lots of new stuff...
This commit is contained in:
Maximilian Huettenrauch
@@ -0,0 +1,366 @@
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<mujoco model="wam(v1.31)">
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<compiler angle="radian" meshdir="meshes/" />
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<option timestep="0.0005" integrator="Euler" />
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<size njmax="500" nconmax="100" />
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||||
<default class="main">
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<joint limited="true" frictionloss="0.001" />
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||||
<default class="viz">
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.7 0.7 0.7 1" />
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</default>
|
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<default class="col">
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<geom type="mesh" contype="0" rgba="0.5 0.6 0.7 1" />
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</default>
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</default>
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<asset>
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<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.25 0.26 0.25" rgb2="0.22 0.22 0.22" markrgb="0.3 0.3 0.3" width="100" height="100" />
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<material name="MatGnd" texture="groundplane" texrepeat="5 5" specular="1" shininess="0.3" reflectance="1e-05" />
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<mesh name="base_link_fine" file="base_link_fine.stl" />
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<mesh name="base_link_convex" file="base_link_convex.stl" />
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<mesh name="shoulder_link_fine" file="shoulder_link_fine.stl" />
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<mesh name="shoulder_link_convex_decomposition_p1" file="shoulder_link_convex_decomposition_p1.stl" />
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<mesh name="shoulder_link_convex_decomposition_p2" file="shoulder_link_convex_decomposition_p2.stl" />
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<mesh name="shoulder_link_convex_decomposition_p3" file="shoulder_link_convex_decomposition_p3.stl" />
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<mesh name="shoulder_pitch_link_fine" file="shoulder_pitch_link_fine.stl" />
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<mesh name="shoulder_pitch_link_convex" file="shoulder_pitch_link_convex.stl" />
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<mesh name="upper_arm_link_fine" file="upper_arm_link_fine.stl" />
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<mesh name="upper_arm_link_convex_decomposition_p1" file="upper_arm_link_convex_decomposition_p1.stl" />
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<mesh name="upper_arm_link_convex_decomposition_p2" file="upper_arm_link_convex_decomposition_p2.stl" />
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<mesh name="elbow_link_fine" file="elbow_link_fine.stl" />
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<mesh name="elbow_link_convex" file="elbow_link_convex.stl" />
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<mesh name="forearm_link_fine" file="forearm_link_fine.stl" />
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<mesh name="forearm_link_convex_decomposition_p1" file="forearm_link_convex_decomposition_p1.stl" />
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<mesh name="forearm_link_convex_decomposition_p2" file="forearm_link_convex_decomposition_p2.stl" />
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<mesh name="wrist_yaw_link_fine" file="wrist_yaw_link_fine.stl" />
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<mesh name="wrist_yaw_link_convex_decomposition_p1" file="wrist_yaw_link_convex_decomposition_p1.stl" />
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<mesh name="wrist_yaw_link_convex_decomposition_p2" file="wrist_yaw_link_convex_decomposition_p2.stl" />
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<mesh name="wrist_pitch_link_fine" file="wrist_pitch_link_fine.stl" />
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<mesh name="wrist_pitch_link_convex_decomposition_p1" file="wrist_pitch_link_convex_decomposition_p1.stl" />
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<mesh name="wrist_pitch_link_convex_decomposition_p2" file="wrist_pitch_link_convex_decomposition_p2.stl" />
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<mesh name="wrist_pitch_link_convex_decomposition_p3" file="wrist_pitch_link_convex_decomposition_p3.stl" />
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<mesh name="wrist_palm_link_fine" file="wrist_palm_link_fine.stl" />
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<mesh name="wrist_palm_link_convex" file="wrist_palm_link_convex.stl" />
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<mesh name="cup1" file="cup_split1.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup2" file="cup_split2.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup3" file="cup_split3.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup4" file="cup_split4.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup5" file="cup_split5.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup6" file="cup_split6.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup7" file="cup_split7.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup8" file="cup_split8.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup9" file="cup_split9.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup10" file="cup_split10.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup11" file="cup_split11.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup12" file="cup_split12.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup13" file="cup_split13.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup14" file="cup_split14.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup15" file="cup_split15.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup16" file="cup_split16.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup17" file="cup_split17.stl" scale="0.001 0.001 0.001" />
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<mesh name="cup18" file="cup_split18.stl" scale="0.001 0.001 0.001" />
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</asset>
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<worldbody>
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<geom name="ground" size="1.5 2 1" type="plane" material="MatGnd" />
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<light pos="0.1 0.2 1.3" dir="-0.0758098 -0.32162 -0.985527" directional="true" cutoff="60" exponent="1" diffuse="1 1 1" specular="0.1 0.1 0.1" />
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<body name="wam/base_link" pos="0 0 0.6">
