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- .gitattributes +170 -0
- data/AUTHORS +7 -0
- data/CONTRIBUTING.md +23 -0
- data/LICENSE +202 -0
- data/README.md +138 -0
- data/dm_control/__init__.py +14 -0
- data/dm_control/_render/__init__.py +109 -0
- data/dm_control/_render/base.py +166 -0
- data/dm_control/_render/base_test.py +162 -0
- data/dm_control/_render/constants.py +33 -0
- data/dm_control/_render/executor/__init__.py +51 -0
- data/dm_control/_render/executor/render_executor.py +218 -0
- data/dm_control/_render/executor/render_executor_test.py +205 -0
- data/dm_control/_render/glfw_renderer.py +68 -0
- data/dm_control/_render/glfw_renderer_test.py +68 -0
- data/dm_control/_render/pyopengl/__init__.py +14 -0
- data/dm_control/_render/pyopengl/egl_ext.py +74 -0
- data/dm_control/_render/pyopengl/egl_renderer.py +140 -0
- data/dm_control/_render/pyopengl/osmesa_renderer.py +86 -0
- data/dm_control/_render/pyopengl/osmesa_renderer_test.py +70 -0
- data/dm_control/autowrap/__init__.py +15 -0
- data/dm_control/autowrap/autowrap.py +126 -0
- data/dm_control/autowrap/binding_generator.py +296 -0
- data/dm_control/autowrap/codegen_util.py +119 -0
- data/dm_control/autowrap/header_parsing.py +335 -0
- data/dm_control/blender/fake_core/bpy.py +229 -0
- data/dm_control/blender/fake_core/mathutils.py +123 -0
- data/dm_control/blender/mujoco_exporter/README.md +213 -0
- data/dm_control/blender/mujoco_exporter/__init__.py +170 -0
- data/dm_control/blender/mujoco_exporter/blender_scene.py +428 -0
- data/dm_control/blender/mujoco_exporter/blender_scene_test.py +244 -0
- data/dm_control/blender/mujoco_exporter/doc/add_ik_constraint.png +3 -0
- data/dm_control/blender/mujoco_exporter/doc/convhull_blend.png +3 -0
- data/dm_control/blender/mujoco_exporter/doc/convhull_mj_hull.png +3 -0
- data/dm_control/blender/mujoco_exporter/doc/convhull_mj_rend.png +3 -0
- data/dm_control/blender/mujoco_exporter/doc/enable_plugin.png +3 -0
- data/dm_control/blender/mujoco_exporter/doc/end_effector_selection.png +3 -0
- data/dm_control/blender/mujoco_exporter/doc/gizmo.png +3 -0
- data/dm_control/blender/mujoco_exporter/doc/ik_chain_length.png +3 -0
- data/dm_control/blender/mujoco_exporter/doc/ik_target.png +3 -0
- data/dm_control/blender/mujoco_exporter/doc/install_plugin.png +3 -0
- data/dm_control/blender/mujoco_exporter/doc/limits.png +3 -0
- data/dm_control/blender/mujoco_exporter/install.sh +13 -0
- data/dm_control/blender/mujoco_exporter/mujoco_assets.py +175 -0
- data/dm_control/blender/mujoco_exporter/mujoco_assets_test.py +225 -0
- data/dm_control/blender/mujoco_exporter/mujoco_scene.py +188 -0
- data/dm_control/blender/mujoco_exporter/mujoco_scene_test.py +195 -0
- data/dm_control/blender/mujoco_exporter/testing.py +198 -0
- data/dm_control/composer/__init__.py +33 -0
- data/dm_control/composer/arena.py +70 -0
.gitattributes
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# Video files - compressed
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*.mp4 filter=lfs diff=lfs merge=lfs -text
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*.webm filter=lfs diff=lfs merge=lfs -text
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data/dm_control/locomotion/walkers/assets/fruitfly_v2/tarsal_claw_T3_left_brown.msh filter=lfs diff=lfs merge=lfs -text
|
| 149 |
+
data/dm_control/locomotion/walkers/assets/fruitfly_v2/tarsal_claw_T3_right_brown.msh filter=lfs diff=lfs merge=lfs -text
|
| 150 |
+
data/dm_control/locomotion/walkers/assets/fruitfly_v2/tarsus_T2_1_left_body.msh filter=lfs diff=lfs merge=lfs -text
|
| 151 |
+
data/dm_control/locomotion/walkers/assets/fruitfly_v2/tarsus_T2_1_right_body.msh filter=lfs diff=lfs merge=lfs -text
|
| 152 |
+
data/dm_control/locomotion/walkers/assets/fruitfly_v2/tarsus_T3_1_left_body.msh filter=lfs diff=lfs merge=lfs -text
|
| 153 |
+
data/dm_control/locomotion/walkers/assets/fruitfly_v2/tarsus_T3_1_right_body.msh filter=lfs diff=lfs merge=lfs -text
|
| 154 |
+
data/dm_control/locomotion/walkers/assets/fruitfly_v2/thorax_black.msh filter=lfs diff=lfs merge=lfs -text
|
| 155 |
+
data/dm_control/locomotion/walkers/assets/fruitfly_v2/thorax_body.msh filter=lfs diff=lfs merge=lfs -text
|
| 156 |
+
data/dm_control/locomotion/walkers/assets/fruitfly_v2/tibia_T1_left_body.msh filter=lfs diff=lfs merge=lfs -text
|
| 157 |
