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August 19, 2021 16:04
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| { | |
| "nbformat": 4, | |
| "nbformat_minor": 0, | |
| "metadata": { | |
| "accelerator": "TPU", | |
| "colab": { | |
| "name": "locally dev js in brax.ipynb", | |
| "provenance": [], | |
| "collapsed_sections": [] | |
| }, | |
| "kernelspec": { | |
| "display_name": "Python 3", | |
| "name": "python3" | |
| }, | |
| "language_info": { | |
| "name": "python" | |
| } | |
| }, | |
| "cells": [ | |
| { | |
| "cell_type": "markdown", | |
| "metadata": { | |
| "id": "ssCOanHc8JH_" | |
| }, | |
| "source": [ | |
| "# Locally dev js in brax" | |
| ] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "metadata": { | |
| "id": "LgUFSJz2We_q", | |
| "colab": { | |
| "base_uri": "https://localhost:8080/" | |
| }, | |
| "outputId": "89af54d8-f036-4f60-ee13-963a8928ba60" | |
| }, | |
| "source": [ | |
| "#@title Clone brax and make a local change\n", | |
| "\n", | |
| "!rm -rf /content/brax_local\n", | |
| "!git clone https://github.com/google/brax.git brax_local\n", | |
| "# add a console.log to prove we are running local js\n", | |
| "!sed -i '46 i console.log(\"local change\");' /content/brax_local/js/viewer.js" | |
| ], | |
| "execution_count": 1, | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "text": [ | |
| "Cloning into 'brax_local'...\n", | |
| "remote: Enumerating objects: 473, done.\u001b[K\n", | |
| "remote: Counting objects: 100% (182/182), done.\u001b[K\n", | |
| "remote: Compressing objects: 100% (91/91), done.\u001b[K\n", | |
| "remote: Total 473 (delta 126), reused 105 (delta 88), pack-reused 291\u001b[K\n", | |
| "Receiving objects: 100% (473/473), 52.76 MiB | 14.59 MiB/s, done.\n", | |
| "Resolving deltas: 100% (252/252), done.\n" | |
| ], | |
| "name": "stdout" | |
| } | |
| ] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "metadata": { | |
| "id": "_sOmCoOrF0F8" | |
| }, | |
| "source": [ | |
| "#@title Colab setup and imports\n", | |
| "\n", | |
| "from IPython.display import HTML, clear_output\n", | |
| "import jax\n", | |
| "\n", | |
| "try:\n", | |
| " import brax\n", | |
| "except ImportError:\n", | |
| " !pip install git+https://github.com/google/brax.git@main\n", | |
| " clear_output()\n", | |
| " import brax\n", | |
| "\n", | |
| "from brax.io import html\n", | |
| "from brax import envs" | |
| ], | |
| "execution_count": 2, | |
| "outputs": [] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "metadata": { | |
| "id": "xkb69H3kWWLl" | |
| }, | |
| "source": [ | |
| "# serve /content/brax_local on http\n", | |
| "\n", | |
| "import threading\n", | |
| "import socket\n", | |
| "import http.server\n", | |
| "import socketserver\n", | |
| "\n", | |
| "class V6Server(socketserver.TCPServer):\n", | |
| " address_family = socket.AF_INET6\n", | |
| "\n", | |
| "class Handler(http.server.SimpleHTTPRequestHandler):\n", | |
| " def __init__(self, *args, **kwargs):\n", | |
| " super().__init__(*args, directory='/content/brax_local', **kwargs)\n", | |
| "\n", | |
| "port = 32888\n", | |
| "\n", | |
| "def server_entry():\n", | |
| " httpd = V6Server(('::', port), Handler)\n", | |
| " httpd.serve_forever()\n", | |
| "\n", | |
| "thread = threading.Thread(target=server_entry)\n", | |
| "thread.start()" | |
| ], | |
| "execution_count": 3, | |
| "outputs": [] | |
| }, | |
| { | |
| "cell_type": "code", | |
| "metadata": { | |
| "colab": { | |
| "resources": { | |
| "http://localhost:32888/js/viewer.js": { | |
| "data": "/**
 * @fileoverview BraxViewer can render static trajectories from json and also
 * connect to a remote brax engine for interactive visualization.
 */