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<inertial pos="6.93764e-06 0.0542887 0.076438" quat="0.496481 0.503509 -0.503703 0.496255" mass="27.5544" diaginertia="0.432537 0.318732 0.219528" />
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<geom class="viz" quat="0.707107 0 0 -0.707107" mesh="base_link_fine" />
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<geom class="col" quat="0.707107 0 0 -0.707107" mesh="base_link_convex" />
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<body name="wam/shoulder_yaw_link" pos="0 0 0.16" quat="0.707107 0 0 -0.707107">
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<inertial pos="-0.00443422 -0.00066489 -0.12189" quat="0.999995 0.000984795 0.00270132 0.00136071" mass="10.7677" diaginertia="0.507411 0.462983 0.113271" />
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<joint name="wam/base_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.6 2.6" />
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<geom class="viz" pos="0 0 0.186" mesh="shoulder_link_fine" />
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<geom class="col" pos="0 0 0.186" mesh="shoulder_link_convex_decomposition_p1" />
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<geom class="col" pos="0 0 0.186" mesh="shoulder_link_convex_decomposition_p2" />
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<geom class="col" pos="0 0 0.186" mesh="shoulder_link_convex_decomposition_p3" />
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<body name="wam/shoulder_pitch_link" pos="0 0 0.184" quat="0.707107 -0.707107 0 0">
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<inertial pos="-0.00236983 -0.0154211 0.0310561" quat="0.961781 -0.272983 0.0167269 0.0133385" mass="3.87494" diaginertia="0.0214207 0.0167101 0.0126465" />
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<joint name="wam/shoulder_pitch_joint" pos="0 0 0" axis="0 0 1" range="-1.985 1.985" />
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<geom class="viz" mesh="shoulder_pitch_link_fine" />
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<geom class="col" mesh="shoulder_pitch_link_convex" />
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<body name="wam/upper_arm_link" pos="0 -0.505 0" quat="0.707107 0.707107 0 0">
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<inertial pos="-0.0382586 3.309e-05 -0.207508" quat="0.705455 0.0381914 0.0383402 0.706686" mass="1.80228" diaginertia="0.0665697 0.0634285 0.00622701" />
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<joint name="wam/shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.8 2.8" />
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<geom class="viz" pos="0 0 -0.505" mesh="upper_arm_link_fine" />
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<geom class="col" pos="0 0 -0.505" mesh="upper_arm_link_convex_decomposition_p1" />
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<geom class="col" pos="0 0 -0.505" mesh="upper_arm_link_convex_decomposition_p2" />
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<body name="wam/forearm_link" pos="0.045 0 0.045" quat="0.707107 -0.707107 0 0">
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<inertial pos="0.00498512 -0.132717 -0.00022942" quat="0.546303 0.447151 -0.548676 0.447842" mass="2.40017" diaginertia="0.0196896 0.0152225 0.00749914" />
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<joint name="wam/elbow_pitch_joint" pos="0 0 0" axis="0 0 1" range="-0.9 3.14159" />
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<geom class="viz" mesh="elbow_link_fine" />
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<geom class="col" mesh="elbow_link_convex" />
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<geom class="viz" pos="-0.045 -0.073 0" quat="0.707388 0.706825 0 0" mesh="forearm_link_fine" />
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<geom class="col" pos="-0.045 -0.073 0" quat="0.707388 0.706825 0 0" mesh="forearm_link_convex_decomposition_p1" name="forearm_link_convex_decomposition_p1_geom" />
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<geom class="col" pos="-0.045 -0.073 0" quat="0.707388 0.706825 0 0" mesh="forearm_link_convex_decomposition_p2" name="forearm_link_convex_decomposition_p2_geom" />
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<body name="wam/wrist_yaw_link" pos="-0.045 0 0" quat="0.707107 0.707107 0 0">
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<inertial pos="8.921e-05 0.00435824 -0.00511217" quat="0.708528 -0.000120667 0.000107481 0.705683" mass="0.12376" diaginertia="0.0112011 0.0111887 7.58188e-05" />
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<joint name="wam/wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-4.55 1.25" />
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<geom class="viz" pos="0 0 0.3" mesh="wrist_yaw_link_fine" />
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||||
<geom class="col" pos="0 0 0.3" mesh="wrist_yaw_link_convex_decomposition_p1" name="wrist_yaw_link_convex_decomposition_p1_geom" />
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||||
<geom class="col" pos="0 0 0.3" mesh="wrist_yaw_link_convex_decomposition_p2" name="wrist_yaw_link_convex_decomposition_p2_geom" />
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||||
<body name="wam/wrist_pitch_link" pos="0 0 0.3" quat="0.707107 -0.707107 0 0">
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<inertial pos="-0.00012262 -0.0246834 -0.0170319" quat="0.994687 -0.102891 0.000824211 -0.00336105" mass="0.417974" diaginertia="0.000555166 0.000463174 0.00023407" />
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<joint name="wam/wrist_pitch_joint" pos="0 0 0" axis="0 0 1" range="-1.5707 1.5707" />
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<geom class="viz" mesh="wrist_pitch_link_fine" />
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||||
<geom class="col" mesh="wrist_pitch_link_convex_decomposition_p1" name="wrist_pitch_link_convex_decomposition_p1_geom" />
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||||
<geom class="col" mesh="wrist_pitch_link_convex_decomposition_p2" name="wrist_pitch_link_convex_decomposition_p2_geom" />
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||||
<geom class="col" mesh="wrist_pitch_link_convex_decomposition_p3" name="wrist_pitch_link_convex_decomposition_p3_geom" />
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||||
<body name="wam/wrist_palm_link" pos="0 -0.06 0" quat="0.707107 0.707107 0 0">
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<inertial pos="-7.974e-05 -0.00323552 -0.00016313" quat="0.594752 0.382453 0.382453 0.594752" mass="0.0686475" diaginertia="7.408e-05 3.81466e-05 3.76434e-05" />
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||||
<joint name="wam/palm_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7 2.7" />
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||||
<geom class="viz" pos="0 0 -0.06" mesh="wrist_palm_link_fine" />
