def init(self, info=None):
''' check configs '''
assert self.configs
n_substeps = self.configs['n_substeps']
initial_qpos = self.configs['initial_qpos']
control_method = self.configs['control_method']
control_hand_position = self.configs['control_hand_position']
control_camera_position = self.configs['control_camera_position']
''' get model_path '''
if info is not None:
self.type = info['type']
model_path = MODEL_PATHS[self.type]
''' get model path '''
full_path, prefix_path = set_model_path(model_path)
''' generate info '''
if info is None:
info = self._get_info(full_path)
''' add current model_path to info '''
info['model_path'] = model_path
''' get model xml '''
model_xml = self._get_model_xml(full_path, info)
''' set info '''
self.info = info
''' init environment '''
with tempfile.NamedTemporaryFile(suffix=".xml",
dir=os.path.join(
prefix_path, 'basic')) as fp:
# write temporary xml file
fp.write(model_xml)
fp.flush()
# set up modified model path
modified_model_path = fp.name
# init environment
cameractrl_env.CameraCtrlEnv.__init__(
self,
modified_model_path,
n_substeps=n_substeps,
initial_qpos=initial_qpos,
control_method=control_method,
control_hand_position=control_hand_position,
control_camera_position=control_camera_position)
utils.EzPickle.__init__(self)
def init(self, info=None):
''' check configs '''
assert self.configs
n_substeps = self.configs['n_substeps']
initial_qpos = self.configs['initial_qpos']
control_method = self.configs['control_method']
control_hand_position = self.configs['control_hand_position']
#control_camera_position=self.configs['control_camera_position']
max_num_objs = self.configs['max_num_objs']
sample_position = self.configs['sample_position']
''' get template_path '''
template_path = TEMPLATE_PATH
full_path, prefix_path = set_model_path(template_path)
''' set (scene) info '''
if info is None:
info = {}
obj_elts = []
obj_infos = []
''' number of objects '''
num_objs = np.random.randint(max_num_objs) + 1
info['num_objs'] = num_objs
''' generate objs infos '''
for i in range(num_objs):
# select object type
obj_type = np.random.choice(OBJ_TYPES, 1)[0]
# parse model path
_full_path, _ = set_model_path(MODEL_PATHS[obj_type])
# get model info
obj_info = self._get_obj_info(_full_path, obj_type, i,
sample_position)
obj_infos += [obj_info]
# get obj xml
obj_elt = self._gen_obj_elt(_full_path, obj_info)
obj_elts += [obj_elt]
# add to info
info['obj_infos'] = obj_infos
info['obj_elts'] = obj_elts
''' generate wall + floor info '''
room_info = self._get_room_info()
_full_path, _ = set_model_path(ROOM_PATH)
room_elt = self._gen_room_elt(_full_path, room_info)
info['room_info'] = room_info
info['room_elt'] = room_elt
#''' generate camera info '''
#_full_path, _ = set_model_path(CAMERA_PATH)
#camera_info = self._get_camera_info()
#info['camera_info'] = camera_info
''' get model xml using obj_elts '''
model_xml = self._gen_scene_xml(full_path, info['obj_elts'],
info['room_elt'])
''' set info '''
self.info = info
''' init environment '''
with tempfile.NamedTemporaryFile(suffix=".xml",
dir=os.path.join(
prefix_path, 'rooms')) as fp:
# write temporary xml file
fp.write(model_xml)
fp.flush()
# set up modified model path
modified_model_path = fp.name
# init environment
rooms_hand_env.RoomsEnv.__init__(
self,
modified_model_path,
n_substeps=n_substeps,
initial_qpos=initial_qpos,
control_method=control_method,
control_hand_position=control_hand_position,
#control_camera_position=control_camera_position,
)
utils.EzPickle.__init__(self)
def init(self, info=None):
''' check configs '''
assert self.configs
n_substeps=self.configs['n_substeps']
initial_qpos=self.configs['initial_qpos']
control_method=self.configs['control_method']
control_hand_position=self.configs['control_hand_position']
control_camera_position=self.configs['control_camera_position']
#max_num_objs=self.configs['max_num_objs']
rand_pos=self.configs['rand_pos']
obj_type=self.configs['obj_type']
''' get template_path '''
template_path = TEMPLATE_PATH
full_path, prefix_path = set_model_path(template_path)
