Simulation of different types of terrains #2536

GraceNiyo · 2025-03-26T19:01:13Z

GraceNiyo
Mar 26, 2025

Intro

Hi!

I am a graduate student at USC, I use MuJoCo for my research on locomotion.

My setup

MuJoCo version 3.3.0
Ubuntu version 20.04

My question

I would like to simulate a robot (an adaptation of OpenAI’s HalfCheetah) walking on a solid, soft and mixed (solid and soft parts) terrains. Is it possible to simulate do so using MuJoCo? And if so what parameters would I need to chance? From documentation, solref and solimp can be used to adjust how contacts interact. However, I am not sure if it is possible to use these parameters to change the floor property so that I can simulate those terrains. Your feedback and guidance is valuable. Thanks!

Minimal model and/or code that explain my question

<tendon stiffness = "50"/>
<muscle ctrllimited="true" ctrlrange="0 1" force="100" />

  <!-- right -->
  <!-- torso/rbthigh -->
  <site name="SITE_RB_0" pos="-0.35 -0.25 0.25" size="0.01"/>
  <site name="SITE_RB_1" pos="-0.65 -0.25 0.15" size="0.01"/>
  <site name="SITE_RB_2" pos="-0.35 -0.25 0.15" size="0.01"/>   
  <body name="rbthigh" pos="-.5 -.25 0">
    <joint axis="0 1 0" damping="1.5" name="rbthigh" pos="0 0 0" range="-1 .7" stiffness="0" type="hinge"/>
    <geom name="RB_HIP" type="cylinder" pos="0 0 0" zaxis="0 1 0" size=".075 .05" rgba="1 1 1 .5"/>
    <geom axisangle="0 1 0 .52" name="rbthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
    <!-- [cos(theta) -sin(theta); sin(theta) cos(theta)]*[x0;y0] and theta = -.52,.6, x0=.15, .05,-.05 y0=0, -.085-->
    <site name="SIDESITE_RB_0" pos="-0.1050 0 0.1179" size="0.01" rgba="0.7 0.8 0.95 .8" group="1"/>
    <site name="SIDESITE_RB_1" pos="0.1550 0 -0.0311" size="0.01" rgba="0.7 0.8 0.95 .8" group="1"/>
    <site name="SITE_RB_3" pos="0.0012 0 -0.0986" size="0.01"/>
    <site name="SITE_RB_4" pos="-0.1320 0 -.0708" size="0.01"/>
    <site name="SITE_RB_5" pos=" -.0661 0 -.1154" size="0.01"/>
    <!-- torso/rbthigh/rbshin -->
    <body name="rbshin" pos="-.14 0 -.24">
      <joint axis="0 1 0" damping="1" name="rbshin" pos="0 0 0" range="-1.2 .87" stiffness="0" type="hinge"/>
      <geom name="RB_KNEE" type="cylinder" pos="0 0 0" zaxis="0 1 0" size=".075 .05" rgba="1 1 1 .5"/>
      <geom axisangle="0 1 0 -.6" name="rbshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
      <site axisangle="0 1 0 -.6" name="rb_sensor_site" pos=".12 0 -.17" rgba="0 1 0 .1" size="0.05 .010" type="capsule"/>
      <site name="SIDESITE_RB_2" pos="-0.1238 0 -0.0847" size="0.01" rgba="0.7 0.8 0.95 .8" group="1"/>
      <site name="SIDESITE_RB_3" pos=".1238 0 0.0847" size="0.01" rgba="0.7 0.8 0.95 .8" group="1"/>
      <site name="SITE_RB_6" pos="0.0067 0 -0.0984" size="0.01"/>
      <site name="SITE_RB_7" pos="0.0893 0 -0.0419" size="0.01"/>
    </body>
  </body>
  <!-- torso/rfthigh -->
  <site name="SITE_RF_0" pos=".65 -.25 .25" size="0.01"/>
  <site name="SITE_RF_1" pos="0.35 -.25 .15" size="0.01"/>
  <site name="SITE_RF_2" pos=".65 -.25 .15" size="0.01"/>
  <body name="rfthigh" pos=".5 -.25 0">
    <joint axis="0 1 0" damping="1.5" name="rfthigh" pos="0 0 0" range="-1 .7" stiffness="0" type="hinge"/>
    <geom name="RF_HIP" type="cylinder" pos="0 0 0" zaxis="0 1 0" size=".075 .05" rgba="1 1 1 .5"/>
    <geom axisangle="0 1 0 .52" name="rfthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
    <site name="SIDESITE_RF_0" pos="-0.1050 0 0.1179" size="0.01" rgba="0.7 0.8 0.95 .8" group="1"/>
    <site name="SIDESITE_RF_1" pos="0.1550 0 -0.0311" size="0.01" rgba="0.7 0.8 0.95 .8" group="1"/>
    <site name="SITE_RF_3" pos="0.0012 0 -0.0986" size="0.01"/>
    <site name="SITE_RF_4" pos="-0.1320 0 -.0708" size="0.01"/>
    <site name="SITE_RF_5" pos=" -.0661 0 -.1154" size="0.01"/>
    <!-- torso/rfthigh/rfshin -->
    <body name="rfshin" pos="-.14 0 -.24">
      <joint axis="0 1 0" damping="1" name="rfshin" pos="0 0 0" range="-1.2 .87" stiffness="0" type="hinge"/>
      <geom name="RF_KNEE" type="cylinder" pos="0 0 0" zaxis="0 1 0" size=".075 .05" rgba="1 1 1 .5"/>
      <geom axisangle="0 1 0 -.6" name="rfshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
      <site axisangle="0 1 0 -.6" name="rf_sensor_site" pos=".12 0 -.17" rgba="0 1 0 .1" size="0.05 .010" type="capsule"/>
      <site name="SIDESITE_RF_2" pos="-0.1238 0 -0.0847" size="0.01" rgba="0.7 0.8 0.95 .8" group="1"/>
      <site name="SIDESITE_RF_3" pos=".1238 0 0.0847" size="0.01" rgba="0.7 0.8 0.95 .8" group="1"/>
      <site name="SITE_RF_6" pos="0.0067 0 -0.0984" size="0.01"/>
      <site name="SITE_RF_7" pos="0.0893 0 -0.0419" size="0.01"/>
    </body>
  </body>