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||||
<geom class="col" pos="0 0 -0.06" mesh="wrist_palm_link_convex" name="wrist_palm_link_convex_geom" />
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||||
<body name="cup" pos="0 0 0" quat="-0.000203673 0 0 1">
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||||
<inertial pos="-3.75236e-10 8.27811e-05 0.0947015" quat="0.999945 -0.0104888 0 0" mass="0.132" diaginertia="0.000285643 0.000270485 9.65696e-05" />
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||||
<geom name="cup_geom1" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup1" />
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||||
<geom name="cup_geom2" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup2" />
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||||
<geom name="cup_geom3" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup3" />
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||||
<geom name="cup_geom4" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup4" />
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||||
<geom name="cup_geom5" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup5" />
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||||
<geom name="cup_geom6" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup6" />
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||||
<geom name="cup_geom7" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup7" />
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<geom name="cup_geom8" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup8" />
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||||
<geom name="cup_geom9" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup9" />
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||||
<geom name="cup_geom10" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup10" />
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||||
<geom name="cup_base" pos="0 -0.035 0.1165" euler="-1.57 0 0" type="cylinder" size="0.038 0.0045" solref="-10000 -100"/>
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||||
<geom name="cup_base_contact" pos="0 -0.025 0.1165" euler="-1.57 0 0" type="cylinder" size="0.03 0.0005" solref="-10000 -100" rgba="0 0 255 1"/>
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||||
<!-- <geom name="cup_geom11" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup11" />-->
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||||
<!-- <geom name="cup_geom12" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup12" />-->
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||||
<!-- <geom name="cup_geom13" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup13" />-->
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||||
<!-- <geom name="cup_geom14" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup14" />-->
|
||||
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||||
<geom name="cup_geom15" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup15" />
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||||
<geom name="cup_geom16" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup16" />
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||||
<geom name="cup_geom17" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup17" />
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||||
<geom name="cup_geom18" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup18" />
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||||
<site name="cup_goal" pos="0 0.05 0.1165" rgba="255 0 0 1"/>
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||||
<site name="cup_goal_final" pos="0 -0.025 0.1165" rgba="0 255 0 1"/>
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||||
<body name="B0" pos="0 -0.045 0.1165" quat="0.707388 0 0 -0.706825">
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||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<geom name="G0" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B1" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_1" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_1" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G1" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B2" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_2" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_2" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G2" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B3" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_3" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_3" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G3" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B4" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_4" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_4" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G4" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B5" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_5" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_5" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G5" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B6" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_6" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_6" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G6" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B7" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_7" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_7" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G7" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
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|
||||
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|
||||
<joint name="J0_8" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_8" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G8" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
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|
||||
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|
||||
<joint name="J0_9" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_9" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G9" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B10" pos="0.0107 0 0">
|
||||
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|
||||
<joint name="J0_10" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_10" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G10" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B11" pos="0.0107 0 0">
|
||||
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|
||||