+
data/dm_control/locomotion/walkers/assets/fruitfly_v2/tibia_T1_right_body.msh filter=lfs diff=lfs merge=lfs -text
|
| 158 |
+
data/dm_control/locomotion/walkers/assets/fruitfly_v2/tibia_T2_left_body.msh filter=lfs diff=lfs merge=lfs -text
|
| 159 |
+
data/dm_control/locomotion/walkers/assets/fruitfly_v2/tibia_T2_right_body.msh filter=lfs diff=lfs merge=lfs -text
|
| 160 |
+
data/dm_control/locomotion/walkers/assets/fruitfly_v2/tibia_T3_left_body.msh filter=lfs diff=lfs merge=lfs -text
|
| 161 |
+
data/dm_control/locomotion/walkers/assets/fruitfly_v2/tibia_T3_right_body.msh filter=lfs diff=lfs merge=lfs -text
|
| 162 |
+
data/dm_control/locomotion/walkers/assets/fruitfly_v2/wing_left_brown.msh filter=lfs diff=lfs merge=lfs -text
|
| 163 |
+
data/dm_control/locomotion/walkers/assets/fruitfly_v2/wing_right_brown.msh filter=lfs diff=lfs merge=lfs -text
|
| 164 |
+
data/dm_control/locomotion/walkers/assets/rodent_walker_skin.skn filter=lfs diff=lfs merge=lfs -text
|
| 165 |
+
data/dm_control/mjcf/test_assets/skins/test_skin.skn filter=lfs diff=lfs merge=lfs -text
|
| 166 |
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data/dm_control/suite/dog_assets/BONEC_1.stl filter=lfs diff=lfs merge=lfs -text
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| 167 |
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data/dm_control/suite/dog_assets/BONEC_2.stl filter=lfs diff=lfs merge=lfs -text
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| 168 |
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data/dm_control/suite/dog_assets/BONEC_3.stl filter=lfs diff=lfs merge=lfs -text
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| 169 |
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data/dm_control/suite/dog_assets/BONEC_4.stl filter=lfs diff=lfs merge=lfs -text
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| 170 |
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data/dm_control/suite/dog_assets/BONEC_5.stl filter=lfs diff=lfs merge=lfs -text
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| 171 |
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data/dm_control/suite/dog_assets/BONEC_6.stl filter=lfs diff=lfs merge=lfs -text
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| 172 |
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data/dm_control/suite/dog_assets/BONEC_7.stl filter=lfs diff=lfs merge=lfs -text
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| 173 |
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data/dm_control/suite/dog_assets/BONEJaw.stl filter=lfs diff=lfs merge=lfs -text
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| 174 |
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data/dm_control/suite/dog_assets/BONEL_1.stl filter=lfs diff=lfs merge=lfs -text
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| 175 |
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data/dm_control/suite/dog_assets/BONEL_2.stl filter=lfs diff=lfs merge=lfs -text
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| 176 |
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data/dm_control/suite/dog_assets/BONEL_3.stl filter=lfs diff=lfs merge=lfs -text
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data/dm_control/suite/dog_assets/BONEL_4.stl filter=lfs diff=lfs merge=lfs -text
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| 178 |
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data/dm_control/suite/dog_assets/BONEL_5.stl filter=lfs diff=lfs merge=lfs -text
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data/dm_control/suite/dog_assets/BONEL_6.stl filter=lfs diff=lfs merge=lfs -text
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| 180 |
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data/dm_control/suite/dog_assets/BONEL_7.stl filter=lfs diff=lfs merge=lfs -text
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| 181 |
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data/dm_control/suite/dog_assets/BONEMergedSkull.stl filter=lfs diff=lfs merge=lfs -text
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| 182 |
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data/dm_control/suite/dog_assets/BONEPelvis.stl filter=lfs diff=lfs merge=lfs -text
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| 183 |
