diff --git a/bitbots_misc/bitbots_bringup/launch/simulator_teamplayer.launch b/bitbots_misc/bitbots_bringup/launch/simulator_teamplayer.launch index 309a20155..f1610995b 100644 --- a/bitbots_misc/bitbots_bringup/launch/simulator_teamplayer.launch +++ b/bitbots_misc/bitbots_bringup/launch/simulator_teamplayer.launch @@ -10,10 +10,15 @@ + - - + + + + + + diff --git a/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/__init__.py b/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/__init__.py new file mode 100644 index 000000000..b01c3865f --- /dev/null +++ b/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/__init__.py @@ -0,0 +1,5 @@ +"""BitBots MuJoCo Simulation Package""" + +__all__ = [ + "simulation", +] diff --git a/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/camera.py b/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/camera.py new file mode 100644 index 000000000..187bba766 --- /dev/null +++ b/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/camera.py @@ -0,0 +1,55 @@ +import mujoco +import numpy as np + + +class Camera: + """Represents a camera in the MuJoCo simulation, providing image rendering capabilities.""" + + def __init__(self, model: mujoco.MjModel, data: mujoco.MjData, name: str, width: int = 800, height: int = 600): + self.model: mujoco.MjModel = model + self.data: mujoco.MjData = data + self.name: str = name + self.instance = model.camera(name) + self.width: int = width + self.height: int = height + self.renderer = mujoco.Renderer(self.model, height=self.height, width=self.width) + + @property + def fov(self) -> float: + """Returns the camera's horizontal field of view in radians.""" + if hasattr(self, "_fov") and self._fov is not None: + return self._fov + + # MuJoCo uses fovy (vertical field of view in degrees) + fovy_deg = self.instance.fovy[0] if hasattr(self.instance.fovy, "__iter__") else self.instance.fovy + fovy_rad = np.deg2rad(fovy_deg) + + # Convert vertical FOV to horizontal FOV using aspect ratio + aspect_ratio = self.width / self.height + fovx_rad = 2 * np.arctan(np.tan(fovy_rad / 2) * aspect_ratio) + + self._fov = fovx_rad + return self._fov + + def render(self) -> bytes: + """ + Renders and returns the camera image as raw bytes (BGRA format). + Returns Raw image data in BGRA8 format for ROS Image messages. + """ + # Update renderer with current scene + self.renderer.update_scene(self.data, camera=self.name) + + # Render the image - returns RGB by default + rgb_array = self.renderer.render() + + # Convert RGB to BGRA (standard for ROS Image messages) + # MuJoCo returns RGB uint8 array of shape (height, width, 3) + # We need to add alpha channel and swap R and B + height, width, _ = rgb_array.shape + bgra_array = np.zeros((height, width, 4), dtype=np.uint8) + bgra_array[:, :, 0] = rgb_array[:, :, 2] # B + bgra_array[:, :, 1] = rgb_array[:, :, 1] # G + bgra_array[:, :, 2] = rgb_array[:, :, 0] # R + bgra_array[:, :, 3] = 255 # A (fully opaque) + + return bgra_array.tobytes() diff --git a/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/joint.py b/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/joint.py new file mode 100644 index 000000000..eb07cba3c --- /dev/null +++ b/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/joint.py @@ -0,0 +1,39 @@ +import mujoco + + +class Joint: + """Represents a single controllable joint and associated actuator in the MuJoCo simulation.""" + + def __init__( + self, + model: mujoco.MjModel, + data: mujoco.MjData, + ros_name: str, + name: str | None = None, + ): + self.model: mujoco.MjModel = model + self.data: mujoco.MjData = data + self.ros_name: str = ros_name + self.name: str = name if name is not None else ros_name + self.joint_instance: int = model.joint(self.name) + self.actuator_instance: int = model.actuator(self.name) + + @property + def position(self) -> float: + """Gets the current joint position (angle) in radians.""" + return self.data.qpos[self.joint_instance.qposadr[0]] + + @position.setter + def position(self, value: float) -> None: + """Sets the position target for the joint's position actuator.""" + self.data.ctrl[self.actuator_instance.id] = value + + @property + def velocity(self) -> float: + """Gets the current joint velocity in rad/s.""" + return self.data.qvel[self.joint_instance.dofadr[0]] + + @property + def effort(self) -> float: + """Gets the current effort (force/torque) applied by the position actuator.""" + return self.data.actuator_force[self.actuator_instance.id] diff --git a/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/main.py b/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/main.py new file mode 100644 index 000000000..78b4c198f --- /dev/null +++ b/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/main.py @@ -0,0 +1,18 @@ +import threading + +import rclpy +from rclpy.experimental.events_executor import EventsExecutor + +from bitbots_mujoco_sim.simulation import Simulation + + +def main(args=None): + rclpy.init(args=args) + simulation = Simulation() + executor = EventsExecutor() + executor.add_node(simulation) + thread = threading.Thread(target=executor.spin, daemon=True) + thread.start() + simulation.run() + simulation.destroy_node() + rclpy.shutdown() diff --git a/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/robot.py b/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/robot.py new file mode 100644 index 000000000..7d2e5dd0a --- /dev/null +++ b/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/robot.py @@ -0,0 +1,169 @@ +import mujoco + +from bitbots_mujoco_sim.camera import Camera +from bitbots_mujoco_sim.joint import Joint +from bitbots_mujoco_sim.sensor import FootPressureSensor, Sensor + + +class Robot: + """Represents the robot, holding all its components like the camera, joints, and sensors.""" + + def __init__(self, model: mujoco.MjModel, data: mujoco.MjData, index: int = 0): + self.index: int = index + self.camera = Camera(model, data, name=self._get_name("head_camera")) + self.joints = RobotJoints( + [ + # --- Right Leg --- + Joint(model, data, ros_name="RHipYaw", name=self._get_name("RHipYaw")), + Joint(model, data, ros_name="RHipRoll", name=self._get_name("RHipRoll")), + Joint(model, data, ros_name="RHipPitch", name=self._get_name("RHipPitch")), + Joint(model, data, ros_name="RKnee", name=self._get_name("RKnee")), + Joint(model, data, ros_name="RAnklePitch", name=self._get_name("RAnklePitch")), + Joint(model, data, ros_name="RAnkleRoll", name=self._get_name("RAnkleRoll")), + # --- Left Leg --- + Joint(model, data, ros_name="LHipYaw", name=self._get_name("LHipYaw")), + Joint(model, data, ros_name="LHipRoll", name=self._get_name("LHipRoll")), + Joint(model, data, ros_name="LHipPitch", name=self._get_name("LHipPitch")), + Joint(model, data, ros_name="LKnee", name=self._get_name("LKnee")), + Joint(model, data, ros_name="LAnklePitch", name=self._get_name("LAnklePitch")), + Joint(model, data, ros_name="LAnkleRoll", name=self._get_name("LAnkleRoll")), + # --- Arms --- + Joint(model, data, ros_name="RShoulderPitch", name=self._get_name("RShoulderPitch")), + Joint(model, data, ros_name="RShoulderRoll", name=self._get_name("RShoulderRoll")), + Joint(model, data, ros_name="RElbow", name=self._get_name("RElbow")), + Joint(model, data, ros_name="LShoulderPitch", name=self._get_name("LShoulderPitch")), + Joint(model, data, ros_name="LShoulderRoll", name=self._get_name("LShoulderRoll")), + Joint(model, data, ros_name="LElbow", name=self._get_name("LElbow")), + # --- Head --- + Joint(model, data, ros_name="HeadPan", name=self._get_name("HeadPan")), + Joint(model, data, ros_name="HeadTilt", name=self._get_name("HeadTilt")), + ] + ) + self.sensors = RobotSensors( + [ + # IMU Sensors + Sensor(model, data, name=self._get_name("gyro"), ros_name="IMU_gyro"), + Sensor(model, data, name=self._get_name("accelerometer"), ros_name="IMU_accelerometer"), + Sensor( + model, + data, + name=self._get_name("orientation"), + ros_name="IMU_orientation", + ), # Global orientation quaternion + Sensor(model, data, name=self._get_name("position"), ros_name="IMU_position"), # Global