def gen_robot_configs(ref_file, robot_num, vars_to_change,
param_var_num, root_save_dir):
pre_gen_params = pre_gen_robot_params(vars_to_change=vars_to_change,
param_var_num=param_var_num)
for idx in tqdm(range(robot_num)):
model = load_model_from_path(ref_file)
sim = MjSim(model)
robot_param_random_sample(sim, vars_to_change, pre_gen_params)
sim.reset()
sub_save_dir = os.path.join(root_save_dir, 'robot_%d' % idx)
os.makedirs(sub_save_dir, exist_ok=True)
with open(os.path.join(sub_save_dir, 'robot.xml'), 'w') as f:
sim.save(f, keep_inertials=True)
def test_sim_save():
model = load_model_from_xml(BASIC_MODEL_XML)
assert model.nkey == 0
sim = MjSim(model)
with StringIO() as f:
sim.save(f)
f.seek(0)
loaded_model = load_model_from_xml(f.read())
assert loaded_model.nkey == 1
with BytesIO() as f:
sim.save(f, format='mjb')
f.seek(0)
loaded_model = load_model_from_mjb(f.read())
assert loaded_model.nkey == 1
def test_sim_save():
model = load_model_from_xml(BASIC_MODEL_XML)
assert model.nkey == 0
sim = MjSim(model)
with StringIO() as f:
sim.save(f)
f.seek(0)
loaded_model = load_model_from_xml(f.read())
assert loaded_model.nkey == 1
with BytesIO() as f:
sim.save(f, format='mjb')
f.seek(0)
loaded_model = load_model_from_mjb(f.read())
assert loaded_model.nkey == 1
def gen_robot_configs(ref_file, robot_num, vars_to_change, param_var_num,
skip_geom, root_save_dir):
pre_gen_params = pre_gen_robot_params(vars_to_change=vars_to_change,
param_var_num=param_var_num)
joint_sites = ['j0', 'j1', 'j2', 'j3', 'j4', 'j5', 'j6']
for idx in tqdm(range(robot_num)):
model = load_model_from_path(ref_file)
sim = MjSim(model)
valid_joint_sites = [
el for el in joint_sites if el in sim.model._site_name2id
]
valid_joints_num = len(valid_joint_sites)
robot_param_random_sample(sim, vars_to_change, pre_gen_params,
valid_joints_num, skip_geom)
sim.model.vis.map.znear = 0.02
sim.model.vis.map.zfar = 50.0
sim.reset()
robot_id = int(re.findall(r'\d+', ref_file.split('/')[-1])[0])
save_dir = os.path.join(
root_save_dir, '%d_dof_%d_%d' % (valid_joints_num, robot_id, idx))
os.makedirs(save_dir, exist_ok=True)
with open(os.path.join(save_dir, 'robot.xml'), 'w') as f:
sim.save(f, keep_inertials=True)