udaan.utils.assets.mujoco_asset_creator module

class udaan.utils.assets.mujoco_asset_creator.MujocoAssetCreator

Bases: object

Adapted from IsaacGymEnvs

Parameters:

object (_type_) – _description_

__init__(name='mujoco_asset')

actuator(parent)

asset()

body(parent, name, pos=array([0., 0., 0.]), quat=array([0., 0., 0., 1.]), mass=1.0, inertia=array([1., 1., 1.]), rgba=[0.8, 0.9, 0.8, 1.0])

box(parent, name, pos=array([0., 0., 0.]), quat=array([0., 0., 0., 1.]), size=array([0.1, 0.1, 0.1]), mass=0.01, alpha=1.0, rgb=[0.1, 0.1, 0.5], density=1000)

create_cable_payload(parent, name, pos, length=1, mass=0.15)

create_flexible_cable_payload(parent, name, pos, N=5, length=1, mass=0.15, payload_rgb=(0.0, 0.8, 0.2))

N-link cable + payload subtree. All child names are prefixed with name.

create_quadrotor0(parent, name, pos, **kwargs)

cylinder(parent, name, pos=array([0., 0., 0.]), mass=0.01, density=1000, radius=0.1, length=0.1, alpha=1.0, rgb=[0.5, 0.1, 0.1])

exclude_contact(body1, body2)

fancy_asset()

ground_plane(pos=array([0., 0., 0.]), size=2, friction=1.0, rgba=[0.8, 0.9, 0.8, 1.0])

Create a ground plane

Parameters:

• size (int, optional) – Size of the ground plane. Defaults to 10.

• friction (float, optional) – Friction of the ground plane. Defaults to 1.0.

• rgba (list, optional) – RGBA values of the ground plane. Defaults to [0.8, 0.9, 0.8, 1.0].

joint(parent, name, type, pos=array([0., 0., 0.]), axis=array([0., 0., 1.]), range=array([-1., 1.]), damping=0.1, stiffness=0.0, armature=0.0, limited=False)

light()

motor(parent, site, range=[], gear=array([0., 0., 0., 0., 0., 0.]))

save_to(filename='mujoco_asset.xml', verbose=False)

Save the asset to a file

Parameters:

filename (str, optional) – Name of the file to save to. Defaults to “mujoco_asset.xml”.

site(parent, name, type='box', pos=array([0., 0., 0.]), quat=array([0., 0., 0., 1.]), size=array([0.035, 0.035, 0.035]), rgba=[0.1, 0.1, 0.5, 1.0])

spatial(parent, site1, site2, range=[0.0, 1.0], width=0.003, damping=0.0, stiffness=0.0, rgba=[0.9, 0.9, 0.9, 1.0])

sphere(parent, name, pos=array([0., 0., 0.]), quat=array([0., 0., 0., 1.]), radius=0.1, mass=0.01, alpha=1.0, rgb=[0.1, 0.5, 0.1], density=1000)

tendon(parent)

velocity(parent, site, range=[-1.0, 1.0], kv=0.1, gear=array([0., 0., 0., 0., 0., 0.]))