name="floor" type="plane" pos="0 0 {FLOOR_Z}" size="2.5 2.5 0.05" material="floor_mat"/>',
box("back_wall", (-0.78, 0.0, 0.5), (0.04, 1.8, 1.24), "wall_mat", False),
box("side_wall", (0.65, 1.2, 0.5), (1.43, 0.04, 1.24), "wall_mat", False),
box("back_skirting", (-0.735, 0, FLOOR_Z + 0.045), (0.006, 1.16, 0.045), "trim_mat"),
box("side_skirting", (0.68, 1.153, FLOOR_Z + 0.045), (1.42, 0.006, 0.045), "trim_mat"),
]
return "\n".join(geoms)
def stand(deck_height, rover_camera_axes):
if not math.isclose(deck_height, 0.06):
raise ValueError("Stand enclosure is designed for a 60 mm deck; update its geometry when changing height.")
parts = [
f'<geom name="deck" type="box" size="{DECK_HX} {DECK_HALF_Y} 0.03" pos="{DECK_CX} 0 0.03" group="3" rgba="0.2 0.7 0.3 0.35"/>',
mesh_geom("stand_enclosure", "stand_case_mesh", (DECK_CX, 0, 0.030), "case_mat"),
mesh_geom("stand_top", "stand_plate_mesh", (DECK_CX, 0, 0.057), "anodized"),
box("stand_bottom_seam", (DECK_CX, 0, 0.007), (DECK_HX - 0.003, DECK_HALF_Y - 0.003, 0.001), "rubber"),
]
feet_x = (DECK_CX - DECK_HX + 0.017, DECK_CX + DECK_HX - 0.017)
for i, (x, y) in enumerate(itertools.product(feet_x, (-0.073, 0.073))):
parts.append(f'<geom name="stand_foot_{i}" type="cylinder" pos="{x} {y} 0.003" size="0.008 0.003" material="rubber" group="1" contype="0" conaffinity="0"/>')
parts.append(screw(f"stand_screw_{i}", x, y, 0.0603))
for i in range(9):
parts.append(box(f"case_vent_{i}", (-0.060 + 0.014 * i, -0.0881, 0.030), (0.003, 0.00008, 0.009), "rubber"))
parts.append(box("power_socket", (-0.1082, -0.023, 0.027), (0.0002, 0.008, 0.005), "rubber"))
parts.append(rover_camera(rover_camera_axes))
return '<body name="rover_deck">' + "\n".join(parts) + '</body>'
def rover_camera(xyaxes):
"""Self-contained camera stalk, parented to the rover deck rather than the room."""
rx, ry, rz, ux, uy, uz = map(float, xyaxes.split())
back = (ry*uz-rz*uy, rz*ux-rx*uz, rx*uy-ry*ux)
housing = tuple(p + 0.026*b for p, b in zip(ROVER_CAMERA_POS, back))
stalk_tip = (housing[0], housing[1], housing[2] - 0.016)
parts = [
'<geom name="rover_camera_foot" type="cylinder" pos="0.084 -0.073 0.063" '
'size="0.009 0.003" material="anodized"/>',
rod("rover_camera_stalk", (0.084, -0.073, 0.066), stalk_tip,
0.0045, "anodized", cosmetic=False),
rod("rover_camera_bracket", stalk_tip, housing,
0.004, "anodized", cosmetic=False),
rod("rover_camera_cable", (0.078, -0.078, 0.061),
(stalk_tip[0] - 0.005, stalk_tip[1] - 0.005, stalk_tip[2]), 0.0015),
rod("rover_camera_cable_top", (stalk_tip[0] - 0.005, stalk_tip[1] - 0.005, stalk_tip[2]), housing, 0.0015),
]
parts.append(f'''<body name="rover_camera_mount" pos="{numbers(ROVER_CAMERA_POS)}" xyaxes="{xyaxes}">
{mesh_geom("rover_camera_housing", "camera_case_mesh", (0, 0, 0.026), "case_mat")}
<geom name="rover_camera_housing_collision" type="box" pos="0 0 0.026"
size="0.024 0.018 0.011" group="3" rgba="0.2 0.7 0.3 0.35"/>
<geom name="rover_camera_lens_ring" type="cylinder" pos="0 0 0.011"
size="0.010 0.007" material="rubber"/>