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data/dm_control/suite/dog_assets/BONERibcage.stl filter=lfs diff=lfs merge=lfs -text
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| 184 |
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data/dm_control/suite/dog_assets/BONESacrum.stl filter=lfs diff=lfs merge=lfs -text
|
| 185 |
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data/dm_control/suite/dog_assets/SKINbody.stl filter=lfs diff=lfs merge=lfs -text
|
| 186 |
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data/dm_control/suite/dog_assets/dog_skin.msh filter=lfs diff=lfs merge=lfs -text
|
| 187 |
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data/dm_control/suite/dog_assets/dog_skin.skn filter=lfs diff=lfs merge=lfs -text
|
| 188 |
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data/dm_control/suite/dog_assets/extras/BONEEthmoid.stl filter=lfs diff=lfs merge=lfs -text
|
| 189 |
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data/dm_control/suite/dog_assets/extras/BONEMandible.stl filter=lfs diff=lfs merge=lfs -text
|
| 190 |
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data/dm_control/suite/dog_assets/extras/BONESkull.stl filter=lfs diff=lfs merge=lfs -text
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| 191 |
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data/dm_control/suite/dog_assets/extras/BONET_1.stl filter=lfs diff=lfs merge=lfs -text
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| 192 |
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data/dm_control/suite/dog_assets/extras/BONET_10.stl filter=lfs diff=lfs merge=lfs -text
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| 193 |
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data/dm_control/suite/dog_assets/extras/BONET_11.stl filter=lfs diff=lfs merge=lfs -text
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| 194 |
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data/dm_control/suite/dog_assets/extras/BONET_12.stl filter=lfs diff=lfs merge=lfs -text
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data/dm_control/suite/dog_assets/extras/BONET_13.stl filter=lfs diff=lfs merge=lfs -text
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data/dm_control/suite/dog_assets/extras/BONET_2.stl filter=lfs diff=lfs merge=lfs -text
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data/dm_control/suite/dog_assets/extras/BONET_3.stl filter=lfs diff=lfs merge=lfs -text
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data/dm_control/suite/dog_assets/extras/BONET_4.stl filter=lfs diff=lfs merge=lfs -text
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data/dm_control/suite/dog_assets/extras/BONET_5.stl filter=lfs diff=lfs merge=lfs -text
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data/dm_control/suite/dog_assets/extras/BONET_6.stl filter=lfs diff=lfs merge=lfs -text
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data/dm_control/suite/dog_assets/extras/BONET_7.stl filter=lfs diff=lfs merge=lfs -text
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| 202 |
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data/dm_control/suite/dog_assets/extras/BONET_8.stl filter=lfs diff=lfs merge=lfs -text
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| 203 |
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data/dm_control/suite/dog_assets/extras/BONET_9.stl filter=lfs diff=lfs merge=lfs -text
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| 204 |
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data/dm_control/suite/dog_assets/extras/MUSCMm.dorsi_Fascia_thoracolumbar_.stl filter=lfs diff=lfs merge=lfs -text
|
| 205 |
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data/dm_control/suite/dog_assets/extras/MUSCMm.thoracis_serratus_ventr_L.stl filter=lfs diff=lfs merge=lfs -text
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| 206 |
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data/dm_control/suite/dog_assets/extras/MUSCMm.thoracis_serratus_ventr_R.stl filter=lfs diff=lfs merge=lfs -text
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| 207 |
+
data/dm_control/suite/dog_assets/extras/MUSCNose.stl filter=lfs diff=lfs merge=lfs -text
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| 208 |
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data/dm_control/suite/dog_assets/extras/MUSCabdominis_Aponeurosis.stl filter=lfs diff=lfs merge=lfs -text
