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 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 get_model_and_assets(hand_length):
"""Returns a tuple containing the model XML string and a dict of assets."""
xml_string = common.read_model('reacher.xml')
mjcf = etree.fromstring(xml_string)
arm = mjcf.find('./worldbody/body/')
arm.set('fromto', '0 0 0 %g 0 0' % (hand_length + 0.02))
body = arm.getnext().getnext()
body.set('pos', "%g 0 0" % (hand_length + 0.02))
hand = mjcf.find('./worldbody/body/body/')
hand.set('fromto', "0 0 0 %g 0 0" % hand_length)
finger = hand.getnext().getnext()
finger.set('pos', "%g 0 0" % (hand_length + 0.02))
#return common.read_model('reacher.xml'), common.ASSETS
return etree.tostring(mjcf, pretty_print=True), common.ASSETS
def get_model_and_assets(length):
"""Returns a tuple containing the model XML string and a dict of assets."""
xml_string = common.read_model('pendulum.xml')
mjcf = etree.fromstring(xml_string)
body = mjcf.find('./worldbody/')
for _ in range(4):
body = body.getnext()
body.set('pos', "0 0 %g" % (length + 0.1))
pole = mjcf.find('./worldbody/body/')
pole = pole.getnext().getnext()
pole.set('fromto', "0 0 0 0 0 %g" % length)
mass = pole.getnext()
mass.set('pos', "0 0 %g" % length)
#return common.read_model('pendulum.xml'), common.ASSETS
return etree.tostring(mjcf, pretty_print=True), common.ASSETS
def _make_model(n_bodies):
"""Generates an xml string defining a swimmer with `n_bodies` bodies."""
if n_bodies < 3:
raise ValueError(
'At least 3 bodies required. Received {}'.format(n_bodies))
mjcf = etree.fromstring(common.read_model('swimmer.xml'))
head_body = mjcf.find('./worldbody/body')
actuator = etree.SubElement(mjcf, 'actuator')
sensor = etree.SubElement(mjcf, 'sensor')
parent = head_body
for body_index in range(n_bodies - 1):
site_name = 'site_{}'.format(body_index)
child = _make_body(body_index=body_index)
child.append(etree.Element('site', name=site_name))
joint_name = 'joint_{}'.format(body_index)
joint_limit = 360.0 / n_bodies
joint_range = '{} {}'.format(-joint_limit, joint_limit)
child.append(
etree.Element('joint', {
'name': joint_name,
'range': joint_range
}))
#motor_name = 'motor_{}'.format(body_index)
position_name = 'position_{}'.format(body_index)
#actuator.append(etree.Element('motor', name=motor_name, joint=joint_name))
actuator.append(
etree.Element('position', name=position_name, joint=joint_name))
velocimeter_name = 'velocimeter_{}'.format(body_index)
sensor.append(
etree.Element('velocimeter', name=velocimeter_name,
site=site_name))
gyro_name = 'gyro_{}'.format(body_index)
sensor.append(etree.Element('gyro', name=gyro_name, site=site_name))
parent.append(child)
parent = child
# Move tracking cameras further away from the swimmer according to its length.
cameras = mjcf.findall('./worldbody/body/camera')
scale = n_bodies / 6.0
for cam in cameras:
if cam.get('mode') == 'trackcom':
old_pos = cam.get('pos').split(' ')
new_pos = ' '.join([str(float(dim) * scale) for dim in old_pos])
cam.set('pos', new_pos)
return etree.tostring(mjcf, pretty_print=True)
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 get_model_and_assets(body_length):
"""Returns a tuple containing the model XML string and a dict of assets."""