  <!-- left -->
  <!-- torso/lbthigh -->
  <site name="SITE_LB_0" pos="-0.35 0.25 0.25" size="0.01"/>
  <site name="SITE_LB_1" pos="-0.65 0.25 0.15" size="0.01"/>
  <site name="SITE_LB_2" pos="-0.35 0.25 0.15" size="0.01"/>   
  <body name="lbthigh" pos="-.5 0.25 0">
    <joint axis="0 1 0" damping="1.5" name="lbthigh" pos="0 0 0" range="-1 .7" stiffness="0" type="hinge"/>
    <geom name="LB_HIP" type="cylinder" pos="0 0 0" zaxis="0 1 0" size=".075 .05" rgba="1 1 1 .5"/>
    <geom axisangle="0 1 0 .52" name="lbthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
    <site name="SIDESITE_LB_0" pos="-0.1050 0 0.1179" size="0.01" rgba="0.7 0.8 0.95 .8" group="1"/>
    <site name="SIDESITE_LB_1" pos="0.1550 0 -0.0311" size="0.01" rgba="0.7 0.8 0.95 .8" group="1"/>
    <site name="SITE_LB_3" pos="0.0012 0 -0.0986" size="0.01"/>
    <site name="SITE_LB_4" pos="-0.1320 0 -.0708" size="0.01"/>
    <site name="SITE_LB_5" pos=" -.0661 0 -.1154" size="0.01"/>
    <!-- torso/lbthigh/lbshin -->
    <body name="lbshin" pos="-.14 0 -.24">
      <joint axis="0 1 0" damping="1" name="lbshin" pos="0 0 0" range="-1.2 .87" stiffness="0" type="hinge"/>
      <geom name="LB_KNEE" type="cylinder" pos="0 0 0" zaxis="0 1 0" size=".075 .05" rgba="1 1 1 .5"/>
      <geom axisangle="0 1 0 -.6" name="lbshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
      <site axisangle="0 1 0 -.6" name="lb_sensor_site" pos=".12 0 -.17" rgba="0 1 0 .1" size="0.05 .010" type="capsule"/>
      <site name="SIDESITE_LB_2" pos="-0.1238 0 -0.0847" size="0.01" rgba="0.7 0.8 0.95 .8" group="1"/>
      <site name="SIDESITE_LB_3" pos=".1238 0 0.0847" size="0.01" rgba="0.7 0.8 0.95 .8" group="1"/>
      <site name="SITE_LB_6" pos="0.0067 0 -0.0984" size="0.01"/>
      <site name="SITE_LB_7" pos="0.0893 0 -0.0419" size="0.01"/>
    </body>
  </body>
  <!-- torso/lfthigh -->
  <site name="SITE_LF_0" pos=".65 .25 .25" size="0.01"/>
  <site name="SITE_LF_1" pos="0.35 .25 .15" size="0.01"/>
  <site name="SITE_LF_2" pos=".65 .25 .15" size="0.01"/>
  <body name="lfthigh" pos=".5 .25 0">
    <joint axis="0 1 0" damping="1.5" name="lfthigh" pos="0 0 0" range="-1 .7" stiffness="0" type="hinge"/>
    <geom name="LF_HIP" type="cylinder" pos="0 0 0" zaxis="0 1 0" size=".075 .05" rgba="1 1 1 .5"/>
    <geom axisangle="0 1 0 .52" name="lfthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
    <site name="SIDESITE_LF_0" pos="-0.1050 0 0.1179" size="0.01" rgba="0.7 0.8 0.95 .8" group="1"/>
    <site name="SIDESITE_LF_1" pos="0.1550 0 -0.0311" size="0.01" rgba="0.7 0.8 0.95 .8" group="1"/>
    <site name="SITE_LF_3" pos="0.0012 0 -0.0986" size="0.01"/>
    <site name="SITE_LF_4" pos="-0.1320 0 -.0708" size="0.01"/>
    <site name="SITE_LF_5" pos=" -.0661 0 -.1154" size="0.01"/>

