def _build(self, size=(10, 10), aesthetic='default', name='bowl'):
super()._build(name=name)
self._hfield = self._mjcf_root.asset.add(
'hfield',
name='terrain',
nrow=201,
ncol=201,
size=(6, 6, 0.5, 0.1))
if aesthetic != 'default':
ground_info = locomotion_arenas_assets.get_ground_texture_info(aesthetic)
sky_info = locomotion_arenas_assets.get_sky_texture_info(aesthetic)
texturedir = locomotion_arenas_assets.get_texturedir(aesthetic)
self._mjcf_root.compiler.texturedir = texturedir
self._texture = self._mjcf_root.asset.add(
'texture', name='aesthetic_texture', file=ground_info.file,
type=ground_info.type)
self._material = self._mjcf_root.asset.add(
'material', name='aesthetic_material', texture=self._texture,
texuniform='true')
self._skybox = self._mjcf_root.asset.add(
'texture', name='aesthetic_skybox', file=sky_info.file,
type='skybox', gridsize=sky_info.gridsize,
gridlayout=sky_info.gridlayout)
self._terrain_geom = self._mjcf_root.worldbody.add(
'geom',
name='terrain',
type='hfield',
pos=(0, 0, -0.01),
hfield='terrain',
material=self._material)
self._ground_geom = self._mjcf_root.worldbody.add(
'geom',
type='plane',
name='groundplane',
size=list(size) + [0.5],
material=self._material)
else:
self._terrain_geom = self._mjcf_root.worldbody.add(
'geom',
name='terrain',
type='hfield',
rgba=(0.2, 0.3, 0.4, 1),
pos=(0, 0, -0.01),
hfield='terrain')
self._ground_geom = self._mjcf_root.worldbody.add(
'geom',
type='plane',
name='groundplane',
rgba=(0.2, 0.3, 0.4, 1),
size=list(size) + [0.5])
self._mjcf_root.visual.headlight.set_attributes(
ambient=[.4, .4, .4], diffuse=[.8, .8, .8], specular=[.1, .1, .1])
self._regenerate = True
def _build(self,
platform_length=1.,
gap_length=2.5,
corridor_width=4,
corridor_length=40,
ground_rgba=(0.5, 0.5, 0.5, 1),
visible_side_planes=False,
aesthetic='default',
name='gaps_corridor'):
"""Builds the corridor.
Args:
platform_length: A number or a `composer.variation.Variation` object that
specifies the size of the platforms along the corridor.
gap_length: A number or a `composer.variation.Variation` object that
specifies the size of the gaps along the corridor.
corridor_width: A number or a `composer.variation.Variation` object that
specifies the width of the corridor.
corridor_length: A number or a `composer.variation.Variation` object that
specifies the length of the corridor.
ground_rgba: A sequence of 4 numbers or a `composer.variation.Variation`
object specifying the color of the ground.
visible_side_planes: Whether to the side planes that bound the corridor's
perimeter should be rendered.
aesthetic: option to adjust the material properties and skybox
name: The name of this arena.
"""
super(GapsCorridor,
self)._build(corridor_width=corridor_width,
corridor_length=corridor_length,
visible_side_planes=visible_side_planes,
name=name)
self._platform_length = platform_length
self._gap_length = gap_length
self._ground_rgba = ground_rgba
self._aesthetic = aesthetic
if self._aesthetic != 'default':
ground_info = locomotion_arenas_assets.get_ground_texture_info(
aesthetic)
sky_info = locomotion_arenas_assets.get_sky_texture_info(aesthetic)
texturedir = locomotion_arenas_assets.get_texturedir(aesthetic)
self._mjcf_root.compiler.texturedir = texturedir
self._ground_texture = self._mjcf_root.asset.add(
'texture',
name='aesthetic_texture',
file=ground_info.file,
type=ground_info.type)
self._ground_material = self._mjcf_root.asset.add(
'material',
name='aesthetic_material',
texture=self._ground_texture,
texuniform='true')
# remove existing skybox
for texture in self._mjcf_root.asset.find_all('texture'):
if texture.type == 'skybox':
texture.remove()
self._skybox = self._mjcf_root.asset.add(
'texture',
name='aesthetic_skybox',
file=sky_info.file,
type='skybox',
gridsize=sky_info.gridsize,
gridlayout=sky_info.gridlayout)
self._ground_body = self._mjcf_root.worldbody.add('body',
name='ground')
def _build(self,
maze,
xy_scale=2.0,
z_height=2.0,
skybox_texture=None,
wall_textures=None,
floor_textures=None,
aesthetic='default',
name='maze'):
"""Initializes this maze arena.