|
| 209 |
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data/dm_control/suite/dog_assets/extras/MUSCdiaphragma.stl filter=lfs diff=lfs merge=lfs -text
|
| 210 |
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data/dm_control/suite/dog_assets/extras/MUSCm.brachiocephalicus.stl filter=lfs diff=lfs merge=lfs -text
|
| 211 |
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data/dm_control/suite/dog_assets/extras/MUSCm.flexor_digitorum_profundus_L(2).stl filter=lfs diff=lfs merge=lfs -text
|
| 212 |
+
data/dm_control/suite/dog_assets/extras/MUSCm.flexor_digitorum_profundus_L.stl filter=lfs diff=lfs merge=lfs -text
|
| 213 |
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data/dm_control/suite/dog_assets/extras/MUSCm.flexor_digitorum_profundus_R(2).stl filter=lfs diff=lfs merge=lfs -text
|
| 214 |
+
data/dm_control/suite/dog_assets/extras/MUSCm.flexor_digitorum_profundus_R.stl filter=lfs diff=lfs merge=lfs -text
|
| 215 |
+
data/dm_control/suite/dog_assets/extras/MUSCm.orbicularis_oculi.stl filter=lfs diff=lfs merge=lfs -text
|
| 216 |
+
data/dm_control/suite/dog_assets/extras/MUSCm.trapezius.stl filter=lfs diff=lfs merge=lfs -text
|
| 217 |
+
data/dm_control/suite/dog_assets/extras/MUSCmm.intercostals_ext.L.stl filter=lfs diff=lfs merge=lfs -text
|
| 218 |
+
data/dm_control/suite/dog_assets/extras/MUSCmm.intercostals_ext_R.stl filter=lfs diff=lfs merge=lfs -text
|
| 219 |
+
data/dm_control/suite/dog_assets/extras/MUSCmm.intercostals_int.L.stl filter=lfs diff=lfs merge=lfs -text
|
| 220 |
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data/dm_control/suite/dog_assets/extras/MUSCmm.intercostals_int_R.stl filter=lfs diff=lfs merge=lfs -text
|
| 221 |
+
data/dm_control/suite/dog_assets/extras/MUSCmm.thoracis_m.pectoralis_profundus.stl filter=lfs diff=lfs merge=lfs -text
|
| 222 |
+
data/dm_control/third_party/kinova/meshes/arm.stl filter=lfs diff=lfs merge=lfs -text
|
| 223 |
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data/dm_control/third_party/kinova/meshes/base.stl filter=lfs diff=lfs merge=lfs -text
|
| 224 |
+
data/dm_control/third_party/kinova/meshes/finger_proximal.stl filter=lfs diff=lfs merge=lfs -text
|
| 225 |
+
data/dm_control/third_party/kinova/meshes/forearm.stl filter=lfs diff=lfs merge=lfs -text
|
| 226 |
+
data/dm_control/third_party/kinova/meshes/hand_3finger.stl filter=lfs diff=lfs merge=lfs -text
|
| 227 |
+
data/dm_control/third_party/kinova/meshes/hand_3finger_insert.stl filter=lfs diff=lfs merge=lfs -text
|
| 228 |
+
data/dm_control/third_party/kinova/meshes/hand_3finger_main.stl filter=lfs diff=lfs merge=lfs -text
|
| 229 |
+
data/dm_control/third_party/kinova/meshes/shoulder.stl filter=lfs diff=lfs merge=lfs -text
|
| 230 |
+
data/dm_control/third_party/kinova/meshes/wrist.stl filter=lfs diff=lfs merge=lfs -text
|
data/AUTHORS
ADDED
|
@@ -0,0 +1,7 @@
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|
| 1 |
+
# This is the list of dm_control authors for copyright purposes.
|
| 2 |
+
#
|
| 3 |
+
# This does not necessarily list everyone who has contributed code, since in
|
| 4 |
+
# some cases, their employer may be the copyright holder. To see the full list
|
| 5 |
+
# of contributors, see the revision history in source control.
|
| 6 |
+
|
| 7 |
+
DeepMind Technologies
|
data/CONTRIBUTING.md
ADDED
|
@@ -0,0 +1,23 @@
|
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|
|
| 1 |
+
# How to Contribute
|
| 2 |
+
|
| 3 |
+
We'd love to accept your patches and contributions to this project. There are
|
| 4 |
+
just a few small guidelines you need to follow.
|
| 5 |
+
|
| 6 |
+
## Contributor License Agreement
|
| 7 |
+
|
| 8 |
+
Contributions to this project must be accompanied by a Contributor License
|
| 9 |
+
Agreement. You (or your employer) retain the copyright to your contribution,
|
| 10 |
+
this simply gives us permission to use and redistribute your contributions as
|
| 11 |
+
part of the project. Head over to <https://cla.developers.google.com/> to see
|
| 12 |
+
your current agreements on file or to sign a new one.
|
| 13 |
+
|
| 14 |
+
You generally only need to submit a CLA once, so if you've already submitted one
|
| 15 |
+
(even if it was for a different project), you probably don't need to do it
|
| 16 |
+
again.