position vector + # Foot Sensors + Sensor(model, data, name=self._get_name("l_foot_pos"), ros_name="left_foot_position"), + Sensor(model, data, name=self._get_name("r_foot_pos"), ros_name="right_foot_position"), + Sensor(model, data, name=self._get_name("l_foot_global_linvel"), ros_name="left_foot_velocity"), + Sensor(model, data, name=self._get_name("r_foot_global_linvel"), ros_name="right_foot_velocity"), + ] + ) + + self.feet_sensors = RobotFeetSensors( + [ + # left foot + FootPressureSensor(model, data, name=self._get_name("llb_foot_floor_found"), ros_name="llb"), + FootPressureSensor(model, data, name=self._get_name("llf_foot_floor_found"), ros_name="llf"), + FootPressureSensor(model, data, name=self._get_name("lrf_foot_floor_found"), ros_name="lrf"), + FootPressureSensor(model, data, name=self._get_name("lrb_foot_floor_found"), ros_name="lrb"), + # right foot + FootPressureSensor(model, data, name=self._get_name("rlb_foot_floor_found"), ros_name="rlb"), + FootPressureSensor(model, data, name=self._get_name("rlf_foot_floor_found"), ros_name="rlf"), + FootPressureSensor(model, data, name=self._get_name("rrf_foot_floor_found"), ros_name="rrf"), + FootPressureSensor(model, data, name=self._get_name("rrb_foot_floor_found"), ros_name="rrb"), + ] + ) + + def _get_name(self, base_name: str) -> str: + return f"robot_{base_name}_{self.index}" + + +class RobotFeetSensors(list[FootPressureSensor]): + """A list of Robot Foot Pressure Sensors with additional helper methods.""" + + @property + def left(self): + """Returns a list of left foot pressure sensors.""" + return self.__get_side("l") + + @property + def right(self): + """Returns a list of right foot pressure sensors.""" + return self.__get_side("r") + + def get(self, name: str) -> FootPressureSensor: + """Finds and returns a specific foot pressure sensor by its ROS name.""" + return next(filter(lambda sensor: sensor.ros_name == name, self)) + + def __get_side(self, side: str): + class SideList(list[FootPressureSensor]): + @property + def left_back(self) -> FootPressureSensor: + return self[0] + + @property + def left_front(self) -> FootPressureSensor: + return self[1] + + @property + def right_front(self) -> FootPressureSensor: + return self[2] + + @property + def right_back(self) -> FootPressureSensor: + return self[3] + + @property + def center_of_pressure(self) -> list[float]: + # we can take a very small threshold, since simulation gives more accurate values than reality + threshold = 1 + if self.total_force < threshold: + print(self.total_force, " < 1") + return [0.0, 0.0] + + pos_x, pos_y = 0.085, 0.045 + pressure_diff = (self.left_back.force + self.left_front.force) - ( + self.right_front.force + self.right_back.force + ) + + return [ + max(min(pressure_diff * pos_x / self.total_force, pos_x), -pos_x), + max(min(pressure_diff * pos_y / self.total_force, pos_y), -pos_y), + ] + + @property + def total_force(self) -> float: + return abs(sum(sensor.force for sensor in self)) + + return SideList( + [ + self.get(f"{side}lb"), + self.get(f"{side}lf"), + self.get(f"{side}rf"), + self.get(f"{side}rb"), + ] + ) + + +class RobotSensors(list[Sensor]): + """A list of Robot Sensors with additional helper methods.""" + + def get(self, name: str) -> Sensor: + """Finds and returns a specific sensor by its ROS name.""" + return next(filter(lambda sensor: sensor.ros_name == name, self)) + + @property + def gyro(self) -> Sensor: + return self.get("IMU_gyro") + + @property + def accelerometer(self) -> Sensor: + return self.get("IMU_accelerometer") + + +class RobotJoints(list[Joint]): + """A list of Robot Joints with additional helper methods.""" + + def get(self, name: str) -> Joint: + """Finds and returns a specific joint by its ROS name.""" + return next(filter(lambda joint: joint.ros_name == name, self)) diff --git a/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/sensor.py b/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/sensor.py new file mode 100644 index 000000000..29591dc22 --- /dev/null +++ b/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/sensor.py @@ -0,0 +1,36 @@ +import mujoco +import numpy as np + + +class Sensor: + """Represents a single sensor, providing a clean interface to its value.""" + + def __init__(self, model: mujoco.MjModel, data: mujoco.MjData, name: str, ros_name: str): + self._data = data + self.ros_name: str = ros_name + self.instance: int = model.sensor(name) + self.id: int = self.instance.id + + @property + def data(self) -> np.ndarray: + """Gets the current sensor reading from sensordata array.""" + return self._data.sensordata[self.adr : self.adr + self.dim] + + @property + def adr(self) -> int: + """Gets the address of the sensor data in sensordata array.""" + return int(self.instance.adr) + + @property + def dim(self) -> int: + """Gets the dimension of the sensor data.""" + return int(self.instance.dim) + + +class FootPressureSensor(Sensor): + """Represents a foot pressure sensor, providing access to individual pressure readings.""" + + @property + def force(self) -> float: + """Gets the total force measured by the sensor.""" + return self.data[2] diff --git a/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/simulation.py b/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/simulation.py new file mode 100644 index 000000000..3f84f8658 --- /dev/null +++ b/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/simulation.py @@ -0,0 +1,227 @@ +import math +import time + +import mujoco +from ament_index_python.packages import get_package_share_directory +from geometry_msgs.msg import PointStamped +from mujoco import viewer +from rclpy.node import Node +from rclpy.time import Time +from rosgraph_msgs.msg import Clock +from sensor_msgs.msg import CameraInfo, Image, Imu, JointState +from std_msgs.msg import Float32 + +from bitbots_msgs.msg import FootPressure, JointCommand +from bitbots_mujoco_sim.robot import Robot + + +class Simulation(Node): + """Manages the MuJoCo simulation state and its components.""" + + def __init__(self): + super().__init__("sim_interface") + package_path = get_package_share_directory("bitbots_mujoco_sim") + self.model: mujoco.MjModel = mujoco.MjModel.from_xml_path(package_path + "/xml/adult_field.xml") + self.data: mujoco.MjData = mujoco.MjData(self.model) + self.robots: list[Robot] = [Robot(self.model, self.data, idx) for idx in self._find_robot_indices()] + + self.time = 0.0 + self.time_message = Time(seconds=0, nanoseconds=0).to_msg() + self.timestep = self.model.opt.timestep + self.step_number = 0 + self.real_time_factor = 1.0 + + self.create_subscription(JointCommand, "DynamixelController/command", self.joint_command_callback, 1) + self.create_subscription(Float32, "real_time_factor", self.real_time_factor_callback, 1) + + self.imu_frame_id = self.get_parameter_or("imu_frame", "imu_frame") + + self.camera_optical_frame_id = self.get_parameter_or("camera_optical_frame", "camera_optical_frame") + self.camera_active = True + + self.node_publishers = { + "clock": self.create_publisher(Clock, "clock", 1), + "joint_states": self.create_publisher(JointState, "joint_states", 1), + "imu": self.create_publisher(Imu, "imu/data_raw", 1), + "camera_proc": self.create_publisher(Image, "camera/image_proc", 1), + "camera_info": self.create_publisher(CameraInfo, "camera/camera_info", 1), + "foot_pressure_left": self.create_publisher(FootPressure, "foot_pressure_left/raw", 1), + "foot_pressure_right": self.create_publisher(FootPressure, "foot_pressure_right/raw", 1), + "foot_center_of_pressure_left": self.create_publisher(PointStamped, "cop_l", 1), + "foot_center_of_pressure_right": self.create_publisher(PointStamped, "cop_r", 1), + } + + self.js_publisher = self.node_publishers["joint_states"] + self.clock_publisher = self.node_publishers["clock"] + self.imu_publisher = self.node_publishers["imu"] + self.camera_publisher = self.node_publishers["camera_proc"] + self.camera_info_publisher = self.node_publishers["camera_info"] + self.pressure_left_publisher = self.node_publishers["foot_pressure_left"] + self.pressure_right_publisher = self.node_publishers["foot_pressure_right"] + self.center_of_pressure_left_publisher = self.node_publishers["foot_center_of_pressure_left"] + self.center_of_pressure_right_publisher = self.node_publishers["foot_center_of_pressure_right"] + + self.events = { + "clock": {"frequency": 1, "handler": self.publish_clock_event}, + "joint_states": {"frequency": 3, "handler": self.publish_ros_joint_states_event}, + "imu": {"frequency": 3, "handler": self.publish_imu_event}, + "camera": {"frequency": 24, "handler": self.publish_camera_event}, + "pressure": {"frequency": 3, "handler": self.publish_pressure_events}, + "center_of_pressure": {"frequency": 3, "handler": self.publish_center_of_pressure_events}, + } + + # Deprecated, Replace all instances with self.robots to support multiple robots + @property + def robot(self) -> Robot: + return self.robots[0] + + def _find_robot_indices(self) -> list[int]: + """Find all robot instances by looking for bodies named 'robot_torso_X'.""" + body_names = [self.model.body(i).name for i in range(self.model.nbody)] + robot_bodies = filter(lambda name: name.startswith("robot_torso_"), body_names) + indices = [int(name.split("_")[-1]) for name in robot_bodies if name.split("_")[-1].isdigit()] + return sorted(indices) + + def run(self) -> None: + print("Starting simulation viewer...") + with viewer.launch_passive(self.model, self.data) as view: + while view.is_running(): + self.step() + view.sync() + + def joint_command_callback(self, command: JointCommand) -> None: + if len(command.positions) != 0: + for i in range(len(command.joint_names)): + joint = self.robot.joints.get(command.joint_names[i]) + joint.position = command.positions[i] + + def step(self) -> None: + real_start_time = time.time() + self.step_number += 1 + self.time += self.timestep + self.time_message = Time(seconds=int(self.time), nanoseconds=int(self.time % 1 * 1e9)).to_msg() + + mujoco.mj_step(self.model, self.data) + + for _, event_config in self.events.items(): + if self.step_number % event_config["frequency"] == 0: + event_config["handler"]() + + real_end_time = time.time() + expected_step_time = self.timestep / self.real_time_factor + time.sleep(max(0.0, expected_step_time - (real_end_time - real_start_time))) + + def real_time_factor_callback(self, msg: Float32) -> None: + self.real_time_factor = msg.data + + def publish_clock_event(self) -> None: + clock_msg = Clock() + clock_msg.clock = self.time_message + self.clock_publisher.publish(clock_msg) + + def publish_ros_joint_states_event(self) -> None: + js = JointState() + js.name = [] + js.header.stamp = self.time_message + js.position = [] + js.effort = [] + for joint in self.robot.joints: + js.name.append(joint.ros_name) + js.position.append(joint.position) + js.velocity.append(joint.velocity) + js.effort.append(joint.effort) + self.js_publisher.publish(js) + + def publish_imu_event(self) -> None: + imu = Imu() + imu.header.stamp = self.time_message + imu.header.frame_id = self.imu_frame_id + imu.linear_acceleration.x, imu.linear_acceleration.y, imu.linear_acceleration.z = ( + self.robot.sensors.accelerometer.data + ) + + # make sure that acceleration is not completely zero or we will get error in filter. + # Happens if robot is moved manually in the simulation + if imu.linear_acceleration.x == 0 and imu.linear_acceleration.y == 0 and imu.linear_acceleration.z == 0: + imu.linear_acceleration.z = 0.001 + + imu.angular_velocity.x, imu.angular_velocity.y, imu.angular_velocity.z = self.robot.sensors.gyro.data + + self.imu_publisher.publish(imu) + + def publish_camera_event(self) -> None: + if not self.camera_active: + return + + img = Image() + img.header.stamp = self.time_message + img.header.frame_id = self.camera_optical_frame_id + img.encoding = "bgra8" + img.height = self.robot.camera.height + img.width = self.robot.camera.width + img.step = 4 * self.robot.camera.width + img.data = self.robot.camera.render() + self.camera_publisher.publish(img) + + cam_info = CameraInfo() + cam_info.header = img.header + cam_info.height = self.robot.camera.height + cam_info.width = self.robot.camera.width + + @staticmethod + def focal_length_from_fov(fov: float, resolution: int) -> float: + "Calculate focal length from field of view and resolution." + return 0.5 * resolution * (math.cos(fov / 2) / math.sin(fov / 2)) + + @staticmethod + def h_fov_to_v_fov(h_fov: float, height: int, width: int) -> float: + "Convert horizontal FOV to vertical FOV based on image aspect ratio." + return 2 * math.atan(math.tan(h_fov * 0.5) * (height / width)) + + camera = self.robot.camera + + h_fov = camera.fov + v_fov = h_fov_to_v_fov(h_fov, camera.height, camera.width) + + f_x, f_y = focal_length_from_fov(h_fov, camera.width), focal_length_from_fov(v_fov, camera.height) + cx, cy = camera.width / 2.0, camera.height / 2.0 + cam_info.k = [f_x, 0.0, cx, 0.0, f_y, cy, 0.0, 0.0, 1.0] + cam_info.p = [f_x, 0.0, cx, 0.0, 0.0, f_y, cy, 0.0, 0.0, 0.0, 1.0, 0.0] + + self.camera_info_publisher.publish(cam_info) + + def publish_pressure_events(self) -> None: + left = FootPressure() + left.header.stamp = self.time_message + left.left_back, left.left_front, left.right_front, left.right_back = [ + sensor.force for sensor in self.robot.feet_sensors.left + ] + self.pressure_left_publisher.publish(left) + + right = FootPressure() + right.header.stamp = self.time_message + right.left_back, right.left_front, right.right_front, right.right_back = [ + sensor.force for sensor in self.robot.feet_sensors.right + ] + self.pressure_right_publisher.publish(right) + + def publish_center_of_pressure_events(self) -> None: + left = PointStamped() + left.header.frame_id = "l_foot_frame" + left.header.stamp = self.time_message + left.point.x, left.point.y = self.robot.feet_sensors.left.center_of_pressure + self.center_of_pressure_left_publisher.publish(left) + + right = PointStamped() + right.header.frame_id = "r_foot_frame" + right.header.stamp = self.time_message + right.point.x, right.point.y = self.robot.feet_sensors.right.center_of_pressure + print("cop" + str(self.robot.feet_sensors.right.center_of_pressure)) + print("right " + str(right.point.x), right.point.y) + self.center_of_pressure_right_publisher.publish(right) + + def publish(self, domain_id: int, executor: callable) -> None: + for robot in self.robots: + # Set the environment variable here maybe if we don't use the domain bridge + executor(robot, domain_id) + # Unset the environment variable here maybe if we don't use the domain bridge diff --git a/bitbots_simulation/bitbots_mujoco_sim/package.xml b/bitbots_simulation/bitbots_mujoco_sim/package.xml new file mode 100644 index 000000000..e3a85ca88 --- /dev/null +++ b/bitbots_simulation/bitbots_mujoco_sim/package.xml @@ -0,0 +1,36 @@ + + + + bitbots_mujoco_sim + 1.0.0 + Simulation environment using Mujoco for Wolfgang robot. + + Hamburg Bit-Bots + + MIT + + Arshia Delavar + Sebastian Fromm + Samim Maschal + Hamburg Bit-Bots + + ament_cmake + + rclpy + sensor_msgs + rosgraph_msgs + bitbots_msgs + ament_index_python + python3-numpy + python3-mujoco + + ament_cmake_mypy + + + + unknown + python + + ament_python + + diff --git a/bitbots_simulation/bitbots_mujoco_sim/resource/bitbots_mujoco_sim b/bitbots_simulation/bitbots_mujoco_sim/resource/bitbots_mujoco_sim new file mode 100644 index 000000000..e69de29bb diff --git a/bitbots_simulation/bitbots_mujoco_sim/setup.cfg b/bitbots_simulation/bitbots_mujoco_sim/setup.cfg new file mode 100644 index 000000000..de24bec2b --- /dev/null +++ b/bitbots_simulation/bitbots_mujoco_sim/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/bitbots_mujoco_sim +[install] +install_scripts=$base/lib/bitbots_mujoco_sim diff --git a/bitbots_simulation/bitbots_mujoco_sim/setup.py b/bitbots_simulation/bitbots_mujoco_sim/setup.py new file mode 100644 index 000000000..93f0ddc35 --- /dev/null +++ b/bitbots_simulation/bitbots_mujoco_sim/setup.py @@ -0,0 +1,35 @@ +import glob + +from setuptools import find_packages, setup + +package_name = "bitbots_mujoco_sim" + + +setup( + name=package_name, + version="0.0.0", + packages=find_packages(exclude=["test"]), + data_files=[ + ("share/ament_index/resource_index/packages", ["resource/" + package_name]), + ("share/" + package_name, ["package.xml"]), + ("share/" + package_name + "/xml", glob.glob("xml/*.xml")), + ("share/" + package_name + "/xml/assets", glob.glob("xml/assets/*.png")), + ("share/" + package_name + "/xml/assets", glob.glob("xml/assets/*.stl")), + ("share/" + package_name + "/xml/assets/ball", glob.glob("xml/assets/ball/*.png")), + ("share/" + package_name + "/xml/assets/backgrounds", glob.glob("xml/assets/backgrounds/*.png")), + ], + install_requires=["setuptools"], + zip_safe=True, + maintainer="22maschal", + maintainer_email="22maschal@todo.todo", + description="TODO: Package description", + license="TODO: License declaration", + extras_require={ + "test": [ + "pytest", + ], + }, + entry_points={ + "console_scripts": ["sim = bitbots_mujoco_sim.main:main"], + }, +) diff --git a/bitbots_simulation/bitbots_mujoco_sim/xml/adult_field.xml b/bitbots_simulation/bitbots_mujoco_sim/xml/adult_field.xml new file mode 100644 index 000000000..2ad80d679 --- /dev/null +++ b/bitbots_simulation/bitbots_mujoco_sim/xml/adult_field.xml @@ -0,0 +1,34 @@ + + + diff --git a/bitbots_simulation/bitbots_mujoco_sim/xml/assets/adult_field.png b/bitbots_simulation/bitbots_mujoco_sim/xml/assets/adult_field.png new file mode 100644 index 000000000..c11ffe335 Binary files /dev/null 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--git a/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_back.png b/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_back.png new file mode 100644 index 000000000..8e2537006 Binary files /dev/null and b/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_back.png differ diff --git a/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_back.hdr b/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_back.hdr new file mode 100644 index 000000000..47bfb3b04 --- /dev/null +++ b/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_back.hdr @@ -0,0 +1,145 @@ +#?RADIANCE +SOFTWARE=gegl 0.4.14 +FORMAT=32-bit_rle_rgbe + +-Y 256 +X 256 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+++ b/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_left.hdr @@ -0,0 +1,96 @@ +#?RADIANCE +SOFTWARE=gegl 0.4.14 +FORMAT=32-bit_rle_rgbe + +-Y 256 +X 256 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file mode 100644 index 000000000..9f70977a6 Binary files /dev/null and b/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_dry_right.png differ diff --git a/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_top.hdr b/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_top.hdr new file mode 100644 index 000000000..2466b571a --- /dev/null +++ b/bitbots_simulation/bitbots_mujoco_sim/xml/assets/backgrounds/stadium_top.hdr @@ -0,0 +1,5 @@ +#?RADIANCE +FORMAT=32-bit_rle_rgbe + +-Y 256 +X 256 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OrOsQuQuRuRuRwRvRxSwTyTxTyTyTzTzUyV|UzV{V|UzW{W|W}ÂX}ÂX}ł[ȂZ~ł[Ƃ[Ȃ[ǂ[~ł]ǂ^Ƃ`ɂ`˂âb͂a˂b͂b̂c҂dЂdςeтfӂg҂fԂfՂf҂h҂hԂiԂkՂjԂl؂lڂmڂmׂmقqڂo؂p݂rނrނpr݂s߂sqs߂sttuttuvvswvwwxwwwwwuxxy{yyvxyxxwywwywyyzyxyz{z|{|z{~|{}񂃬􂄬􂇮􂆮GZH[H\FZF\EmFmFlElDlDkDlDkElEkDkDkDjEjEkDkCkCjEjDjDjEjEjEiEkEiEkFkGkEjEkEkEkDkFmElFlEkDiEjDiCiDiCiDjDiChChChCfCfCfCfCgBfBgBgChDgDhDhBhDhDiDhEiDiEiEjFjHkHkHlIlImJmIlImKmKnKoJoLpLpLpLpMqKpMpNrMqMqOrOqOqOrNqPsQtPsOsQuRtRuRvSwSwUxTwTxTyTyUyU{S{UzV{V}V|‚X|ÂX}ÂX}ÂW}‚W}ÂXł[ǂZȂ[łZł\ʂ[ʂ]ʂ`ʂ^ǂ^ɂb΂âb΂b̂dтcςdЂc҂cӂfӂeӂe҂eԂh؂hׂgՂjׂkقjׂm؂k؂lۂnقnۂnقr߂q܂rۂp܂usނqrtuuuuxtuuuuxywvwywywywzxwzzyyyyzy{y{{zxyyxzyzz|}}}}{}{}}}}񂂪~󂃫􂆮􂈰GZF[G\H[H]G[G\G\FnFmFmElFmElEmDlFlFlEkFlDlElEkDlCmDkEkEjEkEkEkEkElEkEmFlFkFkHkFlFkGkGlFlFlEkEkFkEjEjFjEjDiChDiCiChDhDgDhDiDhCfChDhDiDhEhDhEjEhDiEjFjFjFjFjHlGkGlHlIlInJnJnJnKpLpLoKpMpMqLpMqMrMrLqNrNrOrNqPsOrPtPuQuRuRvRvSwTvSwSxSxTyVyTyTyUzVzVyU|U|W{W|ÂU{ÂU{‚Y~ǂX~łX}V}YȂ[Ȃ[Ƃ\ǂ\ȂYȂ]ɂ]ʂ]̂`̂`ʂ_˂`˂b͂cЂdςeтdЂeтfԂfӂfӂf҂gւgقiւjׂi؂j؂jւk؂mۂmقo݂pۂo݂oۂpނssqނtrtuwvwvwzwwwwxyxx{yzz}yz{zxzxzyyzyz{}{{|{z{yz|{|{}~|