def egocentric_camera(self):
options = mj_wrapper.MjvOption()
# Don't render this walker's geoms.
options.geomgroup[_WALKER_INVIS_GROUP] = 0
return observable.MJCFCamera(self._entity.egocentric_camera,
width=64, height=64, scene_option=options)
def egocentric_camera(self):
"""Observable of the egocentric camera."""
if not hasattr(self, '_scene_options'):
# Don't render this walker's geoms.
self._scene_options = mj_wrapper.MjvOption()
collision_geom_group = 2
self._scene_options.geomgroup[collision_geom_group] = 0
cosmetic_geom_group = 1
self._scene_options.geomgroup[cosmetic_geom_group] = 0
return observable.MJCFCamera(self._entity.egocentric_camera,
width=64,
height=64,
scene_option=self._scene_options)
def add_camera_observables(entity, obs_settings, *camera_specs):
"""Adds cameras to an entity's worldbody and configures observables for them.
Args:
entity: A `composer.Entity`.
obs_settings: An `observations.ObservationSettings` instance.
*camera_specs: Instances of `CameraSpec`.
Returns:
A `collections.OrderedDict` keyed on camera names, containing pre-configured
`observable.MJCFCamera` instances.
"""
obs_dict = collections.OrderedDict()
for spec in camera_specs:
camera = entity.mjcf_model.worldbody.add('camera', **spec._asdict())
obs = observable.MJCFCamera(camera)
obs.configure(**obs_settings.camera._asdict())
obs_dict[spec.name] = obs
return obs_dict
def top_camera(self):
return observable.MJCFCamera(self._entity.top_camera)
def egocentric_camera(self):
return observable.MJCFCamera(self._entity.egocentric_camera,
width=64, height=64)
def egocentric_camera(self):
width, height = self._camera_resolution
return observable.MJCFCamera(self._entity.egocentric_camera,
width=width, height=height)
def top_down_camera_invisible_robot(self):
# Custom scene options for making robot geoms invisible.
robot_geoms_invisible = wrapper.MjvOption()
robot_geoms_invisible.geomgroup[ROBOT_GEOM_GROUP] = 0
return observable.MJCFCamera(mjcf_element=self._entity.top_down_camera,
scene_option=robot_geoms_invisible)
def top_down_camera(self): return observable.MJCFCamera(mjcf_element=self._entity.top_down_camera)
def front_camera_2(self): return observable.MJCFCamera(mjcf_element=self._entity.front_camera_2)
def egocentric_camera(self):
"""Observable of the wrist force-torque sensors."""
return observable.MJCFCamera(self._entity.egocentric_camera,
width=64, height=64)