''' set (scene) info '''
if info is None:
info = {}
obj_elt = []
obj_info = []
''' generate obj info '''
# select model
MODEL_PATH = MODEL_PATHS[obj_type]
# parse model path
_full_path, _ = set_model_path(MODEL_PATH)
# get obj info and xml
obj_info, obj_elt = self._get_obj_info_elt(_full_path, obj_type, rand_pos)
#''' temporary '''
#obj_infos
#scale = 0.03
#geom = elt.Element('geom')
#geom.set('size', '{:.5f}'.format(scale))
#body = elt.Element('body')
#body.set('pos', '{:.5f} {:.5f} {:.5f}'.format(0., 0., 0.2))
#body.append(geom)
#obj_elts += [body]
# add to info
info['obj_info'] = obj_info
info['obj_elt'] = obj_elt
#''' generate wall + floor info '''
#table_info = self._get_table_info()
#_full_path, _ = set_model_path(TABLE_PATH)
#table_elt = self._gen_table_elt(_full_path, table_info)
#info['table_info'] = table_info
#info['table_elt'] = table_elt
info['table_elt'] = None
''' get model xml using obj_elt '''
model_xml = self._gen_scene_xml(full_path, info['obj_elt'], info['table_elt'])
''' set info '''
self.info = info
''' init environment '''
with tempfile.NamedTemporaryFile(suffix=".xml", dir=os.path.join(prefix_path, 'toy')) as fp:
# write temporary xml file
fp.write(model_xml)
fp.flush()
# set up modified model path
modified_model_path=fp.name
# init environment
toy_hand_camera_env.ToyEnv.__init__(
self,
modified_model_path,
n_substeps=n_substeps,
initial_qpos=initial_qpos,
control_method=control_method,
control_hand_position=control_hand_position,
control_camera_position=control_camera_position)
utils.EzPickle.__init__(self)
def init(self, info=None):
''' check configs '''
assert self.configs
n_substeps = self.configs['n_substeps']
initial_qpos = self.configs['initial_qpos']
control_method = self.configs['control_method']
control_hand_position = self.configs['control_hand_position']
#control_camera_position=self.configs['control_camera_position']
max_num_objs = self.configs['max_num_objs']
rand_pos = self.configs['rand_pos']
num_parts = self.configs['num_parts']
do_random_branch = self.configs['do_random_branch']
''' get template_path '''
template_path = TEMPLATE_PATH
full_path, prefix_path = set_model_path(template_path)
''' set (scene) info '''
if info is None:
info = {}
obj_elts = []
obj_infos = []
''' number of objects '''
num_objs = np.random.randint(max_num_objs) + 1
info['num_objs'] = num_objs
''' generate objs infos '''
for i in range(num_objs):
# parse model path
_full_path, _ = set_model_path(MODEL_PATH)
# get obj info and xml
obj_info, obj_elt = self._get_obj_info_elt(
_full_path,
i,
num_parts,
rand_pos,
do_random_branch=do_random_branch)
obj_infos += [obj_info]
obj_elts += [obj_elt]
''' set camera '''
if num_objs == 1:
self.viewer_lookat = [
obj_info['cm'][0], obj_info['cm'][1], obj_info['cm'][2]
]
#''' temporary '''
#obj_infos
#scale = 0.03
#geom = elt.Element('geom')
#geom.set('size', '{:.5f}'.format(scale))
#body = elt.Element('body')
#body.set('pos', '{:.5f} {:.5f} {:.5f}'.format(0., 0., 0.2))
#body.append(geom)
#obj_elts += [body]
# add to info
info['obj_infos'] = obj_infos
info['obj_elts'] = obj_elts
#''' generate wall + floor info '''
#table_info = self._get_table_info()
#_full_path, _ = set_model_path(TABLE_PATH)
#table_elt = self._gen_table_elt(_full_path, table_info)
#info['table_info'] = table_info
#info['table_elt'] = table_elt
info['table_elt'] = None
''' get model xml using obj_elts '''
model_xml = self._gen_scene_xml(full_path, info['obj_elts'],
info['table_elt'])
''' set info '''
self.info = info
''' init environment '''
with tempfile.NamedTemporaryFile(suffix=".xml",
dir=os.path.join(
prefix_path,
'shepard_metzler')) as fp:
# write temporary xml file
fp.write(model_xml)
fp.flush()
# set up modified model path
modified_model_path = fp.name
# init environment
shepard_metzler_hand_env.ShepardMetzlerEnv.__init__(
self,
modified_model_path,
n_substeps=n_substeps,
initial_qpos=initial_qpos,
control_method=control_method,
control_hand_position=control_hand_position,
#control_camera_position=control_camera_position,
)
utils.EzPickle.__init__(self)