}~|~}񂁩񂁩}󂁪􂄫􂄫G\G[E[E\F\G\G\H\G\G\H\FnFnFmFmEmFnElFmFmFlGmFlFlEmEnEmDmEkElElElFlElElFkFkFkFlGlGlHkHlGlHmHmFlGlGlEkEkEkFkEjEjEjDiEjDkDiDiCiDjDiDiDhEjFjEjEjDiDiCiFjEjFjFkHjHjHkIlIlImKnKmKoInJnLpKpMpNqMqMqMpNqMrNrNrNsOrOsOsOsPsQrQtOtQuSwRvSwTxTwUxUyUzTyVzV{Uz‚V|‚Xz‚X|łW|‚W|ÂV|‚X}łX~łYłXƂW~ł[ƂX~ĂZɂYȂ\˂^˂\Ȃ]˂_̂_̂a΂aς`̂b͂b΂bЂcЂfӂgՂgԂhԂhւhׂhՂiւh؂iׂlނjׂlڂk؂l؂l؂qނmڂm܂rq܂s܂p݂qsuvwwvzxyyxyzywxwyzz|zz{{zz||{{{{{{|{z|}|{|}~}}||~~~򂃫~񂁪􂄫󂂬􂂬񂄫򂅫G\G[G\H]H\H\G\G\F[I\G]G]HpHpGmGoFnFmFlFnFmFlGmFmEmFnFnEnEnFmFmFlGmFmFmFlGkFlFkGkGmImImImJmImHmHlHlFjFjFkGkFkFjEkEkFkEjEjFkEjDjEjFkEjEjFkFkFkFkGjEjEjFjFkFkGkHkIlHlInInKnJnLoKoKqKoKoKqMqNrLqMrNrOrNsNsPsQtNsOtOsQsPtRuRwRwRwSxTySxSvTySxTyTzUyW{X|X|ĂW{‚X{ÂY|łX|ÂX~ƂX}ĂYƂY~ɂYȂXłZɂZƂ[ȂZƂ\ʂ[ɂ\ɂ_ɂ_˂_̂a˂cςcςaςc΂dтeӂfԂgӂfԂhւiւiׂiւjւiقhׂjۂjڂmڂmڂkۂoނo݂qނrppނs߂uuu߂wvwvwxyz{zy{{|{zxyz{z{}}{||}~{|||}{}}}||~~~}~|}~񂁨󂂩򂁪򂃪􂃩󂂪󂄬􂅪󂅬G]H\G\H]H\H\H]H]J^I]H^HpHpGoGoHoFnFmEnFmFnEnEnFnFnGpFoFnFnFmGmHmGnGlGnHmGlGlHlHmJmJmJmJmImImIlHkHkGkFkHkGkGkFkFkGjGkFjFkEjGlGkFkFkGkFkGlGkHlFlGlFlGlGkHlHlImHlImJnJmLoKoMqLoLoLoMrLrLqNsNsMrNsOrOsOuQuQuQuOuPtRvRvSxSySxRxSwUzUzVxTzV{VzV{VzX{ĂW}ÂY~ƂW}ĂY}łZǂX~łY~ƂYƂYƂZȂZǂ[Ȃ[ʂ[˂]ʂ]˂]˂^ʂ]΂`˂a͂aЂb΂cЂeЂbтcӂdԂeӂfՂiւhׂi؂kׂl؂lقkڂm݂jڂmڂmڂn܂o݂l߂oނo߂q߂rptsuwxwxyvxxx|yz{|~{}}|{}||~~~}}~||z~󂂨򂂩~}}񂁪~~򂁫򂂪񂃬􂂪󂂬󂄭􂅬󂆬􂂫񂄪󂇭􂆮􂆭F[F[G\H\H[H[G\G[H\I]I]H]I]J]H\G]H^I_IqHpHoIoHpGnGnFoGoGoFnFoGoHpHoHoHoHoGpIoHnHnHnHnHnImIlJnJmImInImInInImHmHlIkHkIlHkIkHkHlHkGlHkGkGkHlGkFkGkHkGlImHlHlIlImHmInHkHlHmHmImKnJoKoJnKpMqMpMrLpNqOsNrOsOtPsNrPsPtQtRvRuSvSwQwQwTxTxSyVzTxUxUzÂV{‚WzW{ÂV{V{W{‚X}ÂY}‚Z}ĂY}ÂZ~ƂY~Ƃ[~ʂYɂY~łZȂZȂ[ʂZʂ\ɂ]̂]̂]ʂ]̂^˂_͂â_̂bςa΂b҂eӂdЂeӂe҂fӂgւfւfڂiւhۂiۂkقlۂlڂlۂl܂k܂n߂nom܂pނn߂qrsstuwxyxyyy{{z|z|~~~~~|~~}~~򂂪~~~}񂄪񂄬􂂨􂁩򂁭󂃫~󂂬󂄮􂄭򂆭􂆭󂄮􂅭􂆭󂇭􂆯EZE[G[F[F[F[G[G[H\H]H]J]H]H]H^I]I^I^I_I_IqHqIqIpHoHoHoGpHoGoGoGpHpHqHqIrHqHqHpIpIpIpIpHoInIoJoJoJnInJnImJnJnIoJnImImIlIlImHlIlHlImHlIlHlHlHlGlHlHkIlIlHkHlJlImJmInJnInInInKoKoMoLpLqLqLqMqMpMqLqOqNsOtOtNtPtQtRtQuQtSwRwRxSwSxTyTxVyU{ÂV{UzUzU{WzÂWzÂX|łX}ÂY}ÂX}ĂZ~ĂZ}łZłZĂ[~Ƃ[ɂ[ȂZʂ[˂[Ƃ[ʂ\ʂ\̂\ʂ\ɂ\̂`˂_΂`͂`̂bЂb΂dςcςdӂfӂdЂfՂfقhԂiւiقiڂjقhقmނm܂m܂n܂mۂo݂ppo߂n߂qr߂pursswyxwyy{z}{{|~~|~}~~򂁩񂂪򂁫~~񂁫򂁩񂂪򂂪󂄪񂂫񂄫򂃪􂅭􂂬򂄬󂃭􂅭󂇯EZE[G\F[E[G\G]I]I]H]I]J^I_H^I^I^I_J_J`IrIqIqHqJpIq‚IpIpHoIoIpIqJqJpIoIqIpJrIrIqIpJpHoJqJqJpIoJoIoJoJnJoInImJoJoJmImImImImInHlInInIlImJnImImIlJkJmImJlImJmKnJnKnLoLoLoKoJoKoLqLpLqLqLqNsNrNrMqMrOtOtQtQtRtQvQvStQvRvRwSxSySy‚Uy‚SyV|U{W{‚VzX{‚X|W}ĂX|ÂY|łX}łY}ĂY}ÂZł\ł[ǂZɂ\ɂ[ɂ]ȂZʂ\˂\ʂ]˂\˂^΂_΂^͂_Ђ^͂aςaς`тbЂeтeЂdЂcЂdтhՂg҂hׂi؂kقiՂmۂlڂm݂m݂l݂rނq߂pނoނqq߂soނrrsuvvtux{yx{|}{~}~~~񂁪񂃨򂅫񂃨򂁪󂂩򂆮󂂬}󂂫򂁫󂂬񂆬򂂪􂂩󂅭􂁬􂃬􂃫󂅮􂅮GZG[F[F[F[G\G]H]G]H^H]J]I_L`J^J`J^I_J`I`J`J`JrJrJrJqJpKqJqJqIpJoJqJqKqJrIqKrJqJqJqJqJqJqIqJpJpJpJoKpKpJoJpJpKnKoJnJnJmJnInInInInJmImJnJnJnJnJnImIoJnJmKlKmKnKoLoMpKpLqLpLpLpMpMpMqMqMrNrNsNsOsMsOsOuPvPuSuQuQvQvRvSvRwTx‚RySxSyVy‚Tz‚T{‚V{‚U{V{ĂX{ÂX}ĂZ}ĂW~ĂY}ĂY}ł[~ǂY~Ƃ\łZ~Ă\Ƃ\Ȃ[ɂ\˂\˂]ʂ]̂]ς^͂_͂_ς`͂`΂aςaЂaςcЂbтb҂b҂eԂdӂe҂e҂fՂhՂjւiقkڂlڂl݂mڂp߂ooނn܂q݂rqquvsqruvwuvvwx|zzy{}~|~񂁩~}򂅭񂄫񂃭򂆬򂄪򂄬񂃫󂂭􂄭򂅭󂄭􂂬􂃭EYEZF[G\E]F\F]G]H]H]I_I^I^I_I_L`L_J`I`K`K`KaKaK`JsÂKrJs‚Kr‚KqKqKqJpKpKqKrKqLqKrJqKr‚KrLrJrLrKpKpKoKpKpLqKoJpJpKoKoKoLoKnJnJoJmJnJpIoImJnJnInJoJoKoKnInJnJoKoJnInLnKoKpLqNrLrNqMrMrMqMrMrNrOtNtNsPtOsOtOtOtPtPuQtRwSw‚QwRwTv‚Sx‚SwRwTz‚SyS{‚T|ÂV|ÂV|ÂW|łW}ƂY~ƂY~łY~ĂYłY~Ă[łZƂ]Ȃ\Ȃ[ɂ\Ȃ\Ȃ\˂\ʂ]̂^̂^̂]͂`΂^͂_ς^͂aЂ`ςbЂaЂbтd҂cӂcтd҂cӂdԂhԂfՂg؂i؂k؂j܂jقm݂nlނn݂nprrrqtuwusvwyxzxwzy{|{||}~󂁩򂄬~􂃫􂄫􂄬􂂫򂆫􂆭􂂮󂃮􂄭F[E[F[F\H]G\H]H^H^H^G^H_J_J_J`J_L`K`JaIaKaMbL`KaLaKsKs‚KsKsKrÂKr‚LqLqLrKrLrKrKrLrLrLsLsLsNrLqKqLqLpLpLpLpLpLoKpLpLnLpKoKoKpKoJoJoJoJoJnKnKoKoJoIoLoLoJoKoKoJnJnKpKoLpLqMrMrOrNrOrOrPsNsNsOtQuPtOtOsQtPtQuPtPuPvSvRwRwSxSxSxÂUx‚TwUy‚UyU{T{ĂU|ÂW|‚W|ÂW|ÂX|ĂY{Ƃ[ǂ[ǂZł[ǂZǂZȂ\ɂZǂ\ʂ_˂\ʂ]̂^̂^̂^΂_΂`ςa΂`ς_Ђ_ςbтc҂c҂cЂeтeՂfՂeՂfՂgׂfւh؂jڂiڂl݂m܂k܂mނoނorqop߂rrrsttvwwxyyx{yyzz{{|~񂁩񂆭󂂫F[F\F[E[G\G\F[G\G\G]G]H^G^J^I^I_I_I`J`KaKaJaK`LaKaLbLbLaMaNaNbKt‚Ls‚Ls‚Lt‚Kr‚LqMrNsMs‚LsOt‚NtMrNtMsNsOsMsMr‚MrOrMrMqMrLqLqKqLqMpMqLoLqLpLpLoLoKoJpLoMoKoKoJpJoJnKoKoKoLpKoLoMqKpLpLrMqNqNsOsOsPtOsPtOsPtPtRvPtPvPtRuPuOuPuQuRvRuSxSxRxTxTxVyĂUyUx‚Uy‚W{ÂV|ƂV}ĂV}łW|‚V|‚X}łZ}ƂY~ƂZł[Ƃ[ǂZǂ[ɂZȂ]̂\ɂ\ɂ]̂[̂^͂^˂_̂_т_΂aЂbтaЂaтd҂bтdԂb҂eՂdՂfԂhׂfւgׂh؂hقhڂk݂l܂lނl݂l݂orprrrsustvyvwxxy{{z{{|}|~~~󂁪󂃬􂄩􂆭F\G\FZF[E[F\E[F\F\F\G\H]H^G]G^I_I^I_H^I_I^J`J`KaK`LaK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