#suite_dir = os.path.dirname(os.path.dirname(__file__))
#xml_string = resources.GetResource(os.path.join(
# suite_dir, 'custom_suite/custom_cheetah.xml'))
xml_string = common.read_model('cheetah.xml')
mjcf = etree.fromstring(xml_string)
body = mjcf.find('./worldbody/body/')
for i in range(6):
body = body.getnext()
body.set('fromto', "-%g 0 0 %g 0 0"%(body_length, body_length))
head = body.getnext()
head.set('pos', "%g 0 .1"%(body_length+0.1))
thigh = head.getnext()
thigh.set('pos', "-%g 0 0"%body_length)
thigh = thigh.getnext()
thigh.set('pos', "%g 0 0"%body_length)
return etree.tostring(mjcf, pretty_print=True), common.ASSETS
def get_model_and_assets(length):
"""Returns a tuple containing the model XML string and a dict of assets."""
xml_string = common.read_model('finger.xml')
mjcf = etree.fromstring(xml_string)
proximal = mjcf.find('./worldbody/body/')
proximal = proximal.getnext().getnext()
proximal.set('fromto', "0 0 0 0 0 -%g"%length)
distal = proximal.getnext()
distal.set('pos', "0 0 -%g"%(length+0.01))
distal = mjcf.find('./worldbody/body/body/')
distal = distal.getnext()
distal.set('fromto', "0 0 0 0 0 -%g"%(length-0.01))
distal = distal.getnext()
distal.set('fromto', "0 0 -.13 0 0 -%g"%(length-0.01+0.001))
touchtop = distal.getnext()
touchtop.set('pos', ".01 0 -%g"%length)
touchbottom = touchtop.getnext()
touchbottom.set('pos', "-.01 0 -%g"%length)
#return common.read_model('finger.xml'), common.ASSETS
return etree.tostring(mjcf, pretty_print=True), common.ASSETS
def get_model_and_assets(body_length):
"""Returns a tuple containing the model XML string and a dict of assets."""
xml_string = common.read_model('walker.xml')
mjcf = etree.fromstring(xml_string)
torso = mjcf.find('./worldbody/body')
torso.set('pos', "0 0 %g" % (1 + body_length))
torso = mjcf.find('./worldbody/body/geom')
torso.set('size', "0.07 %g" % body_length)
#right = mjcf.find('./worldbody/body/body/body/')
#right.set('pos', "0 0 %g"%leg_length)
#right = right.getnext()
#right.set('size', "0.04 %g"%leg_length)
#right = right.getnext()
#right.set('pos', "0.06 0 -%g"%leg_length)
#left = mjcf.find('./worldbody/body/body').getnext()
#left = left.getchildren()[2].getchildren()[0]
#left.set('pos', "0 0 %g"%leg_length)
#left =left.getnext()
#left.set('size', "0.04 %g"%leg_length)
#left = left.getnext()
#left.set('pos', "0.06 0 -%g"%leg_length)
return etree.tostring(mjcf, pretty_print=True), common.ASSETS
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
def _make_model(n_poles):
"""Generates an xml string defining a cart with `n_poles` bodies."""
xml_string = common.read_model('cartpole.xml')
if n_poles == 1:
return xml_string
mjcf = etree.fromstring(xml_string)
parent = mjcf.find('./worldbody/body/body') # Find first pole.
# Make chain of poles.
for pole_index in range(2, n_poles+1):
child = etree.Element('body', name='pole_{}'.format(pole_index),
pos='0 0 1', childclass='pole')
etree.SubElement(child, 'joint', name='hinge_{}'.format(pole_index))
etree.SubElement(child, 'geom', name='pole_{}'.format(pole_index))
parent.append(child)
parent = child
# Move plane down.
floor = mjcf.find('./worldbody/geom')
floor.set('pos', '0 0 {}'.format(1 - n_poles - .05))
# Move cameras back.
cameras = mjcf.findall('./worldbody/camera')
cameras[0].set('pos', '0 {} 1'.format(-1 - 2*n_poles))
cameras[1].set('pos', '0 {} 2'.format(-2*n_poles))
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 get_model_and_assets_from_setting_kwargs(model_fname, setting_kwargs=None):
""""Returns a tuple containing the model XML string and a dict of assets."""