import * as THREE from 'https://threejs.org/build/three.module.js';
import {OrbitControls} from 'https://threejs.org/examples/jsm/controls/OrbitControls.js';
import {GUI} from 'https://threejs.org/examples/jsm/libs/dat.gui.module.js';

import {Animator} from './animator.js';
import {Selector} from './selector.js';
import {createTrajectory, createScene} from './system.js';

function downloadDataUri(name, uri) {
  let link = document.createElement('a');
  link.download = name;
  link.href = uri;
  document.body.appendChild(link);
  link.click();
  document.body.removeChild(link);
}

function downloadFile(name, contents, mime) {
  mime = mime || 'text/plain';
  let blob = new Blob([contents], {type: mime});
  let link = document.createElement('a');
  document.body.appendChild(link);
  link.download = name;
  link.href = window.URL.createObjectURL(blob);
  link.onclick = function(e) {
    let scope = this;
    setTimeout(function() {
      window.URL.revokeObjectURL(scope.href);
    }, 1500);
  };
  link.click();
  link.remove();
}

const hoverMaterial =
    new THREE.MeshPhongMaterial({color: 0x332722, emissive: 0x114a67});
const selectMaterial = new THREE.MeshPhongMaterial({color: 0x2194ce});

class Viewer {
  constructor(domElement, system) {
console.log("local change");
    this.domElement = domElement;
    this.system = system;
    this.scene = createScene(system);
    this.trajectory = createTrajectory(system);

    /* set up renderer, camera, and add default scene elements */
    this.renderer = new THREE.WebGLRenderer({antialias: true, alpha: true});
    this.renderer.setPixelRatio(window.devicePixelRatio);
    this.renderer.shadowMap.enabled = true;
    this.renderer.outputEncoding = THREE.sRGBEncoding;

    this.domElement.appendChild(this.renderer.domElement);

    this.camera = new THREE.PerspectiveCamera(40, 1, 0.01, 100);
    this.camera.position.set(5, 2, 8);
    this.camera.follow = true;
    this.camera.followDistance = 10;

    this.scene.background = new THREE.Color(0xa0a0a0);
    this.scene.fog = new THREE.Fog(0xa0a0a0, 40, 60);

    const hemiLight = new THREE.HemisphereLight(0xffffff, 0x444444);
    hemiLight.position.set(0, 20, 0);
    this.scene.add(hemiLight);

    const dirLight = new THREE.DirectionalLight(0xffffff);
    dirLight.position.set(3, 10, 10);
    dirLight.castShadow = true;
    dirLight.shadow.camera.top = 10;
    dirLight.shadow.camera.bottom = -10;
    dirLight.shadow.camera.left = -10;
    dirLight.shadow.camera.right = 10;
    dirLight.shadow.camera.near = 0.1;
    dirLight.shadow.camera.far = 40;
    this.scene.add(dirLight);

    /* set up orbit controls */
    this.controls = new OrbitControls(this.camera, this.renderer.domElement);
    this.controls.enablePan = false;
    this.controls.enableDamping = true;
    this.controls.addEventListener('start', () => {this.setDirty()});
    this.controls.addEventListener('change', () => {this.setDirty()});

    /* set up gui */
    this.gui = new GUI({autoPlace: false});
    this.domElement.parentElement.appendChild(this.gui.domElement);
    this.gui.domElement.style.position = 'absolute';
    this.gui.domElement.style.right = 0;
    this.gui.domElement.style.top = 0;

    /* set up animator and load trajectory */
    this.animator = new Animator(this);
    this.animator.load(this.trajectory, {});

    /* add body insepctors */
    const bodiesFolder = this.gui.addFolder('Bodies');
    bodiesFolder.open();

    this.bodyFolders = {};

    for (let c of this.scene.children) {
      if (!c.name) continue;
      const folder = bodiesFolder.addFolder(c.name);
      this.bodyFolders[c.name] = folder;

      function defaults() {
        for (const gui of arguments) {
          gui.step(0.01).listen().domElement.style.pointerEvents = 'none';
        }
      }
      defaults(
          folder.add(c.position, 'x').name('pos.x'),
          folder.add(c.position, 'y').name('pos.y'),
          folder.add(c.position, 'z').name('pos.z'),
          folder.add(c.position, 'x').name('rot.x'),
          folder.add(c.position, 'y').name('rot.y'),
          folder.add(c.position, 'z').name('rot.z'),
      );
    }
    let saveFolder = this.gui.addFolder('Save / Capture');
    saveFolder.add(this, 'saveScene').name('Save Scene');
    saveFolder.add(this, 'saveImage').name('Capture Image');

    this.gui.close();

