def testGetAssetFromPlaceholder(self):
mujoco = parser.from_path(_TEST_MODEL_XML)
# Add an extra texture asset from a placeholder.
contents = b'I am a texture bytestring'
extension = '.png'
vfs_filename = hashlib.sha1(contents).hexdigest() + extension
placeholder = mjcf.Asset(contents=contents, extension=extension)
mujoco.asset.add('texture', name='fake_texture', file=placeholder)
self.assertDictContainsSubset({vfs_filename: contents}, mujoco.get_assets())
def testAssetInheritance(self):
parent = element.RootElement(model='parent')
child = element.RootElement(model='child')
grandchild = element.RootElement(model='grandchild')
ext = '.png'
parent_str = b'I belong to the parent'
child_str = b'I belong to the child'
grandchild_str = b'I belong to the grandchild'
parent_vfs_name, child_vfs_name, grandchild_vfs_name = (
hashlib.sha1(s).hexdigest() + ext
for s in (parent_str, child_str, grandchild_str))
parent_ph = mjcf.Asset(contents=parent_str, extension=ext)
child_ph = mjcf.Asset(contents=child_str, extension=ext)
grandchild_ph = mjcf.Asset(contents=grandchild_str, extension=ext)
parent.asset.add('texture', name='parent_tex', file=parent_ph)
child.asset.add('texture', name='child_tex', file=child_ph)
grandchild.asset.add('texture',
name='grandchild_tex',
file=grandchild_ph)
parent.attach(child)
child.attach(grandchild)
# The grandchild should only return its own assets.
self.assertDictEqual({grandchild_vfs_name: grandchild_str},
grandchild.get_assets())
# The child should return its own assets plus those of the grandchild.
self.assertDictEqual(
{
child_vfs_name: child_str,
grandchild_vfs_name: grandchild_str
}, child.get_assets())
# The parent should return everything.
self.assertDictEqual(
{
parent_vfs_name: parent_str,
child_vfs_name: child_str,
grandchild_vfs_name: grandchild_str
}, parent.get_assets())
def _get_texture(name):
contents = resources.GetResource(
os.path.join(_ASSETS_PATH, '{}.png'.format(name)))
return mjcf.Asset(contents, '.png')
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)
def _make_goboard(boardsize,
square_halfwidth,
height=0.01,
sensor_size=0.7,
name='goboard'):
"""Builds a Go with touch sensors centered on each intersection."""
y_offset = -0.08
rows = boardsize
columns = boardsize
root = mjcf.RootElement(model=name)
if _SHOW_DEBUG_GRID:
black_mat = root.asset.add('material',
name='black',
rgba=(0.2, 0.2, 0.2, 0.5))
white_mat = root.asset.add('material',
name='white',
rgba=(0.8, 0.8, 0.8, 0.5))
else:
transparent_mat = root.asset.add('material',
name='intersection',
rgba=(0, 1, 0, 0.0))
sensor_mat = root.asset.add('material', name='sensor', rgba=(0, 1, 0, 0.3))
contents = resources.GetResource(_TEXTURE_PATH)
root.asset.add('texture',
name='goboard',
type='2d',
file=mjcf.Asset(contents, '.png'))
board_mat = root.asset.add('material',
name='goboard',
texture='goboard',
texrepeat=[0.97, 0.97])
root.default.geom.set_attributes(type='box',
size=(square_halfwidth, square_halfwidth,
height))
root.default.site.set_attributes(
type='box',
size=(sensor_size * square_halfwidth, ) * 2 + (0.5 * height, ),
material=sensor_mat,
group=composer.SENSOR_SITES_GROUP)
board_height = height
if _SHOW_DEBUG_GRID:
board_height = 0.5 * height
root.worldbody.add('geom',
pos=(0, 0 + y_offset, height),
type='box',
size=(square_halfwidth * boardsize, ) * 2 +
(board_height, ),
name=name,
material=board_mat)
xpos = (np.arange(columns) - 0.5 * (columns - 1)) * 2 * square_halfwidth
ypos = (np.arange(rows) - 0.5 *
(rows - 1)) * 2 * square_halfwidth + y_offset
geoms = []
touch_sensors = []
for i in range(rows):
for j in range(columns):
name = '{}_{}'.format(i, j)
if _SHOW_DEBUG_GRID:
transparent_mat = black_mat if ((i % 2) == (j %
2)) else white_mat
geoms.append(
root.worldbody.add('geom',
pos=(xpos[j], ypos[i], height),
name=name,
material=transparent_mat))
site = root.worldbody.add('site',
pos=(xpos[j], ypos[i], 2 * height),
name=name)
touch_sensors.append(root.sensor.add('touch', site=site,
name=name))
pass_geom = root.worldbody.add(
'geom',
pos=(0, y_offset, 0.0),
size=(square_halfwidth * boardsize * 2, square_halfwidth * boardsize) +
(0.5 * height, ),
name='pass',
material=transparent_mat)
site = root.worldbody.add(
'site',
pos=(0, y_offset, 0.0),
size=(square_halfwidth * boardsize * 2, square_halfwidth * boardsize) +
(0.5 * height, ),
name='pass')
pass_sensor = root.sensor.add('touch', site=site, name='pass')
return root, geoms, touch_sensors, pass_geom, pass_sensor