assets = {filename: resources.GetResource(os.path.join(_SUITE_DIR, filename))
for filename in _FILENAMES}
if setting_kwargs is None:
return common.read_model(model_fname), assets
# Convert XML to dicts
model = xmltodict.parse(common.read_model(model_fname))
materials = xmltodict.parse(assets['./common/materials.xml'])
skybox = xmltodict.parse(assets['./common/skybox.xml'])
# Edit lighting
if 'light_pos' in setting_kwargs:
assert isinstance(setting_kwargs['light_pos'], (list, tuple, np.ndarray))
light_pos = f'{setting_kwargs["light_pos"][0]} {setting_kwargs["light_pos"][1]} {setting_kwargs["light_pos"][2]}'
if 'light' in model['mujoco']['worldbody']:
model['mujoco']['worldbody']['light']['@pos'] = light_pos
elif 'light' in model['mujoco']['worldbody']['body']:
model['mujoco']['worldbody']['body']['light']['@pos'] = light_pos
else:
raise NotImplementedError('model xml does not contain entity light')
# Edit camera
if 'cam_pos' in setting_kwargs:
assert isinstance(setting_kwargs['cam_pos'], (list, tuple, np.ndarray))
cam_pos = f'{setting_kwargs["cam_pos"][0]} {setting_kwargs["cam_pos"][1]} {setting_kwargs["cam_pos"][2]}'
if 'camera' in model['mujoco']['worldbody']:
model['mujoco']['worldbody']['camera'][0]['@pos'] = cam_pos
elif 'camera' in model['mujoco']['worldbody']['body']:
model['mujoco']['worldbody']['body']['camera'][0]['@pos'] = cam_pos
else:
raise NotImplementedError('model xml does not contain entity camera')
# Edit distractor
if 'distractor_pos' in setting_kwargs:
assert isinstance(setting_kwargs['distractor_pos'], (list, tuple, np.ndarray))
distractor_pos = f'{setting_kwargs["distractor_pos"][0]} {setting_kwargs["distractor_pos"][1]} {setting_kwargs["distractor_pos"][2]}'
assert model['mujoco']['worldbody']['body'][-1]['@name'] == 'distractor', 'distractor must be in worldbody'
model['mujoco']['worldbody']['body'][-1]['geom']['@pos'] = distractor_pos
# Edit grid floor
if 'grid_rgb1' in setting_kwargs:
assert isinstance(setting_kwargs['grid_rgb1'], (list, tuple, np.ndarray))
materials['mujoco']['asset']['texture']['@rgb1'] = \
f'{setting_kwargs["grid_rgb1"][0]} {setting_kwargs["grid_rgb1"][1]} {setting_kwargs["grid_rgb1"][2]}'
if 'grid_rgb2' in setting_kwargs:
assert isinstance(setting_kwargs['grid_rgb2'], (list, tuple, np.ndarray))
materials['mujoco']['asset']['texture']['@rgb2'] = \
f'{setting_kwargs["grid_rgb2"][0]} {setting_kwargs["grid_rgb2"][1]} {setting_kwargs["grid_rgb2"][2]}'
if 'grid_texrepeat' in setting_kwargs:
assert isinstance(setting_kwargs['grid_texrepeat'], (list, tuple, np.ndarray))
materials['mujoco']['asset']['material'][0]['@texrepeat'] = \
f'{setting_kwargs["grid_texrepeat"][0]} {setting_kwargs["grid_texrepeat"][1]}'
if 'grid_reflectance' in setting_kwargs:
materials['mujoco']['asset']['material'][0]['@reflectance'] = \
str(setting_kwargs["grid_reflectance"])
# Edit self
if 'self_rgb' in setting_kwargs:
assert isinstance(setting_kwargs['self_rgb'], (list, tuple, np.ndarray))
materials['mujoco']['asset']['material'][1]['@rgba'] = \
f'{setting_kwargs["self_rgb"][0]} {setting_kwargs["self_rgb"][1]} {setting_kwargs["self_rgb"][2]} 1'
# Edit skybox
if 'skybox_rgb' in setting_kwargs:
assert isinstance(setting_kwargs['skybox_rgb'], (list, tuple, np.ndarray))
skybox['mujoco']['asset']['texture']['@rgb1'] = \
f'{setting_kwargs["skybox_rgb"][0]} {setting_kwargs["skybox_rgb"][1]} {setting_kwargs["skybox_rgb"][2]}'
if 'skybox_rgb2' in setting_kwargs:
assert isinstance(setting_kwargs['skybox_rgb2'], (list, tuple, np.ndarray))
skybox['mujoco']['asset']['texture']['@rgb2'] = \
f'{setting_kwargs["skybox_rgb2"][0]} {setting_kwargs["skybox_rgb2"][1]} {setting_kwargs["skybox_rgb2"][2]}'
if 'skybox_markrgb' in setting_kwargs:
assert isinstance(setting_kwargs['skybox_markrgb'], (list, tuple, np.ndarray))
skybox['mujoco']['asset']['texture']['@markrgb'] = \
f'{setting_kwargs["skybox_markrgb"][0]} {setting_kwargs["skybox_markrgb"][1]} {setting_kwargs["skybox_markrgb"][2]}'
# Convert back to XML
model_xml = xmltodict.unparse(model)
assets['./common/materials.xml'] = xmltodict.unparse(materials)
assets['./common/skybox.xml'] = xmltodict.unparse(skybox)
return model_xml, assets
def _make_model(n_poles):
"""Generates an xml string defining a cart with `n_poles` bodies."""