    /* set up body selector */
    this.selector = new Selector(this);
    this.selector.addEventListener(
        'hoveron', (evt) => this.setHover(evt.object, true));
    this.selector.addEventListener(
        'hoveroff', (evt) => this.setHover(evt.object, false));
    this.selector.addEventListener(
        'select', (evt) => this.setSelected(evt.object, true));
    this.selector.addEventListener(
        'deselect', (evt) => this.setSelected(evt.object, false));

    this.defaultTarget = this.selector.selectable[0];
    this.target = this.defaultTarget;

    /* get ready to render first frame */
    this.setDirty();

    window.onload = (evt) => this.setSize();
    window.addEventListener('resize', (evt) => this.setSize(), false);
    requestAnimationFrame(() => this.setSize());

    /* start animation */
    this.animate();
  }

  setDirty() {
    this.needsRender = true;
  }

  setSize(w, h) {
    if (w === undefined) {
      w = this.domElement.offsetWidth;
    }
    if (h === undefined) {
      h = window.innerHeight;
    }
    if (this.camera.type == 'OrthographicCamera') {
      this.camera.right =
          this.camera.left + w * (this.camera.top - this.camera.bottom) / h;
    } else {
      this.camera.aspect = w / h;
    }
    this.camera.updateProjectionMatrix();
    this.renderer.setSize(w, h);
    this.setDirty();
  }

  render() {
    this.renderer.render(this.scene, this.camera);
    this.needsRender = false;
  }

  animate() {
    requestAnimationFrame(() => this.animate());
    this.animator.update();

    // make sure the orbiter is pointed at the right target
    const targetPos = new THREE.Vector3();
    this.target.getWorldPosition(targetPos);
    this.controls.target = this.controls.target.lerp(targetPos, 0.1);
    if (this.controls.update()) {
      this.setDirty();
    }

    // if the target gets too far from the camera, nudge the camera
    if (this.camera.follow &&
        this.camera.position.distanceTo(targetPos) > this.camera.followDistance) {
      this.camera.position.lerp(targetPos, 0.01);
      this.setDirty();
    }

    if (this.needsRender) {
      this.render();
    }
  }

  saveImage() {
    this.render();
    const imageData = this.renderer.domElement.toDataURL();
    downloadDataUri('brax.png', imageData);
  }

  saveScene() {
    downloadFile('system.json', JSON.stringify(this.system));
  }

  setHover(object, hovering) {
    this.setDirty();
    if (!object.selected) {
      object.traverse(function(child) {
        if (child instanceof THREE.Mesh) {
          child.material = hovering ? hoverMaterial : child.baseMaterial;
        }
      });
    }
    const titleElement =
        this.bodyFolders[object.name].domElement.querySelector('.title');
    if (titleElement) {
      titleElement.style.backgroundColor = hovering ? '#2fa1d6' : '#000';
    }
  }

  setSelected(object, selected) {
    object.selected = selected;
    this.target = selected ? object : this.defaultTarget;
    object.traverse((child) => {
      if (child instanceof THREE.Mesh) {
        child.material = selected ? selectMaterial : child.baseMaterial;
      }
    });
    if (object.selected) {
      this.bodyFolders[object.name].open();
    } else {
      this.bodyFolders[object.name].close();
    }
    this.setDirty();
  }
}