<joint name="J0_11" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_11" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G11" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B12" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_12" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_12" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G12" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B13" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_13" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_13" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G13" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B14" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_14" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_14" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G14" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B15" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_15" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_15" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G15" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B16" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_16" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_16" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G16" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B17" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_17" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_17" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G17" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B18" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_18" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_18" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G18" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B19" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_19" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_19" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G19" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B20" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_20" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_20" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G20" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B21" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_21" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_21" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G21" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B22" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_22" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_22" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G22" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B23" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_23" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_23" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G23" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B24" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_24" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_24" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G24" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B25" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_25" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_25" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G25" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B26" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_26" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_26" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G26" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B27" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_27" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_27" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G27" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B28" pos="0.0107 0 0">
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||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_28" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_28" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G28" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="B29" pos="0.0107 0 0">
|
||||
<inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="7.4927e-05" diaginertia="5.87e-10 5.87e-10 3.74635e-11" />
|
||||
<joint name="J0_29" pos="-0.00535 0 0" axis="0 1 0" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<joint name="J1_29" pos="-0.00535 0 0" axis="0 0 1" group="3" limited="false" damping="0.0001" frictionloss="0" />
|
||||
<geom name="G29" size="0.001 0.00427" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.8 0.2 0.1 1" />
|
||||
<body name="ball">
|
||||
<geom name="ball_geom" type="sphere" size="0.02" mass="0.021" rgba="0.8 0.2 0.1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<site name="context_point" pos="0 0.05 0.1165" euler="-1.57 0 0" size="0.015" rgba="1 0 0 0.6" type="sphere"/>
|
||||
<site name="context_point1" pos="-0.5 -0.85 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>
|
||||
<site name="context_point2" pos="-0.5 -0.85 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>
|
||||
<site name="context_point3" pos="-0.5 -0.35 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>
|
||||
<site name="context_point4" pos="-0.5 -0.35 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>
|
||||
<site name="context_point5" pos="0.5 -0.85 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>
|
||||
<site name="context_point6" pos="0.5 -0.85 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>
|
||||
<site name="context_point7" pos="0.5 -0.35 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>
|
||||
<site name="context_point8" pos="0.5 -0.35 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>
|
||||
<site name="context_space" pos="0 -0.6 1.1165" euler="0 0 0" size="0.5 0.25 0.3" rgba="0 0 1 0.15" type="box"/>
|
||||
<camera name="visualization" mode="targetbody" target="wam/wrist_yaw_link" pos="1.5 -0.4 2.2"/>
|
||||
<camera name="experiment" mode="fixed" quat="0.44418059 0.41778323 0.54301123 0.57732103" pos="1.5 -0.3 1.33" />
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor ctrlrange="-150 150" joint="wam/base_yaw_joint"/>
|
||||
<motor ctrlrange="-125 125" joint="wam/shoulder_pitch_joint"/>
|
||||
<motor ctrlrange="-40 40" joint="wam/shoulder_yaw_joint"/>
|
||||
<motor ctrlrange="-60 60" joint="wam/elbow_pitch_joint"/>
|
||||
<motor ctrlrange="-5 5" joint="wam/wrist_yaw_joint"/>
|
||||
<motor ctrlrange="-5 5" joint="wam/wrist_pitch_joint"/>
|
||||
<motor ctrlrange="-2 2" joint="wam/palm_yaw_joint"/>
|
||||
<!-- <position ctrllimited="true" ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint" kp="151.0"/>-->
|
||||
<!-- <position ctrllimited="true" ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint" kp="125.0"/>-->
|
||||
<!-- <position ctrllimited="true" ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint" kp="122.0"/>-->
|
||||
<!-- <position ctrllimited="true" ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint" kp="121.0"/>-->
|
||||
<!-- <position ctrllimited="true" ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint" kp="99.0"/>-->
|
||||
<!-- <position ctrllimited="true" ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint" kp="103.0"/>-->
|
||||
<!-- <position ctrllimited="true" ctrlrange="-3 3" joint="wam/palm_yaw_joint" kp="99.0"/>-->
|
||||
<!-- <velocity joint="wam/base_yaw_joint" kv="7.0"/>-->
|
||||
<!-- <velocity joint="wam/shoulder_pitch_joint" kv="15.0"/>-->
|
||||
<!-- <velocity joint="wam/shoulder_yaw_joint" kv="5.0"/>-->