xml_string = common.read_model('cartpole_2.xml')
if n_poles == 1:
return xml_string
def get_model_and_assets():
"""Returns a tuple containing the model XML string and a dict of assets."""
return common.read_model('ball_in_cup_distractor.xml'), common.ASSETS
def main(xml_name):
with open(xml_name) as xmlf:
xml_str = xmlf.read()
gen = DummyGen()
gen.override_from_xml(xml_str)
_DEFAULT_TIME_LIMIT = 10
_CONTROL_TIMESTEP = .04
display_stride = 1 / .04 // 24
genesis_physics = Physics.from_xml_string(common.read_model(os.path.join(os.getcwd(), xml_name)),
common.ASSETS)
genesis_physics.set_genesis(gen)
genesis_task = FindTarget()
genesis_env = control.Environment(genesis_physics,
genesis_task,
control_timestep=_CONTROL_TIMESTEP,
time_limit=_DEFAULT_TIME_LIMIT)
action_spec = genesis_env.action_spec()
observation_spec = genesis_env.observation_spec()
observation_shape = np.array([0])
for (name, row) in observation_spec.items():
print (name, observation_shape, row.shape)
if(row.shape == ()):
observation_shape[0] += 1
continue
print(row.shape)
observation_shape[0] += row.shape[0]
observation_shape = (observation_shape[0],)
print(action_spec)
print(action_spec.minimum)
agent = PPOAgent(
states=dict(type='float', min_value=action_spec.minimum, max_value=action_spec.maximum, shape=observation_shape),
actions=dict(type='float', min_value=action_spec.minimum, max_value=action_spec.maximum, shape=action_spec.shape),
network=[
dict(type='dense', size=128, activation='relu'),
dict(type='dense', size=64, activation='relu'),
dict(type='dense', size=16, activation='tanh')
],
step_optimizer={
"type": "adam",
"learning_rate": 1e-4
},
entropy_regularization=0.01,
batching_capacity=64,
subsampling_fraction=0.1,
optimization_steps=50,
discount=0.99,
likelihood_ratio_clipping=0.2,
baseline_mode="states",
baseline={
"type":"mlp",
"sizes": [32, 32]
},
baseline_optimizer={
"type":"multi_step",
"optimizer": {
"type": "adam",
"learning_rate": 1e-4
},
"num_steps": 5
},
update_mode={
"unit": "episodes",
"batch_size": 128,
"frequency": 10
},
memory={
"type": "latest",
"include_next_states": False,
"capacity": 2000
}
)
time_step = genesis_env.reset()
curtime = 0.0
top_view = genesis_env.physics.render(480, 480, camera_id='tracking_top')
side_view = genesis_env.physics.render(480, 480, camera_id='arm_eye')
did_except = False
NUM_EPISODES = 10000
N_INPROG_VIDS = 4
VID_EVERY = NUM_EPISODES // N_INPROG_VIDS
for i in tqdm.tqdm(range(NUM_EPISODES)):
time_step = genesis_env.reset()
j = 0
tot = 0
reward = []
while not time_step.last():
state = observation2state(time_step.observation)
action = agent.act(state)
time_step = genesis_env.step(action)
tot += time_step.reward
