def get_sim(self):
self.placements = OrderedDict()
self.placements["top"] = {"origin": np.zeros(3),
"size": self.world_params.size}
name_indexes = OrderedDict()
self.to_names(name_indexes)
res = self.compile(self.random_state, world_params=self.world_params)
if not res:
raise FullVirtualWorldException('Failed to compile world')
self.set_absolute_position((0, 0, 0)) # Recursively set all positions
xml_dict = self.to_xml_dict()
xinit_dict = self.to_xinit()
udd_callbacks = self.to_udd_callback()
xml = unparse_dict(xml_dict)
model = load_model_from_xml(xml)
sim = MjSim(model, nsubsteps=self.world_params.num_substeps)
for name, value in xinit_dict.items():
sim.data.set_joint_qpos(name, value)
# Places mocap where related bodies are.
if sim.model.nmocap > 0 and sim.model.eq_data is not None:
for i in range(sim.model.eq_data.shape[0]):
if sim.model.eq_type[i] == const.EQ_WELD:
sim.model.eq_data[i, :] = np.array(
[0., 0., 0., 1., 0., 0., 0.])
udd_callbacks = (udd_callbacks or [])
if udd_callbacks is not None and len(udd_callbacks) > 0:
def merged_udd_callback(sim):
ret = {}
for udd_callback in udd_callbacks:
ret.update(udd_callback(sim))
return ret
sim.udd_callback = merged_udd_callback
return sim
def load_model_from_path_fix_paths(xml_path, zero_gravity=True):
"""
Loads model from XML path. Ensures that
all assets are locally available. If needed might rename
paths.
:param xml_path: path to xml file
:param zero_gravity: if true, zero gravity in model
"""
xml_dict = parse_file(xml_path, enforce_validation=False)
if zero_gravity:
# zero gravity so that the object doesn't fall down
option = xml_dict.setdefault('option', OrderedDict())
option['@gravity'] = np.zeros(3)
xml = unparse_dict(xml_dict)
model = load_model_from_xml(xml)
return model