|
||||
<!-- <velocity joint="wam/elbow_pitch_joint" kv="2.5"/>-->
|
||||
<!-- <velocity joint="wam/wrist_yaw_joint" kv="0.3"/>-->
|
||||
<!-- <velocity joint="wam/wrist_pitch_joint" kv="0.3"/>-->
|
||||
<!-- <velocity joint="wam/palm_yaw_joint" kv="0.05"/>-->
|
||||
</actuator>
|
||||
</mujoco>
|
||||
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from gym.envs.mujoco import mujoco_env
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from gym import utils
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import os
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import numpy as np
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from alr_envs.mujoco.ball_in_a_cup.ball_in_a_cup_reward import BallInACupReward
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import mujoco_py
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class ALRBallInACupEnv(mujoco_env.MujocoEnv, utils.EzPickle):
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def __init__(self, ):
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self._steps = 0
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self.xml_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "assets",
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"ball-in-a-cup_base" + ".xml")
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self.sim_time = 8 # seconds
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self.sim_steps = int(self.sim_time / (0.0005 * 4)) # circular dependency.. sim.dt <-> mujocoenv init <-> reward fct
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self.reward_function = BallInACupReward(self.sim_steps)
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self.start_pos = np.array([0.0, 0.58760536, 0.0, 1.36004913, 0.0, -0.32072943, -1.57])
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self._q_pos = []
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utils.EzPickle.__init__(self)
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mujoco_env.MujocoEnv.__init__(self, os.path.join(os.path.dirname(__file__), "assets", "ball-in-a-cup_base.xml"),
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frame_skip=4)
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def reset_model(self):
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start_pos = self.init_qpos.copy()
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start_pos[0:7] = self.start_pos
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start_vel = np.zeros_like(start_pos)
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self.set_state(start_pos, start_vel)
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self._steps = 0
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self.reward_function.reset()
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self._q_pos = []
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def do_simulation(self, ctrl, n_frames):
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self.sim.data.ctrl[:] = ctrl
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for _ in range(n_frames):
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try:
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self.sim.step()
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except mujoco_py.builder.MujocoException as e:
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# print("Error in simulation: " + str(e))
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# error = True
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# Copy the current torque as if it would have been applied until the end of the trajectory
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# for i in range(k + 1, sim_time):
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# torques.append(trq)
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return True
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return False
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def step(self, a):
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# Apply gravity compensation
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if not np.all(self.sim.data.qfrc_applied[:7] == self.sim.data.qfrc_bias[:7]):
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self.sim.data.qfrc_applied[:7] = self.sim.data.qfrc_bias[:7]
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reward_dist = 0.0
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angular_vel = 0.0
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# if self._steps >= self.steps_before_reward:
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# vec = self.get_body_com("fingertip") - self.get_body_com("target")
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# reward_dist -= self.reward_weight * np.linalg.norm(vec)
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# angular_vel -= np.linalg.norm(self.sim.data.qvel.flat[:self.n_links])
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reward_ctrl = - np.square(a).sum()
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# reward_balance = - self.balance_weight * np.abs(
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# angle_normalize(np.sum(self.sim.data.qpos.flat[:self.n_links]), type="rad"))
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#
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# reward = reward_dist + reward_ctrl + angular_vel + reward_balance
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# self.do_simulation(a, self.frame_skip)
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crash = self.do_simulation(a, self.frame_skip)
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self._q_pos.append(self.sim.data.qpos[0:7].ravel().copy())
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ob = self._get_obs()
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if not crash:
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reward, success, collision = self.reward_function.compute_reward(a, self.sim, self._steps)
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done = success or self._steps == self.sim_steps - 1 or collision
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self._steps += 1
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else:
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reward = -1000
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done = True
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return ob, reward, done, dict(reward_dist=reward_dist, reward_ctrl=reward_ctrl,
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velocity=angular_vel, # reward_balance=reward_balance,
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# end_effector=self.get_body_com("fingertip").copy(),
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goal=self.goal if hasattr(self, "goal") else None,
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traj=self._q_pos)
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def _get_obs(self):
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theta = self.sim.data.qpos.flat[:7]
