prasoongoyal/body_interaction.py Secret

## body_interaction.py
#!/usr/bin/env python3
"""
Example of how bodies interact with each other. For a body to be able to
move it needs to have joints. In this example, the "robot" is a red ball
with X and Y slide joints (and a Z slide joint that isn't controlled).
On the floor, there's a cylinder with X and Y slide joints, so it can
be pushed around with the robot. There's also a box without joints. Since
the box doesn't have joints, it's fixed and can't be pushed around.
"""
from mujoco_py import load_model_from_xml, MjSim, MjViewer
import math
import os

MODEL_XML = """
<?xml version="1.0" ?>
<mujoco>
    <option timestep="0.005" />
    <worldbody>
        <body name="robot" pos="0 0 1.2">
            <joint axis="1 0 0" damping="0.1" name="slide0" pos="0 0 0" type="slide"/>
            <joint axis="0 1 0" damping="0.1" name="slide1" pos="0 0 0" type="slide"/>
            <joint axis="0 0 1" damping="1" name="slide2" pos="0 0 0" type="slide"/>
            <geom mass="1.0" pos="0 0 0" rgba="1 0 0 1" size="0.15" type="sphere"/>
			<camera euler="0 0 0" fovy="40" name="rgb" pos="0 0 2.5"></camera>
        </body>
        <body mocap="true" name="mocap" pos="0.5 0.5 0.5">
			<geom conaffinity="0" contype="0" pos="0 0 0" rgba="1.0 1.0 1.0 0.5" size="0.1 0.1 0.1" type="box"></geom>
			<geom conaffinity="0" contype="0" pos="0 0 0" rgba="1.0 1.0 1.0 0.5" size="0.2 0.2 0.05" type="box"></geom>
		</body>
        <body name="cylinder" pos="0.1 0.1 0.2">
            <geom mass="1" size="0.15 0.15" type="cylinder"/>
            <joint axis="1 0 0" name="cylinder:slidex" type="slide"/>
            <joint axis="0 1 0" name="cylinder:slidey" type="slide"/>
        </body>
        <body name="box" pos="-0.8 0 0.2">
            <geom mass="0.1" size="0.15 0.15 0.15" type="box"/>
        </body>
        <body name="floor" pos="0 0 0.025">
            <geom condim="3" size="1.0 1.0 0.02" rgba="0 1 0 1" type="box"/>
        </body>
    </worldbody>
    <actuator>
        <motor gear="2000.0" joint="slide0"/>
        <motor gear="2000.0" joint="slide1"/>
    </actuator>
</mujoco>
"""

def main():
    model = load_model_from_xml(MODEL_XML)
    sim = MjSim(model)
    # viewer = MjViewer(sim)
    img = sim.render(600, 600, device_id=0)
    t = 0
    while True:
        sim.data.ctrl[0] = math.cos(t / 10.) * 0.01
        sim.data.ctrl[1] = math.sin(t / 10.) * 0.01
        t += 1
        sim.step()
        # viewer.render()
        sim.render(600, 600, device_id=0)
        if t > 100 and os.getenv('TESTING') is not None:
            break

if __name__ == '__main__':
    main()
	#!/usr/bin/env python3
	"""
	Example of how bodies interact with each other. For a body to be able to
	move it needs to have joints. In this example, the "robot" is a red ball
	with X and Y slide joints (and a Z slide joint that isn't controlled).
	On the floor, there's a cylinder with X and Y slide joints, so it can
	be pushed around with the robot. There's also a box without joints. Since
	the box doesn't have joints, it's fixed and can't be pushed around.
	"""
	from mujoco_py import load_model_from_xml, MjSim, MjViewer
	import math
	import os

	MODEL_XML = """
	<?xml version="1.0" ?>
	<mujoco>
	<option timestep="0.005" />
	<worldbody>
	<body name="robot" pos="0 0 1.2">
	<joint axis="1 0 0" damping="0.1" name="slide0" pos="0 0 0" type="slide"/>
	<joint axis="0 1 0" damping="0.1" name="slide1" pos="0 0 0" type="slide"/>
	<joint axis="0 0 1" damping="1" name="slide2" pos="0 0 0" type="slide"/>
	<geom mass="1.0" pos="0 0 0" rgba="1 0 0 1" size="0.15" type="sphere"/>
	<camera euler="0 0 0" fovy="40" name="rgb" pos="0 0 2.5"></camera>
	</body>
	<body mocap="true" name="mocap" pos="0.5 0.5 0.5">
	<geom conaffinity="0" contype="0" pos="0 0 0" rgba="1.0 1.0 1.0 0.5" size="0.1 0.1 0.1" type="box"></geom>
	<geom conaffinity="0" contype="0" pos="0 0 0" rgba="1.0 1.0 1.0 0.5" size="0.2 0.2 0.05" type="box"></geom>
	</body>
	<body name="cylinder" pos="0.1 0.1 0.2">
	<geom mass="1" size="0.15 0.15" type="cylinder"/>
	<joint axis="1 0 0" name="cylinder:slidex" type="slide"/>
	<joint axis="0 1 0" name="cylinder:slidey" type="slide"/>
	</body>
	<body name="box" pos="-0.8 0 0.2">
	<geom mass="0.1" size="0.15 0.15 0.15" type="box"/>
	</body>
	<body name="floor" pos="0 0 0.025">
	<geom condim="3" size="1.0 1.0 0.02" rgba="0 1 0 1" type="box"/>
	</body>
	</worldbody>
	<actuator>
	<motor gear="2000.0" joint="slide0"/>
	<motor gear="2000.0" joint="slide1"/>
	</actuator>
	</mujoco>
	"""

	def main():
	model = load_model_from_xml(MODEL_XML)
	sim = MjSim(model)
	# viewer = MjViewer(sim)
	img = sim.render(600, 600, device_id=0)
	t = 0
	while True:
	sim.data.ctrl[0] = math.cos(t / 10.) * 0.01
	sim.data.ctrl[1] = math.sin(t / 10.) * 0.01
	t += 1
	sim.step()
	# viewer.render()
	sim.render(600, 600, device_id=0)
	if t > 100 and os.getenv('TESTING') is not None:
	break

	if __name__ == '__main__':
	main()