def _setup_world(self, filename):
"""
Helper method for handling setup of the MuJoCo world.
Args:
filename: Path to XML file containing the world information.
"""
self._world = []
self._model = []
# Initialize Mujoco worlds. If there's only one xml file, create a single world object,
# otherwise create a different world for each condition.
if not isinstance(filename, list):
self._world = mjcpy.MJCWorld(filename)
self._model = self._world.get_model()
self._world = [
self._world for _ in range(self._hyperparams['conditions'])
]
self._model = [
copy.deepcopy(self._model)
for _ in range(self._hyperparams['conditions'])
]
else:
for i in range(self._hyperparams['conditions']):
self._world.append(
mjcpy.MJCWorld(self._hyperparams['filename'][i]))
self._model.append(self._world[i].get_model())
for i in range(self._hyperparams['conditions']):
for j in range(len(self._hyperparams['pos_body_idx'][i])):
idx = self._hyperparams['pos_body_idx'][i][j]
self._model[i]['body_pos'][idx, :] += \
self._hyperparams['pos_body_offset'][i]
self._world[i].set_model(self._model[i])
x0 = self._hyperparams['x0'][i]
idx = len(x0) // 2
data = {'qpos': x0[:idx], 'qvel': x0[idx:]}
self._world[i].set_data(data)
self._world[i].kinematics()
self._joint_idx = list(range(self._model[0]['nq']))
self._vel_idx = [i + self._model[0]['nq'] for i in self._joint_idx]
# Initialize x0.
self.x0 = []
for i in range(self._hyperparams['conditions']):
if END_EFFECTOR_POINTS in self.x_data_types:
eepts = self._world[i].get_data()['site_xpos'].flatten()
self.x0.append(
np.concatenate([
self._hyperparams['x0'][i], eepts,
np.zeros_like(eepts)
]))
else:
self.x0.append(self._hyperparams['x0'][i])
cam_pos = self._hyperparams['camera_pos']
for i in range(self._hyperparams['conditions']):
self._world[i].init_cam(cam_pos[0], cam_pos[1], cam_pos[2],
cam_pos[3], cam_pos[4], cam_pos[5])
def _setup_world(self, filename):
"""
Helper method for handling setup of the MuJoCo world.
Args:
filename: Path to XML file containing the world information.
"""
self._world = []
self._model = []
# Initialize Mujoco worlds. If there's only one xml file, create a single world object,
# otherwise create a different world for each condition.
if not isinstance(filename, list):
world = mjcpy.MJCWorld(filename)
self._world = [world for _ in range(self._hyperparams['conditions'])]
self._model = [self._world[i].get_model().copy()
for i in range(self._hyperparams['conditions'])]
else:
for i in range(self._hyperparams['conditions']):
self._world.append(mjcpy.MJCWorld(self._hyperparams['filename'][i]))
self._model.append(self._world[i].get_model())
for i in range(self._hyperparams['conditions']):
for j in range(len(self._hyperparams['pos_body_idx'][i])):
idx = self._hyperparams['pos_body_idx'][i][j]
self._model[i]['body_pos'][idx, :] += \
self._hyperparams['pos_body_offset'][i][j]
self._joint_idx = list(range(self._model[0]['nq']))
self._vel_idx = [i + self._model[0]['nq'] for i in self._joint_idx]
# Initialize x0.
self.x0 = []
for i in range(self._hyperparams['conditions']):
if END_EFFECTOR_POINTS in self.x_data_types:
# TODO: this assumes END_EFFECTOR_VELOCITIES is also in datapoints right?
self._init(i)
eepts = self._world[i].get_data()['site_xpos'].flatten()
self.x0.append(
np.concatenate([self._hyperparams['x0'][i], eepts, np.zeros_like(eepts)])
)
elif END_EFFECTOR_POINTS_NO_TARGET in self.x_data_types:
self._init(i)
eepts = self._world[i].get_data()['site_xpos'].flatten()
eepts_notgt = np.delete(eepts, self._hyperparams['target_idx'])
self.x0.append(
np.concatenate([self._hyperparams['x0'][i], eepts_notgt, np.zeros_like(eepts_notgt)])
)
else:
self.x0.append(self._hyperparams['x0'][i])
if IMAGE_FEAT in self.x_data_types:
self.x0[i] = np.concatenate([self.x0[i], np.zeros((self._hyperparams['sensor_dims'][IMAGE_FEAT],))])
cam_pos = self._hyperparams['camera_pos']
for i in range(self._hyperparams['conditions']):
self._world[i].init_viewer(AGENT_MUJOCO['image_width'],
AGENT_MUJOCO['image_height'],
cam_pos[0], cam_pos[1], cam_pos[2],
cam_pos[3], cam_pos[4], cam_pos[5])
def _setup_world(self, filename):
"""
Helper method for handling setup of the MuJoCo world.
Args:
filename: Path to XML file containing the world information.
"""
self._world = mjcpy.MJCWorld(filename)
self._model = self._world.get_model()
self._model = [
copy.deepcopy(self._model)
for _ in range(self._hyperparams['conditions'])
]
for i in range(self._hyperparams['conditions']):
for j in range(len(self._hyperparams['pos_body_idx'][i])):
idx = self._hyperparams['pos_body_idx'][i][j]
self._model[i]['body_pos'][idx, :] += \
self._hyperparams['pos_body_offset'][i]
self._world.set_model(self._model[i])
x0 = self._hyperparams['x0'][i]
idx = len(x0) // 2
data = {'qpos': x0[:idx], 'qvel': x0[idx:]}
self._world.set_data(data)
self._world.kinematics()
# Initialize x0.
self._data = self._world.get_data()
eepts = self._data['site_xpos'].flatten()
self._joint_idx = list(range(self._model[0]['nq']))
self._vel_idx = [i + self._model[0]['nq'] for i in self._joint_idx]
self.x0 = []
for x0 in self._hyperparams['x0']:
if END_EFFECTOR_POINTS in self.x_data_types:
self.x0.append(
np.concatenate([x0, eepts, np.zeros_like(eepts)]))
else:
self.x0.append(x0)
