def egocentric_camera(self): options = mj_wrapper.MjvOption() # Don't render this walker's geoms. options.geomgroup[_WALKER_INVIS_GROUP] = 0 return observable.MJCFCamera(self._entity.egocentric_camera, width=64, height=64, scene_option=options)
def egocentric_camera(self): """Observable of the egocentric camera.""" if not hasattr(self, '_scene_options'): # Don't render this walker's geoms. self._scene_options = mj_wrapper.MjvOption() collision_geom_group = 2 self._scene_options.geomgroup[collision_geom_group] = 0 cosmetic_geom_group = 1 self._scene_options.geomgroup[cosmetic_geom_group] = 0 return observable.MJCFCamera(self._entity.egocentric_camera, width=64, height=64, scene_option=self._scene_options)
def add_camera_observables(entity, obs_settings, *camera_specs): """Adds cameras to an entity's worldbody and configures observables for them. Args: entity: A `composer.Entity`. obs_settings: An `observations.ObservationSettings` instance. *camera_specs: Instances of `CameraSpec`. Returns: A `collections.OrderedDict` keyed on camera names, containing pre-configured `observable.MJCFCamera` instances. """ obs_dict = collections.OrderedDict() for spec in camera_specs: camera = entity.mjcf_model.worldbody.add('camera', **spec._asdict()) obs = observable.MJCFCamera(camera) obs.configure(**obs_settings.camera._asdict()) obs_dict[spec.name] = obs return obs_dict
def top_camera(self): return observable.MJCFCamera(self._entity.top_camera)
def egocentric_camera(self): return observable.MJCFCamera(self._entity.egocentric_camera, width=64, height=64)
def egocentric_camera(self): width, height = self._camera_resolution return observable.MJCFCamera(self._entity.egocentric_camera, width=width, height=height)
def top_down_camera_invisible_robot(self): # Custom scene options for making robot geoms invisible. robot_geoms_invisible = wrapper.MjvOption() robot_geoms_invisible.geomgroup[ROBOT_GEOM_GROUP] = 0 return observable.MJCFCamera(mjcf_element=self._entity.top_down_camera, scene_option=robot_geoms_invisible)
def top_down_camera(self): return observable.MJCFCamera(mjcf_element=self._entity.top_down_camera)
def front_camera_2(self): return observable.MJCFCamera(mjcf_element=self._entity.front_camera_2)
def egocentric_camera(self): """Observable of the wrist force-torque sensors.""" return observable.MJCFCamera(self._entity.egocentric_camera, width=64, height=64)