def make_model(floor_size=None,
terrain=False,
rangefinders=False,
walls_and_ball=False,
goal=False):
"""Returns the model XML string."""
xml_string = common.read_model('quadruped.xml')
parser = etree.XMLParser(remove_blank_text=True)
mjcf = etree.XML(xml_string, parser)
# Set floor size.
if floor_size is not None:
floor_geom = mjcf.find('.//geom[@name={!r}]'.format('floor'))
floor_geom.attrib['size'] = '{} {} .5'.format(floor_size, floor_size)
# Remove walls, ball and target.
if not walls_and_ball:
for wall in _WALLS:
wall_geom = xml_tools.find_element(mjcf, 'geom', wall)
wall_geom.getparent().remove(wall_geom)
# Remove ball.
ball_body = xml_tools.find_element(mjcf, 'body', 'ball')
ball_body.getparent().remove(ball_body)
# Remove target.
target_site = xml_tools.find_element(mjcf, 'site', 'target')
target_site.getparent().remove(target_site)
if not goal:
pass
# Remove terrain.
if not terrain:
terrain_geom = xml_tools.find_element(mjcf, 'geom', 'terrain')
terrain_geom.getparent().remove(terrain_geom)
# Remove rangefinders if they're not used, as range computations can be
# expensive, especially in a scene with heightfields.
if not rangefinders:
rangefinder_sensors = mjcf.findall('.//rangefinder')
for rf in rangefinder_sensors:
rf.getparent().remove(rf)
return etree.tostring(mjcf, pretty_print=True)
def make_model(no_walls=False):
xml_string = common.read_model('ant.xml')
parser = etree.XMLParser(remove_blank_text=True)
mjcf = etree.XML(xml_string, parser)
if no_walls:
for wall in _WALLS:
wall_geom = xml_tools.find_element(mjcf, 'geom', wall)
wall_geom.getparent().remove(wall_geom)
return etree.tostring(mjcf, pretty_print=True)
def parse_tendon_route(targets):
for target in targets:
if isinstance(target, list):
# The tendon is branching
divisor.append(divisor[-1] * len(target))
branch_start.append(spatial.getchildren()[-1])
# Go through each branch separately (depth first)
for branch in target:
# Add the pulley
spatial.append(etree.Element('pulley', divisor=f'{divisor[-1]}'))
spatial.append(deepcopy(branch_start[-1]))
parse_tendon_route(branch)
branch_start.pop()
divisor.pop()
else:
# Load stl file of site
m = mesh.Mesh.from_file(target.mesh_file)
# Use midpoint of mesh for site position
T_midpoint = np.eye(4)
T_midpoint[:3, 3] = m.vectors.mean(axis=(0, 1))
# Estimate site's position relative to body's position
body = xml_tools.find_element(mjcf, 'geom', target.geom).getparent()
T_body = calculate_transformation(body)
T_site = np.matmul(np.linalg.inv(T_body), T_midpoint)
# Create the site
site = etree.Element('site', name=target.name, pos=array_to_string(T_site[:3, 3]))
site.attrib["class"] = 'connector'
# Add the site into body; either after existing sites or append to end
if body.findall('site'):
# Don't add the site if it already exists
site_exists = False
for s in body.findall('site'):
if s.get('name') == target.name:
site_exists = True
break
if not site_exists:
s.addnext(site)
else:
body.append(site)
# Add site to tendon
spatial.append(etree.Element('site', site=target.name))
def make_model(n_boxes):
"""Returns a tuple containing the model XML string and a dict of assets."""