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return np.concatenate([
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np.cos(theta),
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np.sin(theta),
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# self.get_body_com("target"), # only return target to make problem harder
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[self._steps],
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])
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if __name__ == "__main__":
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env = ALRBallInACupEnv()
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env.reset()
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for i in range(2000):
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# objective.load_result("/tmp/cma")
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# test with random actions
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# ac = 0.0 * env.action_space.sample()
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ac = env.start_pos
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# ac[0] += np.pi/2
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obs, rew, d, info = env.step(ac)
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env.render()
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print(rew)
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if d:
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break
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env.close()
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import numpy as np
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class BallInACupReward:
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def __init__(self, sim_time):
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self.sim_time = sim_time
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self.collision_objects = ["cup_geom1", "cup_geom2", "wrist_palm_link_convex_geom",
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"wrist_pitch_link_convex_decomposition_p1_geom",
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"wrist_pitch_link_convex_decomposition_p2_geom",
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"wrist_pitch_link_convex_decomposition_p3_geom",
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"wrist_yaw_link_convex_decomposition_p1_geom",
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"wrist_yaw_link_convex_decomposition_p2_geom",
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"forearm_link_convex_decomposition_p1_geom",
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"forearm_link_convex_decomposition_p2_geom"]
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self.ctxt_id = None
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self.ball_id = None
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self.ball_collision_id = None
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self.goal_id = None
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self.goal_final_id = None
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self.collision_ids = None
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self.ball_traj = None
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self.dists = None
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self.dists_final = None
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self.costs = None
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self.reset()
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def reset(self):
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self.ball_traj = np.zeros(shape=(self.sim_time, 3))
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self.dists = []
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self.dists_final = []
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self.costs = []
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def compute_reward(self, action, sim, step):
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self.ctxt_id = sim.model._site_name2id['context_point']
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self.ball_id = sim.model._body_name2id["ball"]
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self.ball_collision_id = sim.model._geom_name2id["ball_geom"]
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self.goal_id = sim.model._site_name2id["cup_goal"]
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self.goal_final_id = sim.model._site_name2id["cup_goal_final"]
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self.collision_ids = [sim.model._geom_name2id[name] for name in self.collision_objects]
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ball_in_cup = self.check_ball_in_cup(sim, self.ball_collision_id)
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# Compute the current distance from the ball to the inner part of the cup
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goal_pos = sim.data.site_xpos[self.goal_id]
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ball_pos = sim.data.body_xpos[self.ball_id]
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goal_final_pos = sim.data.site_xpos[self.goal_final_id]
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self.dists.append(np.linalg.norm(goal_pos - ball_pos))
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self.dists_final.append(np.linalg.norm(goal_final_pos - ball_pos))
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# dists_ctxt.append(np.linalg.norm(ball_pos - ctxt))
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self.ball_traj[step, :] = ball_pos
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if self.check_collision(sim):
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return -1000, False, True
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# self._get_cost(ball_pos, goal_pos, goal_final_pos, action,
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# sim.data.get_site_xpos('context_point').copy(), step)
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# min_dist = np.min(self.dists)
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# dist_final = self.dists_final[-1]
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action_cost = np.sum(np.square(action))
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# cost = self.get_stage_wise_cost(ball_in_cup, min_dist, self.dists_final[-1]) # , self.dists_ctxt[-1])
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if step == self.sim_time - 1:
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min_dist = np.min(self.dists)
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dist_final = self.dists_final[-1]
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cost = 0.5 * min_dist + 0.5 * dist_final
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# cost = 3 + 2 * (0.5 * min_dist ** 2 + 0.5 * dist_final ** 2)
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reward = np.exp(-2 * min_dist) - 1e-5 * action_cost