export {Viewer};", | |
| "ok": true, | |
| "headers": [ | |
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| "content-type", | |
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| "status_text": "" | |
| }, | |
| "http://localhost:32888/js/animator.js": { | |
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| "http://localhost:32888/js/selector.js": { | |
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| "status": 200, | |
| "status_text": "" | |
| }, | |
| "http://localhost:32888/js/system.js": { | |
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| |
| "ok": true, | |
| "headers": [ | |
| [ | |
| "content-type", | |
| "application/javascript" | |
| ] | |
| ], | |
| "status": 200, | |
| "status_text": "" | |
| } | |
| }, | |
| "base_uri": "https://localhost:8080/", | |
| "height": 1000 | |
| }, | |
| "id": "NaJDZqhCLovU", | |
| "outputId": "ce04ec44-379f-49b9-b9f3-2ae70d9fc880" | |
| }, | |
| "source": [ | |
| "# patch brax.io.html to refer to local url\n", | |
| "html._HTML = html._HTML.replace(\"https://cdn.jsdelivr.net/gh/google/brax@a93dadc48a41177a4d9e7794ce17c1ad98ed8583\", f\"https://localhost:{port}\")\n", | |
| "\n", | |
| "#@title Visualizing pre-included Brax environments { run: \"auto\" }\n", | |
| "\n", | |
| "env_name = \"ant\" # @param ['ant', 'humanoid', 'fetch', 'grasp', 'halfcheetah', 'ur5e', 'reacher']\n", | |
| "env_fn = envs.create_fn(env_name=env_name)\n", | |
| "env = env_fn()\n", | |
| "jit_env_reset = jax.jit(env.reset)\n", | |
| "state = jit_env_reset(rng=jax.random.PRNGKey(seed=0))\n", | |
| "\n", | |
| "def visualize(sys, qps):\n", | |
| " \"\"\"Renders a 3D visualization of the environment.\"\"\"\n", | |
| " return HTML(html.render(sys, qps))\n", | |
| "\n", | |
| "visualize(env.sys, [state.qp])" | |
| ], | |
| "execution_count": 4, | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "text": [ | |
| "WARNING:absl:No GPU/TPU found, falling back to CPU. (Set TF_CPP_MIN_LOG_LEVEL=0 and rerun for more info.)\n" | |
| ], | |
| "name": "stderr" | |
| }, | |
| { | |
| "output_type": "execute_result", | |
| "data": { | |
| "text/html": [ | |
| "\n", | |
| "<html>\n", | |
| "\n", | |
| " <head>\n", | |
| " <title>Brax visualizer</title>\n", | |
| " <style>\n", | |
| " body {\n", | |
| " margin: 0;\n", | |
| " padding: 0;\n", | |
| " }\n", | |
| "\n", | |
| " #brax-viewer {\n", | |
| " margin: 0;\n", | |
| " padding: 0;\n", | |
| " height: 480px;\n", | |
| " }\n", | |
| " </style>\n", | |
| " </head>\n", | |
| "\n", | |
| " <body>\n", | |
| " <script type=\"application/javascript\">\n", | |
