simple_llmphy

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chrisjcc commited on Jul 10, 2025

Commit

3c5f45f

1 Parent(s): 848a20e

Multiple randomized dynamic objects. A pusher that activates mid-simulation. Full support for parameterized object count and rendering.

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Files changed (2) hide show

assets/tray.xml +24 -11
tray_sim.py +30 -8

assets/tray.xml CHANGED Viewed

@@ -1,13 +1,26 @@
 <mujoco model="tray_sim">
-    <compiler angle="degree" coordinate="local" />
-    <option gravity="0 0 -9.81" />
-    <worldbody>
-        <body name="tray" pos="0 0 0">
-            <geom name="tray" type="box" size="0.3 0.3 0.02" rgba="0.5 0.5 0.5 1" />
-        </body>
-        <body name="block" pos="0 0 0.3">
-            <geom name="block" type="box" size="0.02 0.02 0.02" rgba="0.2 0.6 0.8 1" />
-            <joint name="free" type="free" />
-        </body>
-    </worldbody>
 </mujoco>

 <mujoco model="tray_sim">
+  <compiler angle="degree" coordinate="local" />
+  <option gravity="0 0 -9.81" />
+  <size njmax="1000" nconmax="500" />
+  <worldbody>
+    <!-- Static tray -->
+    <body name="tray" pos="0 0 0">
+      <geom type="box" size="0.3 0.3 0.02" rgba="0.5 0.5 0.5 1"/>
+    </body>
+    <!-- Dynamic objects (all with free joints) -->
+    <!-- You can randomize and selectively activate them in Python -->
+    {% for i in range(10) %}
+    <body name="obj{{ i }}" pos="0 0 0.1">
+      <geom type="box" size="0.015 0.015 0.015" rgba="{{ 0.1 * i }} {{ 0.2 + 0.05 * i }} {{ 0.7 - 0.05 * i }} 1" />
+      <joint type="free" />
+    </body>
+    {% endfor %}
+    <!-- Pusher -->
+    <body name="pusher" pos="0.3 -0.3 0.05">
+      <geom type="box" size="0.02 0.02 0.02" rgba="0 0 0 1"/>
+      <joint type="free"/>
+    </body>
+  </worldbody>
 </mujoco>

tray_sim.py CHANGED Viewed

@@ -5,21 +5,43 @@ import os
 import tempfile
 MODEL_PATH = "assets/tray.xml"
-def run_tray_simulation(seed=0):
     np.random.seed(seed)
     model = mujoco.MjModel.from_xml_path(MODEL_PATH)
     data = mujoco.MjData(model)
-    # Randomize initial object position
-    data.qpos[:3] = [0.0, 0.0, 0.3 + 0.2 * np.random.rand()]  # x, y, z
-    data.qvel[:] = 0
-    # Use mujoco.Renderer for offscreen rendering
-    renderer = mujoco.Renderer(model, width=480, height=480)
     frames = []
-    for _ in range(200):
         mujoco.mj_step(model, data)
         renderer.update_scene(data)
         img = renderer.render()
@@ -27,7 +49,7 @@ def run_tray_simulation(seed=0):
     renderer.close()
-    # Save as GIF to temp file
     gif_path = os.path.join(tempfile.gettempdir(), f"tray_sim_{seed}.gif")
     imageio.mimsave(gif_path, frames, fps=20)
     return gif_path

 import tempfile
 MODEL_PATH = "assets/tray.xml"
+N_OBJECTS = 5  # number of dynamic blocks to randomize
+PUSH_START_STEP = 50
+SIM_STEPS = 200
+def run_tray_simulation(seed=0, num_objects=N_OBJECTS):
     np.random.seed(seed)
     model = mujoco.MjModel.from_xml_path(MODEL_PATH)
     data = mujoco.MjData(model)
+    # Object initialization
+    for i in range(num_objects):
+        obj_start = i * 7  # 7 DOF per free joint body
+        pos = np.random.uniform(low=[-0.1, -0.1, 0.05], high=[0.1, 0.1, 0.15])
+        quat = [1, 0, 0, 0]  # no rotation
+        data.qpos[obj_start:obj_start+3] = pos
+        data.qpos[obj_start+3:obj_start+7] = quat
+        data.qvel[i*6:i*6+6] = 0
+    # Locate pusher DOF index (last one in qpos if you have 10 objects)
+    pusher_idx = num_objects * 7
+    pusher_vel_idx = num_objects * 6
+    # Renderer
+    renderer = mujoco.Renderer(model, width=640, height=640)
     frames = []
+    keyframes = {0: None, 25: None, 50: None, 200: None}
+    for t in range(SIM_STEPS):
+        if t == PUSH_START_STEP:
+            # Activate pusher
+            data.qvel[pusher_vel_idx:pusher_vel_idx+3] = [-0.05, 0.05, 0.0]  # toward center
+        if t in keyframes:
+            imageio.imwrite(f"/tmp/frame_{t}.png", img)
         mujoco.mj_step(model, data)
         renderer.update_scene(data)
         img = renderer.render()
     renderer.close()
+    # Save to GIF
     gif_path = os.path.join(tempfile.gettempdir(), f"tray_sim_{seed}.gif")
     imageio.mimsave(gif_path, frames, fps=20)
     return gif_path