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success = dist_final < 0.05 and min_dist < 0.05
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else:
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cost = 0
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reward = - 1e-5 * action_cost
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success = False
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# action_cost = np.mean(np.sum(np.square(torques), axis=1), axis=0)
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return reward, success, False
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def get_stage_wise_cost(self, ball_in_cup, min_dist, dist_final): #, dist_to_ctxt):
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# stop_sim = False
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cost = 3 + 2 * (0.5 * min_dist ** 2 + 0.5 * dist_final ** 2)
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# if not ball_in_cup:
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# # cost = 3 + 2*(0.5 * min_dist + 0.5 * dist_final)
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# cost = 3 + 2*(0.5 * min_dist**2 + 0.5 * dist_final**2)
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# else:
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# # cost = 2*dist_to_ctxt
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# cost = 2*dist_to_ctxt**2
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# stop_sim = True
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# # print(dist_to_ctxt-0.02)
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# print('Context Distance:', dist_to_ctxt)
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return cost
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def _get_cost(self, ball_pos, goal_pos, goal_pos_final, u, ctxt, t):
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cost = 0
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if t == self.sim_time*0.8:
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dist = 0.5*np.linalg.norm(goal_pos-ball_pos)**2 + 0.5*np.linalg.norm(goal_pos_final-ball_pos)**2
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# dist_ctxt = np.linalg.norm(ctxt-goal_pos)**2
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cost = dist # +dist_ctxt
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return cost
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def check_ball_in_cup(self, sim, ball_collision_id):
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cup_base_collision_id = sim.model._geom_name2id["cup_base_contact"]
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for coni in range(0, sim.data.ncon):
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con = sim.data.contact[coni]
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collision = con.geom1 == cup_base_collision_id and con.geom2 == ball_collision_id
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collision_trans = con.geom1 == ball_collision_id and con.geom2 == cup_base_collision_id
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if collision or collision_trans:
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return True
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return False
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def check_collision(self, sim):
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for coni in range(0, sim.data.ncon):
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con = sim.data.contact[coni]
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collision = con.geom1 in self.collision_ids and con.geom2 == self.ball_collision_id
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collision_trans = con.geom1 == self.ball_collision_id and con.geom2 in self.collision_ids
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if collision or collision_trans:
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return True
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return False
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from gym.envs.mujoco import mujoco_env
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from gym import utils, spaces
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import os
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import numpy as np
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from alr_envs.mujoco.ball_in_a_cup.ball_in_a_cup_reward import BallInACupReward
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import mujoco_py
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class ALRBallInACupEnv(mujoco_env.MujocoEnv, utils.EzPickle):
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def __init__(self, pd_control=True):
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self._steps = 0
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self.pd_control = pd_control
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self.xml_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "assets",
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"ball-in-a-cup_base" + ".xml")
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self.sim_time = 8 # seconds
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self.sim_steps = int(self.sim_time / (0.0005 * 4)) # circular dependency.. sim.dt <-> mujocoenv init <-> reward fct
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self.reward_function = BallInACupReward(self.sim_steps)
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self.start_pos = np.array([0.0, 0.58760536, 0.0, 1.36004913, 0.0, -0.32072943, -1.57])
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self.start_vel = np.zeros(7)
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# self.start_pos = np.array([0.58760536, 1.36004913, -0.32072943])
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self._q_pos = []
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self._q_vel = []
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# self.weight_matrix_scale = 50
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self.p_gains = 1*np.array([200, 300, 100, 100, 10, 10, 2.5])
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self.d_gains = 1*np.array([7, 15, 5, 2.5, 0.3, 0.3, 0.05])
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self.j_min = np.array([-2.6, -1.985, -2.8, -0.9, -4.55, -1.5707, -2.7])
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self.j_max = np.array([2.6, 1.985, 2.8, 3.14159, 1.25, 1.5707, 2.7])
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utils.EzPickle.__init__(self)
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mujoco_env.MujocoEnv.__init__(self, os.path.join(os.path.dirname(__file__), "assets", "ball-in-a-cup_base.xml"),
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frame_skip=4)
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@property
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||||
def current_pos(self):
|
||||
return self.sim.data.qpos[0:7].copy()