reward.append(time_step.reward)
agent.observe(reward=time_step.reward, terminal=time_step.last())
if(j % 50 == 0 and i % 25 == 1):
pass
#clear_output()
#img = plt.imshow(np.array(env.physics.render(480, 640)).reshape(480, 640, 3))
#plt.pause(0.5)
j += 1
if i % 100 == 0:
#tot /= j
tqdm.tqdm.write("for episode " + str(i) + " : " + str(tot))
if (i % VID_EVERY) == 0 or i == NUM_EPISODES - 1:
agent.save_model('./models/starfish_model_target')
time_step = genesis_env.reset()
vid_suffix = str(i)
if i == NUM_EPISODES - 1:
vid_suffix = 'final'
vid_name = 'videos/starfish_{}.mp4'.format(vid_suffix)
imnames = set()
picidx = 0
curtime = 0.0
while not time_step.last():
try:
state = observation2state(time_step.observation)
action = agent.act(state)
time_step = genesis_env.step(action)
savename = "/tmp/starfish_{0:04}.jpg".format(picidx)
picidx += 1
imnames.add(savename)
curtime += _CONTROL_TIMESTEP
top_view = genesis_env.physics.render(480, 480, camera_id='tracking_top')
side_view = genesis_env.physics.render(480, 480, camera_id='arm_eye')
#plt.imshow(np.concatenate((top_view, side_view), axis=1))
#plt.pause(0.5)
io.imsave(savename, np.concatenate((top_view, side_view), axis=1))
except PhysicsError:
print('except')
did_except = True
break
if os.path.isfile(vid_name):
os.remove(vid_name)
if not did_except:
os.system('ffmpeg -nostats -loglevel 0 -f image2 -pattern_type sequence -i "/tmp/starfish_%4d.jpg" -qscale:v 0 {}'.format(vid_name))
for name in imnames:
os.remove(name)
print("recorded video")
def _get_model_and_assets(model_filename):
"""Returns a tuple containing the model XML string and a dict of assets."""
return common.read_model(mujoco_model_path(model_filename)), common.ASSETS
def get_model_and_assets():
"""Returns a tuple containing the model XML string and a dict of assets."""
return common.read_model('multislider_render.xml'), common.ASSETS
def get_model_and_assets():
curpath = os.getcwd()
return common.read_model(curpath + '/dust.xml'), common.ASSETS
def _make_model(): model_path = os.path.join(os.path.dirname( __file__ ), 'jaco_pos.xml') xml_string = common.read_model(model_path) mjcf = etree.fromstring(xml_string) return etree.tostring(mjcf, pretty_print=True)
def get_model_and_assets():
"""Returns a tuple containing the model XML string and a dict of assets."""
return common.read_model('kendama_catch_simulation.xml'), common.ASSETS
def get_model_and_assets():
"""Returns a tuple containing the model XML string and a dict of assets."""
return common.read_model("cheetah.xml"), common.ASSETS
def get_model_and_assets_from_setting_kwargs(model_fname, setting_kwargs=None):
""""Returns a tuple containing the model XML string and a dict of assets."""
