def testMJCFFeature(self):
mjcf_root = mjcf.from_xml_string(_MJCF)
physics = mjcf.Physics.from_mjcf_model(mjcf_root)
my_hinge = mjcf_root.find('joint', 'my_hinge')
hinge_observable = mjcf_observable.MJCFFeature(kind='qpos',
mjcf_element=my_hinge)
hinge_observation = hinge_observable.observation_callable(physics)()
np.testing.assert_array_equal(
hinge_observation,
physics.named.data.qpos[my_hinge.full_identifier])
small_sphere = mjcf_root.find('geom', 'small_sphere')
box_observable = mjcf_observable.MJCFFeature(kind='xpos',
mjcf_element=small_sphere,
update_interval=5)
box_observation = box_observable.observation_callable(physics)()
self.assertEqual(box_observable.update_interval, 5)
np.testing.assert_array_equal(
box_observation,
physics.named.data.geom_xpos[small_sphere.full_identifier])
my_box = mjcf_root.find('geom', 'my_box')
list_observable = mjcf_observable.MJCFFeature(
kind='xpos', mjcf_element=[my_box, small_sphere])
list_observation = (list_observable.observation_callable(physics)())
np.testing.assert_array_equal(
list_observation, physics.named.data.geom_xpos[[
my_box.full_identifier, small_sphere.full_identifier
]])
with self.assertRaisesRegexp(ValueError, 'expected an `mjcf.Element`'):
mjcf_observable.MJCFFeature('qpos', 'my_hinge')
with self.assertRaisesRegexp(ValueError, 'expected an `mjcf.Element`'):
mjcf_observable.MJCFFeature('geom_xpos', [my_box, 'small_sphere'])
def testMJCFCamera(self):
mjcf_root = mjcf.from_xml_string(_MJCF)
physics = mjcf.Physics.from_mjcf_model(mjcf_root)
camera = mjcf_root.find('camera', 'world')
camera_observable = mjcf_observable.MJCFCamera(
mjcf_element=camera, height=480, width=640, update_interval=7)
self.assertEqual(camera_observable.update_interval, 7)
camera_observation = camera_observable.observation_callable(physics)()
np.testing.assert_array_equal(
camera_observation, physics.render(480, 640, 'world'))
self.assertEqual(camera_observation.shape,
camera_observable.array_spec.shape)
self.assertEqual(camera_observation.dtype,
camera_observable.array_spec.dtype)
camera_observable.height = 300
camera_observable.width = 400
camera_observation = camera_observable.observation_callable(physics)()
self.assertEqual(camera_observable.height, 300)
self.assertEqual(camera_observable.width, 400)
np.testing.assert_array_equal(
camera_observation, physics.render(300, 400, 'world'))
self.assertEqual(camera_observation.shape,
camera_observable.array_spec.shape)
self.assertEqual(camera_observation.dtype,
camera_observable.array_spec.dtype)
with six.assertRaisesRegex(self, ValueError, 'expected an `mjcf.Element`'):
mjcf_observable.MJCFCamera('world')
with six.assertRaisesRegex(self, ValueError, 'expected an `mjcf.Element`'):
mjcf_observable.MJCFCamera([camera])
with six.assertRaisesRegex(self, ValueError, 'expected a <camera>'):
mjcf_observable.MJCFCamera(mjcf_root.find('body', 'body'))
def testErrorIfSegmentationAndDepthBothEnabled(self):
camera = mjcf.from_xml_string(_MJCF).find('camera', 'world')
with self.assertRaisesWithLiteralMatch(
ValueError,
mjcf_observable._BOTH_SEGMENTATION_AND_DEPTH_ENABLED):
mjcf_observable.MJCFCamera(mjcf_element=camera,
segmentation=True,
depth=True)
def testMJCFSegCamera(self):
mjcf_root = mjcf.from_xml_string(_MJCF)
physics = mjcf.Physics.from_mjcf_model(mjcf_root)
camera = mjcf_root.find('camera', 'world')
camera_observable = mjcf_observable.MJCFCamera(
mjcf_element=camera, height=480, width=640, update_interval=7,
segmentation=True)
self.assertEqual(camera_observable.update_interval, 7)
camera_observation = camera_observable.observation_callable(physics)()
np.testing.assert_array_equal(
camera_observation,
physics.render(480, 640, 'world', segmentation=True))
camera_observable.array_spec.validate(camera_observation)
def testMJCFFeatureIndex(self):
mjcf_root = mjcf.from_xml_string(_MJCF)
physics = mjcf.Physics.from_mjcf_model(mjcf_root)