Args:
maze: A `labmaze.BaseMaze` instance.
xy_scale: The size of each maze cell in metres.
z_height: The z-height of the maze in metres.
skybox_texture: (optional) A `composer.Entity` that provides a texture
asset for the skybox.
wall_textures: (optional) Either a `composer.Entity` that provides texture
assets for the maze walls, or a dict mapping printable characters to
such Entities. In the former case, the maze walls are assumed to be
represented by '*' in the maze's entity layer. In the latter case,
the dict's keys specify the different characters that can be present
in the maze's entity layer, and the dict's values are the corresponding
texture providers.
floor_textures: (optional) A `composer.Entity` that provides texture
assets for the maze floor. Unlike with walls, we do not currently
support per-variation floor texture. Instead, we sample textures from
the same texture provider for each variation in the variations layer.
aesthetic: option to adjust the material properties and skybox
name: (optional) A string, the name of this arena.
"""
super(MazeWithTargets, self)._build(name)
self._maze = maze
self._xy_scale = xy_scale
self._z_height = z_height
self._x_offset = (self._maze.width - 1) / 2
self._y_offset = (self._maze.height - 1) / 2
self._mjcf_root.default.geom.rgba = [1, 1, 1, 1]
if aesthetic != 'default':
sky_info = locomotion_arenas_assets.get_sky_texture_info(aesthetic)
texturedir = locomotion_arenas_assets.get_texturedir(aesthetic)
self._mjcf_root.compiler.texturedir = texturedir
self._skybox = self._mjcf_root.asset.add(
'texture',
name='outdoor',
file=sky_info.file,
type='skybox',
gridsize=sky_info.gridsize,
gridlayout=sky_info.gridlayout)
elif skybox_texture:
self._skybox_texture = skybox_texture.texture
self.attach(skybox_texture)
else:
self._skybox_texture = self._mjcf_root.asset.add(
'texture',
type='skybox',
name='skybox',
builtin='gradient',
rgb1=[.4, .6, .8],
rgb2=[0, 0, 0],
width=100,
height=100)
self._texturing_geom_names = []
self._texturing_material_names = []
if wall_textures:
if isinstance(wall_textures, dict):
for texture_provider in set(wall_textures.values()):
self.attach(texture_provider)
self._wall_textures = {
wall_char: texture_provider.textures
for wall_char, texture_provider in six.iteritems(
wall_textures)
}
else:
self.attach(wall_textures)
self._wall_textures = {
_DEFAULT_WALL_CHAR: wall_textures.textures
}
else:
self._wall_textures = {
_DEFAULT_WALL_CHAR: [
self._mjcf_root.asset.add('texture',
type='2d',
name='wall',
builtin='flat',
rgb1=[.8, .8, .8],
width=100,
height=100)
]
}
if aesthetic != 'default':
ground_info = locomotion_arenas_assets.get_ground_texture_info(
aesthetic)
self._floor_textures = [
self._mjcf_root.asset.add('texture',
name='grass_main',
file=ground_info.file,
type=ground_info.type),
self._mjcf_root.asset.add('texture',
name='grass',
file=ground_info.file,
type=ground_info.type)
]
elif floor_textures:
self._floor_textures = floor_textures.textures
self.attach(floor_textures)
else:
self._floor_textures = [
self._mjcf_root.asset.add('texture',
type='2d',
name='floor',
builtin='flat',
rgb1=[.2, .2, .2],
width=100,
height=100)
]
ground_x = ((self._maze.width - 1) + 1) * (xy_scale / 2)
ground_y = ((self._maze.height - 1) + 1) * (xy_scale / 2)
self._mjcf_root.worldbody.add('geom',
name='ground',
type='plane',
pos=[0, 0, 0],
size=[ground_x, ground_y, 1],
rgba=[0, 0, 0, 0])
self._maze_body = self._mjcf_root.worldbody.add('body',
name='maze_body')