    <!-- torso/lfthigh/lfshin -->
    <body name="lfshin" pos="-.14 0 -.24">
      <joint axis="0 1 0" damping="1" name="lfshin" pos="0 0 0" range="-1.2 .87" stiffness="0" type="hinge"/>
      <geom name="LF_KNEE" type="cylinder" pos="0 0 0" zaxis="0 1 0" size=".075 .05" rgba="1 1 1 .5"/>
      <geom axisangle="0 1 0 -.6" name="lfshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
      <site axisangle="0 1 0 -.6" name="lf_sensor_site" pos=".12 0 -.17" rgba="0 1 0 .1" size="0.05 .010" type="capsule"/>
      <site name="SIDESITE_LF_2" pos="-0.1238 0 -0.0847" size="0.01" rgba="0.7 0.8 0.95 .8" group="1"/>
      <site name="SIDESITE_LF_3" pos=".1238 0 0.0847" size="0.01" rgba="0.7 0.8 0.95 .8" group="1"/>
      <site name="SITE_LF_6" pos="0.0067 0 -0.0984" size="0.01"/>
      <site name="SITE_LF_7" pos="0.0893 0 -0.0419" size="0.01"/>
    </body>
  </body>
</body>

<muscle gear="100" name="T_RB_M0" tendon="T_RB_M0"/>
<muscle gear="100" name="T_RB_M1" tendon="T_RB_M1"/>
<muscle gear="100" name="T_RB_M2" tendon="T_RB_M2"/>

<muscle gear="100" name="T_RF_M0" tendon="T_RF_M0"/>
<muscle gear="100" name="T_RF_M1" tendon="T_RF_M1"/>
<muscle gear="100" name="T_RF_M2" tendon="T_RF_M2"/>

<muscle gear="100" name="T_LB_M0" tendon="T_LB_M0"/>
<muscle gear="100" name="T_LB_M1" tendon="T_LB_M1"/>
<muscle gear="100" name="T_LB_M2" tendon="T_LB_M2"/>

<muscle gear="100" name="T_LF_M0" tendon="T_LF_M0"/>
<muscle gear="100" name="T_LF_M1" tendon="T_LF_M1"/>
<muscle gear="100" name="T_LF_M2" tendon="T_LF_M2"/>

Confirmations

I searched the latest documentation thoroughly before posting.
I searched previous Issues and Discussions, I am certain this has not been raised before.

yuvaltassa · 2025-04-01T13:10:27Z

yuvaltassa
Apr 1, 2025
Maintainer

Yes, that is possible.

0 replies

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Simulation of different types of terrains #2536

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Simulation of different types of terrains #2536

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GraceNiyo Mar 26, 2025

Intro

My setup

My question

Minimal model and/or code that explain my question

Confirmations

Replies: 1 comment

Uh oh!

yuvaltassa Apr 1, 2025 Maintainer

GraceNiyo
Mar 26, 2025

yuvaltassa
Apr 1, 2025
Maintainer