def _get_asset_from_path(self, path):
"""Constructs a `Asset` given a file path."""
_, basename = os.path.split(path)
filename, extension = os.path.splitext(basename)
# Look in the dict of pre-loaded assets before checking the filesystem.
try:
contents = self._parent.namescope.assets[path]
except KeyError:
# Construct the full path to the asset file, prefixed by the path to the
# model directory, and by `meshdir` or `texturedir` if appropriate.
path_parts = []
if self._parent.namescope.model_dir:
path_parts.append(self._parent.namescope.model_dir)
try:
base_path = self._parent.namescope.get(constants.BASEPATH,
self._path_namespace)
path_parts.append(base_path)
except KeyError:
pass
path_parts.append(path)
full_path = os.path.join(*path_parts) # pylint: disable=no-value-for-parameter
contents = resources.GetResource(full_path)
if self._parent.tag == constants.SKIN:
return SkinAsset(contents=contents,
parent=self._parent,
extension=extension,
prefix=filename)
else:
return Asset(contents=contents,
extension=extension,
prefix=filename)
def get_model_and_assets(floor_size=10, remove_ball=True):
"""Returns a tuple containing the model XML string and a dict of assets."""
assets = common.ASSETS.copy()
_, _, filenames = next(resources.WalkResources(_ASSET_DIR))
for filename in filenames:
assets[filename] = resources.GetResource(os.path.join(_ASSET_DIR, filename))
return make_model(floor_size, remove_ball), assets
def _make_model(n_poles, xml):
"""Generates an xml string defining a cart with `n_poles` bodies."""
base = os.path.dirname(os.path.dirname(__file__))
xml_string = resources.GetResource(os.path.join(base, 'cartpoles', xml))
#xml_string = common.read_model(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 from_path(path,
escape_separators=False,
resolve_references=True,
assets=None):
"""Parses an XML file into an MJCF object model.
Args:
path: A path to an XML file. This path should be loadable using
`resources.GetResource`.
escape_separators: (optional) A boolean, whether to replace '/' characters
in element identifiers. If `False`, any '/' present in the XML causes
a ValueError to be raised.
resolve_references: (optional) A boolean indicating whether the parser
should attempt to resolve reference attributes to a corresponding element.
assets: (optional) A dictionary of pre-loaded assets, of the form
`{filename: bytestring}`. If present, PyMJCF will search for assets in
this dictionary before attempting to load them from the filesystem.
Returns:
An `mjcf.RootElement`.
"""
model_dir, _ = os.path.split(path)
contents = resources.GetResource(path)
xml_root = etree.fromstring(contents)
return _parse(xml_root,
escape_separators,
model_dir=model_dir,
resolve_references=resolve_references,
assets=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))
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]}'
# 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 getAssets(root, addr):
path = os.path.join(root, addr)
if os.path.isdir(path):
tree = list(Path(path).rglob("*"))
file_list = [str(e) for e in tree if not os.path.isdir(str(e))]
else:
file_list = [path]
# Exclude any specific entry that you don't want
assets = {
os.path.relpath(file, root): resources.GetResource(file)
for file in file_list
}
return assets
def test_hdf5_agrees_with_textprotos(self):
hdf5_loader = loader.HDF5TrajectoryLoader(
resources.GetResourceFilename(HDF5))
for textproto_path in TEXTPROTOS:
trajectory_textproto = resources.GetResource(textproto_path)
trajectory_from_textproto = mocap_pb2.FittedTrajectory()
text_format.Parse(trajectory_textproto, trajectory_from_textproto)
trajectory_identifier = (
trajectory_from_textproto.identifier.encode('utf-8'))
self.assert_proto_equal(
hdf5_loader.get_trajectory(trajectory_identifier)._proto,
trajectory.Trajectory(trajectory_from_textproto)._proto)
def _asset_png_with_background_rgba_bytes(asset_fname, background_rgba): """Decode PNG from asset file and add solid background.""" # Retrieve PNG image contents as a bytestring, convert to a numpy array. contents = resources.GetResource(os.path.join(_ASSETS_PATH, asset_fname)) digit_rgba = np.array(Image.open(six.BytesIO(contents)), dtype=np.double) # Add solid background with `background_rgba`. blended = 255. * _alpha_blend(digit_rgba / 255., np.asarray(background_rgba)) # Encode composite image array to a PNG bytestring. img = Image.fromarray(blended.astype(np.uint8), mode='RGBA') buf = six.BytesIO() img.save(buf, format='PNG') png_encoding = buf.getvalue() buf.close() return png_encoding
def _get_texture(name):
contents = resources.GetResource(
os.path.join(_ASSETS_PATH, '{}.png'.format(name)))
return mjcf.Asset(contents, '.png')
def read_model(model_filename):
"""Reads amplitude model XML file and returns its contents as amplitude string."""
_SUITE_DIR = os.path.dirname(os.path.dirname(__file__))
return resources.GetResource(os.path.join(_SUITE_DIR + '/dm_control_mod/', model_filename))
def read_model(model_filename): """Reads a model XML file and returns its contents as a string.""" return resources.GetResource(os.path.join(_SUITE_DIR, model_filename))
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 get_contents(filename):
"""Returns the contents of an asset as a string."""
return resources.GetResource(os.path.join(_ASSETS_DIR, filename))
"./common/kinova_meshes/forearm.stl",
"./common/kinova_meshes/ring_big.stl",
"./common/kinova_meshes/ring_small.stl",
"./common/kinova_meshes/wrist_spherical_1.stl",
"./common/kinova_meshes/wrist_spherical_2.stl",
"./common/kinova_meshes/hand_3finger.stl",
"./common/kinova_meshes/finger_proximal.stl",
"./common/kinova_meshes/finger_distal.stl",
# textures
"./common/textures/darkwood.png",
"./common/textures/granite.png",
"./common/textures/light_wood.png",
"./common/textures/light_wood_v2.png",
"./common/textures/light_wood_v3.png",
"./common/textures/marble.png",
"./common/textures/metal.png",
"./common/textures/navy_blue.png",
"./common/textures/real_door.png",
"./common/textures/tennis.png",
"./common/textures/wood_light.png",
"./common/textures/wood.png",
]
ASSETS = {filename: resources.GetResource(os.path.join(_SUITE_DIR, filename))
for filename in _FILENAMES}
def read_model(model_filename):
"""Reads a model XML file and returns its contents as a string."""
return resources.GetResource(os.path.join(_SUITE_DIR, model_filename))
def test_can_parse_and_write_back(self):
contents = resources.GetResource(SKIN_FILE_PATH, mode='rb')
parsed = skin.parse(contents, body_getter=FakeMJCFBody)
reconstructed = skin.serialize(parsed)
self.assertEqual(reconstructed, contents)
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
# Copyright 2017 The dm_control Authors.
def read_model(self, model_filename):
"""Reads a model XML file and returns its contents as a string."""
return resources.GetResource(model_filename)
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