self._mjcf_root.visual.map.znear = 0.0005
# Choose the FOV so that the maze always fits nicely within the frame
# irrespective of actual maze size.
maze_size = max(self._maze.width, self._maze.height)
top_camera_fovy = (360 / np.pi) * np.arctan2(
_TOP_CAMERA_Y_PADDING_FACTOR * maze_size * self._xy_scale / 2,
_TOP_CAMERA_DISTANCE)
self._top_camera = self._mjcf_root.worldbody.add(
'camera',
name='top_camera',
pos=[0, 0, _TOP_CAMERA_DISTANCE],
zaxis=[0, 0, 1],
fovy=top_camera_fovy)
self._target_positions = ()
self._spawn_positions = ()
self._text_maze_regenerated_hook = None
self._tile_geom_names = {}
def _build(self,
size=(8, 8),
reflectance=.2,
aesthetic='default',
name='floor',
top_camera_y_padding_factor=1.1,
top_camera_distance=100):
super()._build(name=name)
self._size = size
self._top_camera_y_padding_factor = top_camera_y_padding_factor
self._top_camera_distance = top_camera_distance
self._mjcf_root.visual.headlight.set_attributes(ambient=[.4, .4, .4],
diffuse=[.8, .8, .8],
specular=[.1, .1, .1])
if aesthetic != 'default':
ground_info = locomotion_arenas_assets.get_ground_texture_info(
aesthetic)
sky_info = locomotion_arenas_assets.get_sky_texture_info(aesthetic)
texturedir = locomotion_arenas_assets.get_texturedir(aesthetic)
self._mjcf_root.compiler.texturedir = texturedir
self._ground_texture = self._mjcf_root.asset.add(
'texture',
name='aesthetic_texture',
file=ground_info.file,
type=ground_info.type)
self._ground_material = self._mjcf_root.asset.add(
'material',
name='aesthetic_material',
texture=self._ground_texture,
texuniform='true')
self._skybox = self._mjcf_root.asset.add(
'texture',
name='aesthetic_skybox',
file=sky_info.file,
type='skybox',
gridsize=sky_info.gridsize,
gridlayout=sky_info.gridlayout)
else:
self._ground_texture = self._mjcf_root.asset.add(
'texture',
rgb1=[.2, .3, .4],
rgb2=[.1, .2, .3],
type='2d',
builtin='checker',
name='groundplane',
width=200,
height=200,
mark='edge',
markrgb=[0.8, 0.8, 0.8])
self._ground_material = self._mjcf_root.asset.add(
'material',
name='groundplane',
texrepeat=[2,
2], # Makes white squares exactly 1x1 length units.
texuniform=True,
reflectance=reflectance,
texture=self._ground_texture)
# Build groundplane.
self._ground_geom = self._mjcf_root.worldbody.add(
'geom',
type='plane',
name='groundplane',
material=self._ground_material,
size=list(size) + [_GROUNDPLANE_QUAD_SIZE])
# Choose the FOV so that the floor always fits nicely within the frame
# irrespective of actual floor size.
fovy_radians = 2 * np.arctan2(top_camera_y_padding_factor * size[1],
top_camera_distance)
self._top_camera = self._mjcf_root.worldbody.add(
'camera',
name='top_camera',
pos=[0, 0, top_camera_distance],
quat=[1, 0, 0, 0],
fovy=np.rad2deg(fovy_radians))
def _build(self,
corridor_width=0.8,
corridor_length=250,
visible_side_planes=False,
aesthetic='grid',
name='long_corridor'):
"""Builds the corridor.
Args:
corridor_width: A number or a `composer.variation.Variation` object that
specifies the width of the corridor.
corridor_length: A number or a `composer.variation.Variation` object that
specifies the length of the corridor.
visible_side_planes: Whether to the side planes that bound the corridor's
perimeter should be rendered.
aesthetic: option to adjust the material properties and skybox.
name: The name of this arena.