assets = {
filename: resources.GetResource(os.path.join(_SUITE_DIR, filename))
for filename in _FILENAMES
}
if setting_kwargs is None:
return common.read_model(model_fname), assets
# Convert XML to dicts
model = xmltodict.parse(common.read_model(model_fname))
materials = xmltodict.parse(assets['./common/materials.xml'])
skybox = xmltodict.parse(assets['./common/skybox.xml'])
# Edit grid floor
if 'grid_rgb1' in setting_kwargs:
assert isinstance(setting_kwargs['grid_rgb1'],
(list, tuple, np.ndarray))
assert materials['mujoco']['asset']['texture']['@name'] == 'grid'
materials['mujoco']['asset']['texture']['@rgb1'] = \
f'{setting_kwargs["grid_rgb1"][0]} {setting_kwargs["grid_rgb1"][1]} {setting_kwargs["grid_rgb1"][2]}'
if 'grid_rgb2' in setting_kwargs:
assert isinstance(setting_kwargs['grid_rgb2'],
(list, tuple, np.ndarray))
assert materials['mujoco']['asset']['texture']['@name'] == 'grid'
materials['mujoco']['asset']['texture']['@rgb2'] = \
f'{setting_kwargs["grid_rgb2"][0]} {setting_kwargs["grid_rgb2"][1]} {setting_kwargs["grid_rgb2"][2]}'
if 'grid_markrgb' in setting_kwargs:
assert isinstance(setting_kwargs['grid_markrgb'],
(list, tuple, np.ndarray))
assert materials['mujoco']['asset']['texture']['@name'] == 'grid'
materials['mujoco']['asset']['texture']['@markrgb'] = \
f'{setting_kwargs["grid_markrgb"][0]} {setting_kwargs["grid_markrgb"][1]} {setting_kwargs["grid_markrgb"][2]}'
if 'grid_texrepeat' in setting_kwargs:
assert isinstance(setting_kwargs['grid_texrepeat'],
(list, tuple, np.ndarray))
assert materials['mujoco']['asset']['texture']['@name'] == 'grid'
materials['mujoco']['asset']['material'][0]['@texrepeat'] = \
f'{setting_kwargs["grid_texrepeat"][0]} {setting_kwargs["grid_texrepeat"][1]}'
# Edit self
if 'self_rgb' in setting_kwargs:
assert isinstance(setting_kwargs['self_rgb'],
(list, tuple, np.ndarray))
assert materials['mujoco']['asset']['material'][1]['@name'] == 'self'
materials['mujoco']['asset']['material'][1]['@rgba'] = \
f'{setting_kwargs["self_rgb"][0]} {setting_kwargs["self_rgb"][1]} {setting_kwargs["self_rgb"][2]} 1'
# Edit skybox
if 'skybox_rgb' in setting_kwargs:
assert isinstance(setting_kwargs['skybox_rgb'],
(list, tuple, np.ndarray))
assert skybox['mujoco']['asset']['texture']['@name'] == 'skybox'
skybox['mujoco']['asset']['texture']['@rgb1'] = \
f'{setting_kwargs["skybox_rgb"][0]} {setting_kwargs["skybox_rgb"][1]} {setting_kwargs["skybox_rgb"][2]}'
if 'skybox_rgb2' in setting_kwargs:
assert isinstance(setting_kwargs['skybox_rgb2'],
(list, tuple, np.ndarray))
assert skybox['mujoco']['asset']['texture']['@name'] == 'skybox'
skybox['mujoco']['asset']['texture']['@rgb2'] = \
f'{setting_kwargs["skybox_rgb2"][0]} {setting_kwargs["skybox_rgb2"][1]} {setting_kwargs["skybox_rgb2"][2]}'
if 'skybox_markrgb' in setting_kwargs:
assert isinstance(setting_kwargs['skybox_markrgb'],
(list, tuple, np.ndarray))
assert skybox['mujoco']['asset']['texture']['@name'] == 'skybox'
skybox['mujoco']['asset']['texture']['@markrgb'] = \
f'{setting_kwargs["skybox_markrgb"][0]} {setting_kwargs["skybox_markrgb"][1]} {setting_kwargs["skybox_markrgb"][2]}'
# Convert back to XML
model_xml = xmltodict.unparse(model)
assets['./common/materials.xml'] = xmltodict.unparse(materials)
assets['./common/skybox.xml'] = xmltodict.unparse(skybox)
return model_xml, assets
def get_model_and_assets():
"""Returns a tuple containing the model XML string and a dict of assets."""
return common.read_model(FLAGS.model_filename), common.ASSETS
def get_model_and_assets():
"""Returns a tuple containing the model XML string and a dict of assets."""
return common.read_model('cloth_v4.xml'), common.ASSETS
def get_model_and_assets():
"""Returns a tuple containing the model XML string and a dictionary of assets."""
return common.read_model('humanoid_CMU.xml'), common.ASSETS