<geom name="rover_camera_lens_glass" type="cylinder" pos="0 0 0.0035"
size="0.007 0.0005" material="lens" contype="0" conaffinity="0" group="1"/>
<camera name="rover" pos="0 0 0" fovy="{ROVER_CAMERA_FOV}"/>
</body>''')
return "\n".join(parts)
def camera_rig(camera_pos, xyaxes):
mx, my = MAST_XY
x, y, z = camera_pos
parts = [
f'<geom name="mast_base" type="cylinder" pos="{mx} {my} 0.007" size="0.045 0.007" material="case_mat"/>',
box("mast_column", (mx, my, 0.311), (0.010, 0.010, 0.297), "anodized", False),
rod("camera_boom", (mx, my, 0.603), (x, y, 0.603), 0.008, "anodized", False),
rod("camera_drop_bracket", (x, y, 0.603), (x, y, z + 0.025), 0.005, "steel"),
mesh_geom("overhead_housing", "camera_case_mesh", (x, y, z + 0.022), "case_mat"),
f'<geom name="overhead_lens_ring" type="cylinder" pos="{x} {y} {z+0.007}" size="0.010 0.004" material="rubber" contype="0" conaffinity="0" group="1"/>',
f'<geom name="overhead_lens_glass" type="cylinder" pos="{x} {y} {z+0.0025}" size="0.007 0.0004" material="lens" contype="0" conaffinity="0" group="1"/>',
f'<camera name="overhead" pos="{numbers(camera_pos)}" xyaxes="{xyaxes}" fovy="40"/>',
]
points = [(x + 0.020, y, z + 0.026), (x + 0.03, y, 0.618), (mx, my + 0.013, 0.618),
(mx, my + 0.013, 0.018), (mx - 0.035, my + 0.04, 0.003), (-0.30, 0.29, 0.003)]
parts.extend(rod(f"camera_usb_{i}", a, b, 0.0016) for i, (a, b) in enumerate(zip(points, points[1:])))
return '<body name="camera_mast">' + "\n".join(parts) + '</body>'
def cables():
parts = [mesh_geom("power_brick", "power_supply_mesh", (-0.265, -0.12, 0.014), "rubber")]
points = [(-0.108, -0.023, 0.027), (-0.13, -0.025, 0.025), (-0.155, -0.05, 0.003),
(-0.178, -0.1, 0.003), (-0.205, -0.12, 0.007), (-0.227, -0.12, 0.012)]
parts.extend(rod(f"arm_power_{i}", a, b, 0.002) for i, (a, b) in enumerate(zip(points, points[1:])))
points = [(-0.303, -0.12, 0.012), (-0.34, -0.14, 0.003), (-0.39, -0.15, 0.003), (-0.422, -0.15, -0.01), (-0.44, -0.15, -0.40)]
parts.extend(rod(f"mains_cable_{i}", a, b, 0.0025) for i, (a, b) in enumerate(zip(points, points[1:])))
return "\n".join(parts)
def board_details(half, border, top):
# Thin contrasting marquetry surrounds the 64 squares, clear of their contacts.
parts = []
for sign in (-1, 1):
parts.append(box(f"board_frame_x_{sign}", (sign * (half + border/2), 0, top/2),
(border/2, half + border, top/2), "border_mat", False))
parts.append(box(f"board_frame_y_{sign}", (0, sign * (half + border/2), top/2),
(half, border/2, top/2), "border_mat", False))
parts.append(box(f"inlay_x_{sign}", (sign * (half + 0.0015), 0, top + 0.000015),
(0.00035, half + 0.00185, 0.000015), "inlay_mat"))
parts.append(box(f"inlay_y_{sign}", (0, sign * (half + 0.0015), top + 0.000015),
(half + 0.00185, 0.00035, 0.000015), "inlay_mat"))
return "\n".join(parts)
def tray(hx=0.045, hy=0.035, rim=0.020):
"""Capture tray: 2 mm floor and walls, felt liner, rounded rim at height `rim`.
ChessWorld reads the interior and rim height back from `tray_floor` and `tray_wall_y_1`."""