"""
super()._build(corridor_width=corridor_width,
corridor_length=corridor_length,
visible_side_planes=visible_side_planes,
name=name)
self._aesthetic = aesthetic
if self._aesthetic == 'grid':
self._ground_texture = self._mjcf_root.asset.add(
'texture',
name='grid_tex',
type='2d',
builtin='checker',
rgb1='.1 .2 .3',
rgb2='.2 .3 .4',
width='300',
height='300',
mark='edge',
markrgb='.2 .3 .4')
self._ground_material = self._mjcf_root.asset.add(
'material',
name='grid',
texture='grid_tex',
texrepeat='1 1',
texuniform='true',
reflectance='.2')
# remove existing skybox
for texture in self._mjcf_root.asset.find_all('texture'):
if texture.type == 'skybox':
texture.remove()
self._skybox = self._mjcf_root.asset.add('texture',
name='skybox',
type='skybox',
builtin='gradient',
rgb1='.4 .6 .8',
rgb2='0 0 0',
width='800',
height='800',
mark='random',
markrgb='1 1 1')
self._ground_plane.material = self._ground_material
elif self._aesthetic != 'default':
ground_info = locomotion_arenas_assets.get_ground_texture_info(
aesthetic)
sky_info = locomotion_arenas_assets.get_sky_texture_info(aesthetic)
texturedir = locomotion_arenas_assets.get_texturedir(aesthetic)
self._mjcf_root.compiler.texturedir = texturedir
self._ground_texture = self._mjcf_root.asset.add(
'texture',
name='aesthetic_texture',
file=ground_info.file,
type=ground_info.type)
self._ground_material = self._mjcf_root.asset.add(
'material',
name='aesthetic_material',
texture=self._ground_texture,
texuniform='true')
# remove existing skybox
for texture in self._mjcf_root.asset.find_all('texture'):
if texture.type == 'skybox':
texture.remove()
self._skybox = self._mjcf_root.asset.add(
'texture',
name='aesthetic_skybox',
file=sky_info.file,
type='skybox',
gridsize=sky_info.gridsize,
gridlayout=sky_info.gridlayout)
def _build(self, size=(8, 8), reflectance=.2, aesthetic='default',
name='floor'):
super(Floor, self)._build(name=name)
self._size = size
self._mjcf_root.visual.headlight.set_attributes(
ambient=[.4, .4, .4], diffuse=[.8, .8, .8], specular=[.1, .1, .1])
if aesthetic != 'default':
ground_info = locomotion_arenas_assets.get_ground_texture_info(aesthetic)
sky_info = locomotion_arenas_assets.get_sky_texture_info(aesthetic)
texturedir = locomotion_arenas_assets.get_texturedir(aesthetic)
self._mjcf_root.compiler.texturedir = texturedir
self._ground_texture = self._mjcf_root.asset.add(
'texture', name='grass', file=ground_info.file,
type=ground_info.type)
self._ground_material = self._mjcf_root.asset.add(
'material', name='grass', texture=self._ground_texture,
texuniform='true')
self._skybox = self._mjcf_root.asset.add(
'texture', name='outdoor', file=sky_info.file,
type='skybox', gridsize=sky_info.gridsize,
gridlayout=sky_info.gridlayout)
else:
self._ground_texture = self._mjcf_root.asset.add(
'texture',
rgb1=[.2, .3, .4],
rgb2=[.1, .2, .3],
type='2d',
builtin='checker',
name='groundplane',
width=300,
height=300,
mark='edge',
markrgb=[0.8, 0.8, 0.8])
self._ground_material = self._mjcf_root.asset.add(
'material',
name='groundplane',
texrepeat=[3, 3],
texuniform=True,
reflectance=reflectance,
texture=self._ground_texture)
# Build groundplane.
self._ground_geom = self._mjcf_root.worldbody.add(
'geom',
type='plane',
name='groundplane',
material=self._ground_material,
size=list(size) + [0.5])
# Choose the FOV so that the floor always fits nicely within the frame
# irrespective of actual floor size.
fovy_radians = 2 * np.arctan2(_TOP_CAMERA_Y_PADDING_FACTOR * size[1],
_TOP_CAMERA_DISTANCE)
self._top_camera = self._mjcf_root.worldbody.add(
'camera',
name='top_camera',
pos=[0, 0, _TOP_CAMERA_DISTANCE],
zaxis=[0, 0, 1],
fovy=np.rad2deg(fovy_radians))