| " var system = {\"config\": {\"bodies\": [{\"name\": \"$ Torso\", \"colliders\": [{\"capsule\": {\"radius\": 0.25, \"length\": 0.5, \"end\": 1}}], \"inertia\": {\"x\": 1.0, \"y\": 1.0, \"z\": 1.0}, \"mass\": 10.0, \"frozen\": {\"position\": {\"x\": 0.0, \"y\": 0.0, \"z\": 0.0}, \"rotation\": {\"x\": 0.0, \"y\": 0.0, \"z\": 0.0}, \"all\": false}}, {\"name\": \"Aux 1\", \"colliders\": [{\"rotation\": {\"x\": 90.0, \"y\": -45.0, \"z\": 0.0}, \"capsule\": {\"radius\": 0.08, \"length\": 0.44284272, \"end\": 0}}], \"inertia\": {\"x\": 1.0, \"y\": 1.0, \"z\": 1.0}, \"mass\": 1.0, \"frozen\": {\"position\": {\"x\": 0.0, \"y\": 0.0, \"z\": 0.0}, \"rotation\": {\"x\": 0.0, \"y\": 0.0, \"z\": 0.0}, \"all\": false}}, {\"name\": \"$ Body 4\", \"colliders\": [{\"rotation\": {\"x\": 90.0, \"y\": -45.0, \"z\": 0.0}, \"capsule\": {\"radius\": 0.08, \"length\": 0.7256854, \"end\": -1}}], \"inertia\": {\"x\": 1.0, \"y\": 1.0, \"z\": 1.0}, \"mass\": 1.0, \"frozen\": {\"position\": {\"x\": 0.0, \"y\": 0.0, \"z\": 0.0}, \"rotation\": {\"x\": 0.0, \"y\": 0.0, \"z\": 0.0}, \"all\": false}}, {\"name\": \"Aux 2\", \"colliders\": [{\"rotation\": {\"x\": 90.0, \"y\": 45.0, \"z\": 0.0}, \"capsule\": {\"radius\": 0.08, \"length\": 0.44284272, \"end\": 0}}], \"inertia\": {\"x\": 1.0, \"y\": 1.0, \"z\": 1.0}, \"mass\": 1.0, \"frozen\": {\"position\": {\"x\": 0.0, \"y\": 0.0, \"z\": 0.0}, \"rotation\": {\"x\": 0.0, \"y\": 0.0, \"z\": 0.0}, \"all\": false}}, {\"name\": \"$ Body 7\", \"colliders\": [{\"rotation\": {\"x\": 90.0, \"y\": 45.0, \"z\": 0.0}, \"capsule\": {\"radius\": 0.08, \"length\": 0.7256854, \"end\": -1}}], \"inertia\": {\"x\": 1.0, \"y\": 1.0, \"z\": 1.0}, \"mass\": 1.0, \"frozen\": {\"position\": {\"x\": 0.0, \"y\": 0.0, \"z\": 0.0}, \"rotation\": {\"x\": 0.0, \"y\": 0.0, \"z\": 0.0}, \"all\": false}}, {\"name\": \"Aux 3\", \"colliders\": [{\"rotation\": {\"x\": -90.0, \"y\": 45.0, \"z\": 0.0}, \"capsule\": {\"radius\": 0.08, \"length\": 0.44284272, \"end\": 0}}], \"inertia\": {\"x\": 1.0, \"y\": 1.0, \"z\": 1.0}, \"mass\": 1.0, \"frozen\": {\"position\": {\"x\": 0.0, \"y\": 0.0, \"z\": 0.0}, \"rotation\": {\"x\": 0.0, \"y\": 0.0, \"z\": 0.0}, \"all\": false}}, {\"name\": \"$ Body 10\", \"colliders\": [{\"rotation\": {\"x\": -90.0, \"y\": 45.0, \"z\": 0.0}, \"capsule\": {\"radius\": 0.08, \"length\": 0.7256854, \"end\": -1}}], \"inertia\": {\"x\": 1.0, \"y\": 1.0, \"z\": 1.0}, \"mass\": 1.0, \"frozen\": {\"position\": {\"x\": 0.0, \"y\": 0.0, \"z\": 0.0}, \"rotation\": {\"x\": 0.0, \"y\": 0.0, \"z\": 0.0}, \"all\": false}}, {\"name\": \"Aux 4\", \"colliders\": [{\"rotation\": {\"x\": -90.0, \"y\": -45.0, \"z\": 0.0}, \"capsule\": {\"radius\": 0.08, \"length\": 0.44284272, \"end\": 0}}], \"inertia\": {\"x\": 1.0, \"y\": 1.0, \"z\": 1.0}, \"mass\": 1.0, \"frozen\": {\"position\": {\"x\": 0.0, \"y\": 0.0, \"z\": 0.0}, \"rotation\": {\"x\": 0.0, \"y\": 0.0, \"z\": 0.0}, \"all\": false}}, {\"name\": \"$ Body 13\", \"colliders\": [{\"rotation\": {\"x\": -90.0, \"y\": -45.0, \"z\": 0.0}, \"capsule\": {\"radius\": 0.08, \"length\": 0.7256854, \"end\": -1}}], \"inertia\": {\"x\": 1.0, \"y\": 1.0, \"z\": 1.0}, \"mass\": 1.0, \"frozen\": {\"position\": {\"x\": 0.0, \"y\": 0.0, \"z\": 0.0}, \"rotation\": {\"x\": 0.0, \"y\": 0.0, \"z\": 0.0}, \"all\": false}}, {\"name\": \"Ground\", \"colliders\": [{\"plane\": {}}], \"inertia\": {\"x\": 