parts = [
f'<geom name="tray_floor" type="box" size="{hx} {hy} 0.002" pos="0 0 0.002" material="bin_mat"/>',
box("tray_felt", (0, 0, 0.00405), (hx - 0.0025, hy - 0.0025, 0.00005), "felt"),
]
for sign in (-1, 1):
parts.append(f'<geom name="tray_wall_y_{sign}" type="box" size="{hx} 0.002 {rim / 2}" '
f'pos="0 {sign * hy} {rim / 2}" material="bin_mat"/>')
parts.append(f'<geom name="tray_wall_x_{sign}" type="box" size="0.002 {hy} {rim / 2}" '
f'pos="{sign * hx} 0 {rim / 2}" material="bin_mat"/>')
parts.append(rod(f"tray_rim_x_{sign}", (-hx, sign * hy, rim), (hx, sign * hy, rim), 0.0012, "bin_mat"))
parts.append(rod(f"tray_rim_y_{sign}", (sign * hx, -hy, rim), (sign * hx, hy, rim), 0.0012, "bin_mat"))
return "\n".join(parts)
CABLES = 2 # randomised cables lying on the table
CABLE_SEGMENTS = 14
def _hidden(name, kind, material, pos=(0, 0, 0), size=None, extra=""):
size_attr = f' size="{numbers(size)}"' if size is not None else ""
return (f'<geom name="{name}" type="{kind}" pos="{numbers(pos)}"{size_attr} material="{material}" '
f'contype="0" conaffinity="0" group="5" {extra}/>')
def clutter():
"""Everyday things around the board: a laptop, a phone, a mug, a notebook, a pen and
cables. Visual only, parked out of sight in geom group 5 (not rendered) until the
phase 2 randomiser places a random subset and moves their geoms to group 1."""
import math as _m
t = _m.radians(20) # laptop screen leans back 20 deg (open 110 deg)
screen_pos = (0, 0.108 + 0.105 * _m.sin(t), 0.016 + 0.105 * _m.cos(t))
screen_quat = f"{_m.cos(-t / 2):.6f} {_m.sin(-t / 2):.6f} 0 0"
parts = [
'<body name="clutter_laptop" pos="0 0 -3">',
_hidden("laptop_base", "box", "device_mat", (0, 0, 0.008), (0.155, 0.108, 0.008)),
_hidden("laptop_keys", "box", "rubber", (0, -0.015, 0.0162), (0.135, 0.055, 0.0002)),
_hidden("laptop_lid", "box", "device_mat", screen_pos, (0.155, 0.004, 0.105), f'quat="{screen_quat}"'),
_hidden("laptop_display", "box", "lens", (0, screen_pos[1] - 0.0042 * _m.cos(t), screen_pos[2] + 0.0042 * _m.sin(t)),
(0.145, 0.0002, 0.095), f'quat="{screen_quat}"'),
'</body>',
'<body name="clutter_phone" pos="0 0 -3">',
_hidden("phone_body", "box", "device2_mat", (0, 0, 0.004), (0.074, 0.036, 0.004)),
_hidden("phone_screen", "box", "lens", (0, 0, 0.0081), (0.070, 0.033, 0.0001)),
'</body>',
'<body name="clutter_mug" pos="0 0 -3">',
_hidden("mug_body", "cylinder", "mug_mat", (0, 0, 0.048), (0.040, 0.048)),
_hidden("mug_coffee", "cylinder", "rubber", (0, 0, 0.086), (0.036, 0.0005)),
f'<geom name="mug_handle_0" type="capsule" fromto="0.038 0 0.028 0.062 0 0.028" size="0.006" material="mug_mat" contype="0" conaffinity="0" group="5"/>',
f'<geom name="mug_handle_1" type="capsule" fromto="0.062 0 0.028 0.062 0 0.070" size="0.006" material="mug_mat" contype="0" conaffinity="0" group="5"/>',
f'<geom name="mug_handle_2" type="capsule" fromto="0.062 0 0.070 0.038 0 0.070" size="0.006" material="mug_mat" contype="0" conaffinity="0" group="5"/>',
'</body>',
'<body name="clutter_notebook" pos="0 0 -3">',
_hidden("notebook_cover", "box", "notebook_mat", (0, 0, 0.007), (0.105, 0.075, 0.007)),
_hidden("notebook_pages", "box", "trim_mat", (0.002, 0, 0.007), (0.104, 0.073, 0.0065)),
'</body>',
'<body name="clutter_pen" pos="0 0 -3">',
f'<geom name="pen_body" type="capsule" fromto="-0.07 0 0.005 0.07 0 0.005" size="0.0045" material="pen_mat" contype="0" conaffinity="0" group="5"/>',
'</body>',
]
for k in range(CABLES):
for i in range(CABLE_SEGMENTS):
parts.append(f'<geom name="cable_{k}_{i}" type="capsule" fromto="0 0 -3 0.01 0 -3" size="0.0025" '
f'material="cable_mat_{k}" contype="0" conaffinity="0" group="5"/>')
return "\n".join(parts)
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