| """ |
| Render Experiment 2: Material Estimation via Sequential Interactions |
| Shows a robot finger pushing an object with different forces. |
| Each push provides information about mass and friction. |
| """ |
| import mujoco |
| import numpy as np |
| import imageio |
|
|
| WIDTH, HEIGHT = 1280, 720 |
| FPS = 60 |
| OUTPUT_DIR = "." |
|
|
| XML_TEMPLATE = """ |
| <mujoco model="material_estimation"> |
| <option timestep="0.002" gravity="0 0 -9.81"/> |
| |
| <visual> |
| <global offwidth="{w}" offheight="{h}"/> |
| <quality shadowsize="4096"/> |
| <headlight ambient="0.3 0.3 0.3" diffuse="0.6 0.6 0.6"/> |
| </visual> |
| |
| <asset> |
| <texture name="grid" type="2d" builtin="checker" rgb1="0.35 0.35 0.38" rgb2="0.30 0.30 0.33" |
| width="256" height="256"/> |
| <material name="grid_mat" texture="grid" texrepeat="8 8" reflectance="0.1"/> |
| <material name="wood_mat" rgba="0.45 0.35 0.25 1" specular="0.1"/> |
| <material name="obj_mat" rgba="{r} {g} {b} 1" specular="0.4" shininess="0.6"/> |
| <material name="pusher_mat" rgba="0.25 0.30 0.65 0.9" specular="0.5" shininess="0.8"/> |
| </asset> |
| |
| <worldbody> |
| <light pos="0 -0.4 1.5" dir="0 0.3 -1" castshadow="true" diffuse="0.8 0.8 0.8"/> |
| <light pos="0.5 0.5 1.0" dir="-0.3 -0.3 -1" castshadow="false" diffuse="0.3 0.3 0.35"/> |
| |
| <geom name="floor" type="plane" size="2 2 0.1" material="grid_mat"/> |
| |
| <body name="table" pos="0 0 0.38"> |
| <geom type="box" size="0.5 0.3 0.02" material="wood_mat"/> |
| <geom type="cylinder" size="0.015 0.18" pos="-0.45 -0.25 -0.2" rgba="0.4 0.3 0.2 1"/> |
| <geom type="cylinder" size="0.015 0.18" pos=" 0.45 -0.25 -0.2" rgba="0.4 0.3 0.2 1"/> |
| <geom type="cylinder" size="0.015 0.18" pos="-0.45 0.25 -0.2" rgba="0.4 0.3 0.2 1"/> |
| <geom type="cylinder" size="0.015 0.18" pos=" 0.45 0.25 -0.2" rgba="0.4 0.3 0.2 1"/> |
| </body> |
| |
| <!-- Object under test --> |
| <body name="object" pos="0 0 0.435"> |
| <joint type="free"/> |
| <geom type="box" size="0.035 0.035 0.035" mass="{mass}" material="obj_mat" |
| friction="{friction} 0.005 0.0001"/> |
| </body> |
| |
| <!-- Pusher finger --> |
| <body name="pusher" pos="-0.15 0 0.435"> |
| <geom type="capsule" size="0.012 0.02" euler="0 90 0" material="pusher_mat"/> |
| </body> |
| |
| <camera name="main" pos="0.05 -0.55 0.7" xyaxes="1 0 0 0 0.55 0.84" fovy="45"/> |
| <camera name="close" pos="0.0 -0.3 0.5" xyaxes="1 0 0 0 0.4 0.92" fovy="40"/> |
| </worldbody> |
| </mujoco> |
| """ |
|
|
| MATERIALS = { |
| "wood": {"mass": 0.5, "friction": 0.4, "color": (0.65, 0.45, 0.25)}, |
| "rubber": {"mass": 1.0, "friction": 0.7, "color": (0.15, 0.15, 0.15)}, |
| "metal": {"mass": 3.0, "friction": 0.2, "color": (0.7, 0.72, 0.75)}, |
| "plastic": {"mass": 0.2, "friction": 0.35, "color": (0.2, 0.6, 0.85)}, |
| } |
|
|
|
|
| def render_interaction_sequence(material_name, forces, filename, camera="main"): |
| """Render sequential push interactions on a single object.""" |
| props = MATERIALS[material_name] |
| xml = XML_TEMPLATE.format( |
| w=WIDTH, h=HEIGHT, |
| mass=props["mass"], friction=props["friction"], |
| r=props["color"][0], g=props["color"][1], b=props["color"][2], |
| ) |
| |
| model = mujoco.MjModel.from_xml_string(xml) |
| renderer = mujoco.Renderer(model, height=HEIGHT, width=WIDTH) |
| cam_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_CAMERA, camera) |
| |
| all_frames = [] |
| |
| for i, force in enumerate(forces): |
| |
| data = mujoco.MjData(model) |
| mujoco.mj_forward(model, data) |
| |
| obj_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_BODY, "object") |
| |
| |
| for _ in range(200): |
| mujoco.mj_step(model, data) |
| |
| frames_per_step = max(1, int(1.0 / (FPS * model.opt.timestep))) |
| force_steps = 40 |
| |
| |
| for _ in range(int(0.2 * FPS)): |
| renderer.update_scene(data, camera=cam_id) |
| all_frames.append(renderer.render().copy()) |
| |
| |
| total = int(1.5 / model.opt.timestep) |
| for step in range(total): |
| if step < force_steps: |
| data.xfrc_applied[obj_id, :3] = [force, 0, 0] |
| else: |
| data.xfrc_applied[obj_id, :3] = [0, 0, 0] |
| |
| mujoco.mj_step(model, data) |
| if step % frames_per_step == 0: |
| renderer.update_scene(data, camera=cam_id) |
| all_frames.append(renderer.render().copy()) |
| |
| print(f" Push {i+1}/{len(forces)}: F={force}N, disp={data.xpos[obj_id][0]:.4f}m") |
| |
| |
| output_path = f"{OUTPUT_DIR}/{filename}" |
| writer = imageio.get_writer(output_path, fps=FPS, codec='libx264', |
| output_params=['-crf', '20', '-preset', 'medium']) |
| for frame in all_frames: |
| writer.append_data(frame) |
| writer.close() |
| print(f" Saved: {output_path} ({len(all_frames)} frames, {len(all_frames)/FPS:.1f}s)") |
| |
| renderer.close() |
|
|
|
|
| if __name__ == "__main__": |
| print("=== Rendering Experiment 2: Material Estimation ===\n") |
| |
| forces = [2.0, 5.0, 10.0, 15.0, 8.0, 3.0] |
| |
| for mat_name in ["wood", "metal"]: |
| print(f"\n--- {mat_name} ---") |
| render_interaction_sequence( |
| mat_name, forces, |
| f"exp2_{mat_name}_interactions.mp4" |
| ) |
| |
| print("\nDone!") |
|
|