1.0, \"y\": 1.0, \"z\": 1.0}, \"mass\": 1.0, \"frozen\": {\"position\": {\"x\": 1.0, \"y\": 1.0, \"z\": 1.0}, \"rotation\": {\"x\": 1.0, \"y\": 1.0, \"z\": 1.0}, \"all\": true}}], \"joints\": [{\"name\": \"$ Torso_Aux 1\", \"stiffness\": 5000.0, \"parent\": \"$ Torso\", \"child\": \"Aux 1\", \"parentOffset\": {\"x\": 0.2, \"y\": 0.2, \"z\": 0.0}, \"childOffset\": {\"x\": -0.1, \"y\": -0.1, \"z\": 0.0}, \"rotation\": {\"y\": -90.0, \"x\": 0.0, \"z\": 0.0}, \"angularDamping\": 35.0, \"angleLimit\": [{\"min\": -30.0, \"max\": 30.0}]}, {\"name\": \"Aux 1_$ Body 4\", \"stiffness\": 5000.0, \"parent\": \"Aux 1\", \"child\": \"$ Body 4\", \"parentOffset\": {\"x\": 0.1, \"y\": 0.1, \"z\": 0.0}, \"childOffset\": {\"x\": -0.2, \"y\": -0.2, \"z\": 0.0}, \"rotation\": {\"z\": 135.0, \"x\": 0.0, \"y\": 0.0}, \"angularDamping\": 35.0, \"angleLimit\": [{\"min\": 30.0, \"max\": 70.0}]}, {\"name\": \"$ Torso_Aux 2\", \"stiffness\": 5000.0, \"parent\": \"$ Torso\", \"child\": \"Aux 2\", \"parentOffset\": {\"x\": -0.2, \"y\": 0.2, \"z\": 0.0}, \"childOffset\": {\"x\": 0.1, \"y\": -0.1, \"z\": 0.0}, \"rotation\": {\"y\": -90.0, \"x\": 0.0, \"z\": 0.0}, \"angularDamping\": 35.0, \"angleLimit\": [{\"min\": -30.0, \"max\": 30.0}]}, {\"name\": \"Aux 2_$ Body 7\", \"stiffness\": 5000.0, \"parent\": \"Aux 2\", \"child\": \"$ Body 7\", \"parentOffset\": {\"x\": -0.1, \"y\": 0.1, \"z\": 0.0}, \"childOffset\": {\"x\": 0.2, \"y\": -0.2, \"z\": 0.0}, \"rotation\": {\"z\": 45.0, \"x\": 0.0, \"y\": 0.0}, \"angularDamping\": 35.0, \"angleLimit\": [{\"min\": -70.0, \"max\": -30.0}]}, {\"name\": \"$ Torso_Aux 3\", \"stiffness\": 5000.0, \"parent\": \"$ Torso\", \"child\": \"Aux 3\", \"parentOffset\": {\"x\": -0.2, \"y\": -0.2, \"z\": 0.0}, \"childOffset\": {\"x\": 0.1, \"y\": 0.1, \"z\": 0.0}, \"rotation\": {\"y\": -90.0, \"x\": 0.0, \"z\": 0.0}, \"angularDamping\": 35.0, \"angleLimit\": [{\"min\": -30.0, \"max\": 30.0}]}, {\"name\": \"Aux 3_$ Body 10\", \"stiffness\": 5000.0, \"parent\": \"Aux 3\", \"child\": \"$ Body 10\", \"parentOffset\": {\"x\": -0.1, \"y\": -0.1, \"z\": 0.0}, \"childOffset\": {\"x\": 0.2, \"y\": 0.2, \"z\": 0.0}, \"rotation\": {\"z\": 135.0, \"x\": 0.0, \"y\": 0.0}, \"angularDamping\": 35.0, \"angleLimit\": [{\"min\": -70.0, \"max\": -30.0}]}, {\"name\": \"$ Torso_Aux 4\", \"stiffness\": 5000.0, \"parent\": \"$ Torso\", \"child\": \"Aux 4\", \"parentOffset\": {\"x\": 0.2, \"y\": -0.2, \"z\": 0.0}, \"childOffset\": {\"x\": -0.1, \"y\": 0.1, \"z\": 0.0}, \"rotation\": {\"y\": -90.0, \"x\": 0.0, \"z\": 0.0}, \"angularDamping\": 35.0, \"angleLimit\": [{\"min\": -30.0, \"max\": 30.0}]}, {\"name\": \"Aux 4_$ Body 13\", \"stiffness\": 5000.0, \"parent\": \"Aux 4\", \"child\": \"$ Body 13\", \"parentOffset\": {\"x\": 0.1, \"y\": -0.1, \"z\": 0.0}, \"childOffset\": {\"x\": -0.2, \"y\": 0.2, \"z\": 0.0}, \"rotation\": {\"z\": 45.0, \"x\": 0.0, \"y\": 0.0}, \"angularDamping\": 35.0, \"angleLimit\": [{\"min\": 