def append_material(self, material):
"""
Adds a new texture / material combination to the assets subtree of this XML
Input is expected to be a CustomMaterial object
See http://www.mujoco.org/book/XMLreference.html#asset for specific details on attributes expected for
Mujoco texture / material tags, respectively
Note that the "file" attribute for the "texture" tag should be specified relative to the textures directory
located in robosuite/models/assets/textures/
Args:
material (CustomMaterial): Material to add to this object
"""
# First check if asset attribute exists; if not, define the asset attribute
if not hasattr(self, "asset"):
self.asset = ET.Element("asset")
# If the material name is not in shared materials, add this to our assets
if material.name not in self.shared_materials:
self.asset.append(ET.Element("texture",
attrib=material.tex_attrib))
self.asset.append(
ET.Element("material", attrib=material.mat_attrib))
# Add this material name to shared materials if it should be shared
if material.shared:
self.shared_materials.add(material.name)
self.shared_textures.add(material.tex_attrib["name"])
# Update prefix for assets
add_prefix(root=self.asset,
prefix=self.naming_prefix,
exclude=self.exclude_from_prefixing)
def _get_object_properties(self):
"""
Helper function to extract relevant object properties (bodies, joints, contact/visual geoms, etc...) from this
object's XML tree. Assumes the self._obj attribute has already been filled.
"""
# Parse element tree to get all relevant bodies, joints, actuators, and geom groups
_elements = sort_elements(root=self.get_obj())
assert (
len(_elements["root_body"]) == 1
), "Invalid number of root bodies found for robot model. Expected 1," "got {}".format(
len(_elements["root_body"])
)
_elements["root_body"] = _elements["root_body"][0]
_elements["bodies"] = (
[_elements["root_body"]] + _elements["bodies"] if "bodies" in _elements else [_elements["root_body"]]
)
self._root_body = _elements["root_body"].get("name")
self._bodies = [e.get("name") for e in _elements.get("bodies", [])]
self._joints = [e.get("name") for e in _elements.get("joints", [])]
self._actuators = [e.get("name") for e in _elements.get("actuators", [])]
self._sites = [e.get("name") for e in _elements.get("sites", [])]
self._sensors = [e.get("name") for e in _elements.get("sensors", [])]
self._contact_geoms = [e.get("name") for e in _elements.get("contact_geoms", [])]
self._visual_geoms = [e.get("name") for e in _elements.get("visual_geoms", [])]
# Add default materials if we're using domain randomization
if macros.USING_INSTANCE_RANDOMIZATION:
tex_element, mat_element, _, used = add_material(root=self.get_obj(), naming_prefix=self.naming_prefix)
# Only add the material / texture if they were actually used
if used:
self.asset.append(tex_element)
self.asset.append(mat_element)
# Add prefix to all elements
add_prefix(root=self.get_obj(), prefix=self.naming_prefix, exclude=self.exclude_from_prefixing)
def _get_object_properties(self):
"""
Extends the base class method to also add prefixes to all bodies in this object
"""
super()._get_object_properties()
add_prefix(root=self.root,
prefix=self.naming_prefix,
exclude=self.exclude_from_prefixing)
def _get_object_properties(self):
"""
Extends the superclass method to add prefixes to all assets
"""
super()._get_object_properties()
# Add prefix to all assets
add_prefix(root=self.asset,
prefix=self.naming_prefix,
exclude=self.exclude_from_prefixing)
def __init__(self, fname, idn=0):
super().__init__(fname)
# Set id and add prefixes to all body names to prevent naming clashes
self.idn = idn
# Define other variables that get filled later
self.mount = None
# Parse element tree to get all relevant bodies, joints, actuators, and geom groups
self._elements = sort_elements(root=self.root)
assert len(self._elements["root_body"]) == 1, "Invalid number of root bodies found for robot model. Expected 1," \
"got {}".format(len(self._elements["root_body"]))
self._elements["root_body"] = self._elements["root_body"][0]