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||||
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@property
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||||
def current_vel(self):
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return self.sim.data.qvel[0:7].copy()
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||||
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||||
def reset_model(self):
|
||||
init_pos_all = self.init_qpos.copy()
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||||
init_pos_robot = self.start_pos
|
||||
init_vel = np.zeros_like(init_pos_all)
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||||
ball_id = self.sim.model._body_name2id["ball"]
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goal_final_id = self.sim.model._site_name2id["cup_goal_final"]
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||||
# self.set_state(start_pos, start_vel)
|
||||
self._steps = 0
|
||||
self.reward_function.reset()
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||||
self._q_pos = []
|
||||
self._q_vel = []
|
||||
|
||||
# Reset the system
|
||||
self.sim.data.qpos[:] = init_pos_all
|
||||
self.sim.data.qvel[:] = init_vel
|
||||
self.sim.data.qpos[0:7] = init_pos_robot
|
||||
|
||||
self.sim.step()
|
||||
|
||||
self.sim.data.qpos[:] = init_pos_all
|
||||
self.sim.data.qvel[:] = init_vel
|
||||
self.sim.data.qpos[0:7] = init_pos_robot
|
||||
self.sim.data.body_xpos[ball_id, :] = np.copy(self.sim.data.site_xpos[goal_final_id, :]) - np.array([0., 0., 0.329])
|
||||
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||||
# Stabilize the system around the initial position
|
||||
for i in range(0, 2000):
|
||||
self.sim.data.qpos[7:] = 0.
|
||||
self.sim.data.qvel[7:] = 0.
|
||||
# self.sim.data.qpos[7] = -0.2
|
||||
cur_pos = self.sim.data.qpos[0:7].copy()
|
||||
cur_vel = self.sim.data.qvel[0:7].copy()
|
||||
trq = self.p_gains * (init_pos_robot - cur_pos) + self.d_gains * (np.zeros_like(init_pos_robot) - cur_vel)
|
||||
self.sim.data.qfrc_applied[0:7] = trq + self.sim.data.qfrc_bias[:7].copy()
|
||||
self.sim.step()
|
||||
# self.render()
|
||||
|
||||
for i in range(0, 2000):
|
||||
cur_pos = self.sim.data.qpos[0:7].copy()
|
||||
cur_vel = self.sim.data.qvel[0:7].copy()
|
||||
trq = self.p_gains * (init_pos_robot - cur_pos) + self.d_gains * (np.zeros_like(init_pos_robot) - cur_vel)
|
||||
self.sim.data.qfrc_applied[0:7] = trq + self.sim.data.qfrc_bias[:7].copy()
|
||||
self.sim.step()
|
||||
# self.render()
|
||||
|
||||
def do_simulation(self, ctrl, n_frames):
|
||||
# cur_pos = self.sim.data.qpos[0:7].copy()
|
||||
# cur_vel = self.sim.data.qvel[0:7].copy()
|
||||
# des_pos = ctrl[:7]
|
||||
# des_vel = ctrl[7:]
|
||||
# trq = self.p_gains * (des_pos - cur_pos) + self.d_gains * (des_vel - cur_vel)
|
||||
if self.pd_control:
|
||||
self.sim.data.qfrc_applied[0:7] = ctrl + self.sim.data.qfrc_bias[:7].copy()
|
||||
else:
|
||||
self.sim.data.ctrl[:] = ctrl
|
||||
|
||||
for _ in range(n_frames):
|
||||
try:
|
||||
self.sim.step()
|
||||
except mujoco_py.builder.MujocoException as e:
|
||||
print("Error in simulation: " + str(e))
|
||||
# error = True
|
||||
# Copy the current torque as if it would have been applied until the end of the trajectory
|
||||
# for i in range(k + 1, sim_time):
|
||||
# torques.append(trq)
|
||||
return True
|
||||
|
||||
return False
|
||||
|
||||
def step(self, a):
|
||||
# Apply gravity compensation
|
||||
# if not np.all(self.sim.data.qfrc_applied[:7] == self.sim.data.qfrc_bias[:7]):
|
||||
# self.sim.data.qfrc_applied[:7] = self.sim.data.qfrc_bias[:7]
|
||||
|
||||
reward_dist = 0.0
|
||||
angular_vel = 0.0
|
||||
# if self._steps >= self.steps_before_reward:
|
||||
# vec = self.get_body_com("fingertip") - self.get_body_com("target")
|
||||
# reward_dist -= self.reward_weight * np.linalg.norm(vec)
|
||||
# angular_vel -= np.linalg.norm(self.sim.data.qvel.flat[:self.n_links])
|
||||
reward_ctrl = - np.square(a).sum()
|
||||
# reward_balance = - self.balance_weight * np.abs(
|
||||
# angle_normalize(np.sum(self.sim.data.qpos.flat[:self.n_links]), type="rad"))
|
||||
#
|
||||
# reward = reward_dist + reward_ctrl + angular_vel + reward_balance
|
||||
# self.do_simulation(a, self.frame_skip)
|
||||
|
||||
joint_cons_viol = self.check_traj_in_joint_limits()
|
||||
|
||||
crash = self.do_simulation(a, self.frame_skip)
|
||||
|
||||
self._q_pos.append(self.sim.data.qpos[0:7].ravel().copy())
|
||||
self._q_vel.append(self.sim.data.qvel[0:7].ravel().copy())
|
||||
|
||||
ob = self._get_obs()
|
||||
|
||||
if not crash and not joint_cons_viol:
|
||||
reward, success, collision = self.reward_function.compute_reward(a, self.sim, self._steps)
|
||||
done = success or self._steps == self.sim_steps - 1 or collision
|
||||
self._steps += 1
|
||||
else:
|
||||
reward = -1000
|
||||
done = True
|
||||
return ob, reward, done, dict(reward_dist=reward_dist, reward_ctrl=reward_ctrl,
|
||||
velocity=angular_vel, # reward_balance=reward_balance,
|
||||
# end_effector=self.get_body_com("fingertip").copy(),
|
||||
goal=self.goal if hasattr(self, "goal") else None,
|
||||
traj=self._q_pos)
|
||||
|
||||
def check_traj_in_joint_limits(self):
|
||||
return any(self.current_pos > self.j_max) or any(self.current_pos < self.j_min)
|
||||
|
||||
def check_collision(self):
|
||||
for coni in range(0, sim.data.ncon):
|
||||
con = sim.data.contact[coni]
|
||||
|
||||
collision = con.geom1 in self.collision_ids and con.geom2 == self.ball_collision_id
|
||||
collision_trans = con.geom1 == self.ball_collision_id and con.geom2 in self.collision_ids
|
||||
|
||||
if collision or collision_trans:
|
||||
return True
|
||||
return False
|
||||
|
||||
def _get_obs(self):
|
||||
theta = self.sim.data.qpos.flat[:7]
|
||||
return np.concatenate([
|
||||
np.cos(theta),
|
||||
np.sin(theta),
|
||||
# self.get_body_com("target"), # only return target to make problem harder
|
||||
[self._steps],
|
||||
])
|
||||
|
||||
def extend_des_pos(self, des_pos):
|
||||
des_pos_full = self.start_pos.copy()
|
||||
des_pos_full[1] = des_pos[0]
|
||||
des_pos_full[3] = des_pos[1]
|
||||
des_pos_full[5] = des_pos[2]
|
||||
return des_pos_full
|
||||
|
||||
def extend_des_vel(self, des_vel):
|
||||
des_vel_full = self.start_vel.copy()
|
||||
des_vel_full[1] = des_vel[0]
|
||||
des_vel_full[3] = des_vel[1]
|
||||
des_vel_full[5] = des_vel[2]
|
||||
return des_vel_full
|
||||
|
||||
if __name__ == "__main__":
|
||||
env = ALRBallInACupEnv()
|
||||
env.reset()
|
||||
env.render()
|
||||
for i in range(4000):
|
||||
# objective.load_result("/tmp/cma")
|
||||
# test with random actions
|
||||
# ac = 0.1 * env.action_space.sample()
|
||||
# ac = -np.array([i, i, i]) / 10000 + np.array([env.start_pos[1], env.start_pos[3], env.start_pos[5]])
|
||||
ac = np.array([0., -0.1, 0, 0, 0, 0, 0])
|
||||
# ac[0] += np.pi/2
|
||||
obs, rew, d, info = env.step(ac)
|
||||
env.render()
|
||||
|
||||
print(rew)
|
||||
|
||||
if d:
|
||||
break
|
||||
|
||||
env.close()
|
||||
|
||||
Reference in New Issue
Block a user