small_sphere = mjcf_root.find('geom', 'small_sphere')
sphere_xmat = np.array(
physics.named.data.geom_xmat[small_sphere.full_identifier])
observable_xrow = mjcf_observable.MJCFFeature(
'xmat', small_sphere, index=[1, 3, 5, 7])
np.testing.assert_array_equal(
observable_xrow.observation_callable(physics)(),
sphere_xmat[[1, 3, 5, 7]])
observable_yyzz = mjcf_observable.MJCFFeature('xmat', small_sphere)[2:6]
np.testing.assert_array_equal(
observable_yyzz.observation_callable(physics)(), sphere_xmat[2:6])
def testMJCFCameraSpecs(self, camera_type, channels, dtype, minimum,
maximum):
width = 640
height = 480
shape = (height, width, channels)
expected_spec = specs.BoundedArray(shape=shape,
dtype=dtype,
minimum=minimum,
maximum=maximum)
mjcf_root = mjcf.from_xml_string(_MJCF)
camera = mjcf_root.find('camera', 'world')
observable_kwargs = {} if camera_type == 'rgb' else {camera_type: True}
camera_observable = mjcf_observable.MJCFCamera(mjcf_element=camera,
height=height,
width=width,
update_interval=7,
**observable_kwargs)
self.assertEqual(camera_observable.array_spec, expected_spec)
def _build(self,
name='walker',
marker_rgba=None,
camera_control=False,
roll_gear=-60,
steer_gear=55,
walker_id=None,
initializer=None):
"""Build a BoxHead.
Args:
name: name of the walker.
marker_rgba: RGBA value set to walker.marker_geoms to distinguish between
walkers (in multi-agent setting).
camera_control: If `True`, the walker exposes two additional actuated
degrees of freedom to control the egocentric camera height and tilt.
roll_gear: gear determining forward acceleration.
steer_gear: gear determining steering (spinning) torque.
walker_id: (Optional) An integer in [0-10], this number will be shown on
the walker's head. Defaults to `None` which does not show any number.
initializer: (Optional) A `WalkerInitializer` object.
Raises:
ValueError: if received invalid walker_id.
"""
super(BoxHead, self)._build(initializer=initializer)
xml_path = os.path.join(_ASSETS_PATH, 'boxhead.xml')
self._mjcf_root = mjcf.from_xml_string(
resources.GetResource(xml_path, 'r'))
if name:
self._mjcf_root.model = name
if walker_id is not None and not 0 <= walker_id <= _MAX_WALKER_ID:
raise ValueError(_INVALID_WALKER_ID.format(walker_id))
self._walker_id = walker_id
if walker_id is not None:
png_bytes = _asset_png_with_background_rgba_bytes(
'digits/%02d.png' % walker_id, marker_rgba)
head_texture = self._mjcf_root.asset.add('texture',
name='head_texture',
type='2d',
file=mjcf.Asset(
png_bytes, '.png'))
head_material = self._mjcf_root.asset.add('material',
name='head_material',
texture=head_texture)
self._mjcf_root.find('geom', 'head').material = head_material
self._mjcf_root.find('geom', 'head').rgba = None
self._mjcf_root.find('geom',
'top_down_cam_box').material = head_material
self._mjcf_root.find('geom', 'top_down_cam_box').rgba = None
self._body_texture = self._mjcf_root.asset.add(
'texture',
name='ball_body',
type='cube',
builtin='checker',
rgb1=marker_rgba[:-1] if marker_rgba else '.4 .4 .4',
rgb2='.8 .8 .8',
width='100',
height='100')
self._body_material = self._mjcf_root.asset.add(
'material', name='ball_body', texture=self._body_texture)
self._mjcf_root.find('geom', 'shell').material = self._body_material
# Set corresponding marker color if specified.
if marker_rgba is not None:
for geom in self.marker_geoms:
geom.set_attributes(rgba=marker_rgba)
self._root_joints = None
self._camera_control = camera_control
if not camera_control:
for name in ('camera_pitch', 'camera_yaw'):
self._mjcf_root.find('actuator', name).remove()
self._mjcf_root.find('joint', name).remove()
self._roll_gear = roll_gear
self._steer_gear = steer_gear
self._mjcf_root.find('actuator', 'roll').gear[0] = self._roll_gear
self._mjcf_root.find('actuator', 'steer').gear[0] = self._steer_gear
# Initialize previous action.
self._prev_action = np.zeros(shape=self.action_spec.shape,
dtype=self.action_spec.dtype)