self._elements["bodies"] = [self._elements["root_body"]] + self._elements["bodies"] if \
"bodies" in self._elements else [self._elements["root_body"]]
self._root_body = self._elements["root_body"].get("name")
self._bodies = [
e.get("name") for e in self._elements.get("bodies", [])
]
self._joints = [
e.get("name") for e in self._elements.get("joints", [])
]
self._actuators = [
e.get("name") for e in self._elements.get("actuators", [])
]
self._sites = [e.get("name") for e in self._elements.get("sites", [])]
self._sensors = [
e.get("name") for e in self._elements.get("sensors", [])
]
self._contact_geoms = [
e.get("name") for e in self._elements.get("contact_geoms", [])
]
self._visual_geoms = [
e.get("name") for e in self._elements.get("visual_geoms", [])
]
self._base_offset = string_to_array(self._elements["root_body"].get(
"pos", "0 0 0"))
# Update all xml element prefixes
add_prefix(root=self.root,
prefix=self.naming_prefix,
exclude=self.exclude_from_prefixing)
# Recolor all collision geoms appropriately
recolor_collision_geoms(root=self.worldbody,
rgba=self.contact_geom_rgba)
# Add default materials
if macros.USING_INSTANCE_RANDOMIZATION:
tex_element, mat_element, _, used = add_material(
root=self.worldbody, naming_prefix=self.naming_prefix)
# Only add if material / texture was actually used
if used:
self.asset.append(tex_element)
self.asset.append(mat_element)
def __init__(self, fname, idn=0):
super().__init__(fname)
# Set id and add prefixes to all body names to prevent naming clashes
self.idn = idn
# Define other variables that get filled later
self.mount = None
# Define filter method to automatically add a default name to visual / collision geoms if encountered
group_mapping = {
None: "col",
"0": "col",
"1": "vis",
}
ctr_mapping = {
"col": 0,
"vis": 0,
}
def _add_default_name_filter(element, parent):
# Run default filter
filter_key = _element_filter(element=element, parent=parent)
# Also additionally modify element if it is (a) a geom and (b) has no name
if element.tag == "geom" and element.get("name") is None:
group = group_mapping[element.get("group")]
element.set("name", f"g{ctr_mapping[group]}_{group}")
ctr_mapping[group] += 1
# Return default filter key
return filter_key
# Parse element tree to get all relevant bodies, joints, actuators, and geom groups
self._elements = sort_elements(root=self.root,
element_filter=_add_default_name_filter)
assert len(self._elements["root_body"]) == 1, "Invalid number of root bodies found for robot model. Expected 1," \
"got {}".format(len(self._elements["root_body"]))
self._elements["root_body"] = self._elements["root_body"][0]
self._elements["bodies"] = [self._elements["root_body"]] + self._elements["bodies"] if \
"bodies" in self._elements else [self._elements["root_body"]]
self._root_body = self._elements["root_body"].get("name")
self._bodies = [
e.get("name") for e in self._elements.get("bodies", [])
]
self._joints = [
e.get("name") for e in self._elements.get("joints", [])
]
self._actuators = [
e.get("name") for e in self._elements.get("actuators", [])
]
self._sites = [e.get("name") for e in self._elements.get("sites", [])]
self._sensors = [
e.get("name") for e in self._elements.get("sensors", [])
]
self._contact_geoms = [
e.get("name") for e in self._elements.get("contact_geoms", [])
]
self._visual_geoms = [
e.get("name") for e in self._elements.get("visual_geoms", [])
]
self._base_offset = string_to_array(self._elements["root_body"].get(
"pos", "0 0 0"))
# Update all xml element prefixes
add_prefix(root=self.root,
prefix=self.naming_prefix,
exclude=self.exclude_from_prefixing)
# Recolor all collision geoms appropriately
recolor_collision_geoms(root=self.worldbody,
rgba=self.contact_geom_rgba)
# Add default materials
if macros.USING_INSTANCE_RANDOMIZATION:
tex_element, mat_element, _, used = add_material(
root=self.worldbody, naming_prefix=self.naming_prefix)
# Only add if material / texture was actually used
if used:
self.asset.append(tex_element)
self.asset.append(mat_element)