30.0, \"max\": 70.0}]}], \"actuators\": [{\"name\": \"$ Torso_Aux 1\", \"joint\": \"$ Torso_Aux 1\", \"strength\": 300.0, \"torque\": {}}, {\"name\": \"Aux 1_$ Body 4\", \"joint\": \"Aux 1_$ Body 4\", \"strength\": 300.0, \"torque\": {}}, {\"name\": \"$ Torso_Aux 2\", \"joint\": \"$ Torso_Aux 2\", \"strength\": 300.0, \"torque\": {}}, {\"name\": \"Aux 2_$ Body 7\", \"joint\": \"Aux 2_$ Body 7\", \"strength\": 300.0, \"torque\": {}}, {\"name\": \"$ Torso_Aux 3\", \"joint\": \"$ Torso_Aux 3\", \"strength\": 300.0, \"torque\": {}}, {\"name\": \"Aux 3_$ Body 10\", \"joint\": \"Aux 3_$ Body 10\", \"strength\": 300.0, \"torque\": {}}, {\"name\": \"$ Torso_Aux 4\", \"joint\": \"$ Torso_Aux 4\", \"strength\": 300.0, \"torque\": {}}, {\"name\": \"Aux 4_$ Body 13\", \"joint\": \"Aux 4_$ Body 13\", \"strength\": 300.0, \"torque\": {}}], \"friction\": 0.6, \"gravity\": {\"z\": -9.8, \"x\": 0.0, \"y\": 0.0}, \"angularDamping\": -0.05, \"baumgarteErp\": 0.1, \"collideInclude\": [{\"first\": \"$ Torso\", \"second\": \"Ground\"}, {\"first\": \"$ Body 4\", \"second\": \"Ground\"}, {\"first\": \"$ Body 7\", \"second\": \"Ground\"}, {\"first\": \"$ Body 10\", \"second\": \"Ground\"}, {\"first\": \"$ Body 13\", \"second\": \"Ground\"}], \"dt\": 0.05, \"substeps\": 10, \"frozen\": {\"all\": false}, \"elasticity\": 0.0, \"velocityDamping\": 0.0}, \"pos\": [[[0.0, 0.0, 0.5133401155471802], [0.30000001192092896, 0.30000001192092896, 0.5133401155471802], [0.528557538986206, 0.528557538986206, 0.29667001962661743], [-0.30000001192092896, 0.30000001192092896, 0.5133401155471802], [-0.528557538986206, 0.528557538986206, 0.29667001962661743], [-0.30000001192092896, -0.30000001192092896, 0.5133401155471802], [-0.528557538986206, -0.528557538986206, 0.29667001962661743], [0.30000001192092896, -0.30000001192092896, 0.5133401155471802], [0.528557538986206, -0.528557538986206, 0.29667001962661743], [0.0, 0.0, 0.0]]], \"rot\": [[[1.0, 0.0, 0.0, 0.0], [1.0, 0.0, -0.0, 0.0], [0.9063077569007874, -0.2988363206386566, 0.2988361716270447, 0.0], [1.0, 0.0, -0.0, 0.0], [0.9063077569007874, -0.29883620142936707, -0.29883626103401184, 0.0], [1.0, 0.0, -0.0, 0.0], [0.9063077569007874, 0.2988363206386566, -0.2988361716270447, 0.0], [1.0, 0.0, -0.0, 0.0], [0.9063077569007874, 0.29883620142936707, 0.29883626103401184, 0.0], [1.0, 0.0, 0.0, 0.0]]]};\n", | |
| " </script>\n", | |
| "\n", | |
| " <div id=\"brax-viewer\"></div>\n", | |
| "\n", | |
| " <script type=\"module\">\n", | |
| " import {Viewer} from 'https://localhost:32888/js/viewer.js';\n", | |
| " const domElement = document.getElementById('brax-viewer');\n", | |
| " var viewer = new Viewer(domElement, system);\n", | |
| " </script>\n", | |
| " </body>\n", | |
| "</html>\n" | |
| ], | |
| "text/plain": [ | |
| "<IPython.core.display.HTML object>" | |
| ] | |
| }, | |
| "metadata": {}, | |
| "execution_count": 4 | |
| } | |
| ] | |
| } | |
| ] | |
| } |
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