xml_string = common.read_model('stacker.xml')
parser = etree.XMLParser(remove_blank_text=True)
mjcf = etree.XML(xml_string, parser)
# Remove unused boxes
for b in range(n_boxes, 4):
box = xml_tools.find_element(mjcf, 'body', 'box' + str(b))
box.getparent().remove(box)
return etree.tostring(mjcf, pretty_print=True), common.ASSETS
def test_find_element(self):
xml_str = """
<root>
<option name='option_name'>
<content></content>
</option>
<world name='world_name'>
<geom name='geom_name'/>
</world>
</root>"""
tree = xml_tools.parse(six.StringIO(xml_str))
world = xml_tools.find_element(root=tree,
tag='world',
name='world_name')
self.assertEqual(world.tag, 'world')
self.assertEqual(world.attrib['name'], 'world_name')
geom = xml_tools.find_element(root=tree, tag='geom', name='geom_name')
self.assertEqual(geom.tag, 'geom')
self.assertEqual(geom.attrib['name'], 'geom_name')
with self.assertRaisesRegexp(ValueError, 'Element with tag'):
xml_tools.find_element(root=tree,
tag='does_not_exist',
name='name')
with self.assertRaisesRegexp(ValueError, 'Element with tag'):
xml_tools.find_element(root=tree,
tag='world',
name='does_not_exist')
def make_model(floor_size, remove_ball):
"""Sets floor size, removes ball and walls (Stand and Move tasks)."""
xml_string = common.read_model('dog.xml')
parser = etree.XMLParser(remove_blank_text=True)
mjcf = etree.XML(xml_string, parser)
# set floor size.
floor = xml_tools.find_element(mjcf, 'geom', 'floor')
floor.attrib['size'] = str(floor_size) + ' ' + str(floor_size) + ' .1'
if remove_ball:
# Remove ball, target and walls.
ball = xml_tools.find_element(mjcf, 'body', 'ball')
ball.getparent().remove(ball)
target = xml_tools.find_element(mjcf, 'geom', 'target')
target.getparent().remove(target)
ball_cam = xml_tools.find_element(mjcf, 'camera', 'ball')
ball_cam.getparent().remove(ball_cam)
head_cam = xml_tools.find_element(mjcf, 'camera', 'head')
head_cam.getparent().remove(head_cam)
for wall_name in ['px', 'nx', 'py', 'ny']:
wall = xml_tools.find_element(mjcf, 'geom', 'wall_' + wall_name)
wall.getparent().remove(wall)
return etree.tostring(mjcf, pretty_print=True)
def make_maze_model(num_walls):
xml_string = common.read_model('quadruped.xml')
parser = etree.XMLParser(remove_blank_text=True)
mjcf = etree.XML(xml_string, parser)
#floor_geom = mjcf.find('.//geom[@name={!r}]'.format('floor'))
#floor_geom.attrib['size'] = '{} {} .5'.format(5, 5)
# Remove ball.
ball_body = xml_tools.find_element(mjcf, 'body', 'ball')
ball_body.getparent().remove(ball_body)
# Remove target.
#target_site = xml_tools.find_element(mjcf, 'site', 'target')
#target_site.attrib['pos'] = '12 12 .05'
terrain_geom = xml_tools.find_element(mjcf, 'geom', 'terrain')
terrain_geom.getparent().remove(terrain_geom)
rangefinder_sensors = mjcf.findall( './/rangefinder')
for rf in rangefinder_sensors:
rf.getparent().remove(rf)
return etree.tostring(mjcf, pretty_print=True)
def make_model(use_peg, insert):
"""Returns a tuple containing the model XML string and a dict of assets."""
xml_string = common.read_model('manipulator.xml')
parser = etree.XMLParser(remove_blank_text=True)
mjcf = etree.XML(xml_string, parser)
# Select the desired prop.
if use_peg:
required_props = ['peg', 'target_peg']
if insert:
required_props += ['slot']
else:
required_props = ['ball', 'target_ball']
if insert:
required_props += ['cup']
# Remove unused props
for unused_prop in _ALL_PROPS.difference(required_props):
prop = xml_tools.find_element(mjcf, 'body', unused_prop)
prop.getparent().remove(prop)
return etree.tostring(mjcf, pretty_print=True), common.ASSETS