|
| 17 |
+
|
| 18 |
+
## Code reviews
|
| 19 |
+
|
| 20 |
+
All submissions, including submissions by project members, require review. We
|
| 21 |
+
use GitHub pull requests for this purpose. Consult
|
| 22 |
+
[GitHub Help](https://help.github.com/articles/about-pull-requests/) for more
|
| 23 |
+
information on using pull requests.
|
data/LICENSE
ADDED
|
@@ -0,0 +1,202 @@
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|
|
| 1 |
+
|
| 2 |
+
Apache License
|
| 3 |
+
Version 2.0, January 2004
|
| 4 |
+
http://www.apache.org/licenses/
|
| 5 |
+
|
| 6 |
+
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
|
| 7 |
+
|
| 8 |
+
1. Definitions.
|
| 9 |
+
|
| 10 |
+
"License" shall mean the terms and conditions for use, reproduction,
|
| 11 |
+
and distribution as defined by Sections 1 through 9 of this document.
|
| 12 |
+
|
| 13 |
+
"Licensor" shall mean the copyright owner or entity authorized by
|
| 14 |
+
the copyright owner that is granting the License.
|
| 15 |
+
|
| 16 |
+
"Legal Entity" shall mean the union of the acting entity and all
|
| 17 |
+
other entities that control, are controlled by, or are under common
|
| 18 |
+
control with that entity. For the purposes of this definition,
|
| 19 |
+
"control" means (i) the power, direct or indirect, to cause the
|
| 20 |
+
direction or management of such entity, whether by contract or
|
| 21 |
+
otherwise, or (ii) ownership of fifty percent (50%) or more of the
|
| 22 |
+
outstanding shares, or (iii) beneficial ownership of such entity.
|
| 23 |
+
|
| 24 |
+
"You" (or "Your") shall mean an individual or Legal Entity
|
| 25 |
+
exercising permissions granted by this License.
|
| 26 |
+
|
| 27 |
+
"Source" form shall mean the preferred form for making modifications,
|
| 28 |
+
including but not limited to software source code, documentation
|
| 29 |
+
source, and configuration files.
|
| 30 |
+
|
| 31 |
+
"Object" form shall mean any form resulting from mechanical
|
| 32 |
+
transformation or translation of a Source form, including but
|
| 33 |
+
not limited to compiled object code, generated documentation,
|
| 34 |
+
and conversions to other media types.
|
| 35 |
+
|
| 36 |
+
"Work" shall mean the work of authorship, whether in Source or
|
| 37 |
+
Object form, made available under the License, as indicated by a
|
| 38 |
+
copyright notice that is included in or attached to the work
|
| 39 |
+
(an example is provided in the Appendix below).
|
| 40 |
+
|
| 41 |
+
"Derivative Works" shall mean any work, whether in Source or Object
|
| 42 |
+
form, that is based on (or derived from) the Work and for which the
|
| 43 |
+
editorial revisions, annotations, elaborations, or other modifications
|
| 44 |
+
represent, as a whole, an original work of authorship. For the purposes
|
| 45 |
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data/README.md
ADDED
|
@@ -0,0 +1,138 @@
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|
| 1 |
+
# `dm_control`: Google DeepMind Infrastructure for Physics-Based Simulation.
|
| 2 |
+
|
| 3 |
+
Google DeepMind's software stack for physics-based simulation and Reinforcement
|
| 4 |
+
Learning environments, using MuJoCo physics.
|
| 5 |
+
|
| 6 |
+
An **introductory tutorial** for this package is available as a Colaboratory
|
| 7 |
+
notebook:
|
| 8 |
+
[](https://colab.research.google.com/github/google-deepmind/dm_control/blob/main/tutorial.ipynb)
|
| 9 |
+
|
| 10 |
+
## Overview
|
| 11 |
+
|
| 12 |
+
This package consists of the following "core" components:
|
| 13 |
+
|
| 14 |
+
- [`dm_control.mujoco`]: Libraries that provide Python bindings to the MuJoCo
|
| 15 |
+
physics engine.
|
| 16 |
+
|
| 17 |
+
- [`dm_control.suite`]: A set of Python Reinforcement Learning environments
|
| 18 |
+
powered by the MuJoCo physics engine.
|
| 19 |
+
|
| 20 |
+
- [`dm_control.viewer`]: An interactive environment viewer.
|
| 21 |
+
|
| 22 |
+
Additionally, the following components are available for the creation of more
|
| 23 |
+
complex control tasks:
|
| 24 |
+
|
| 25 |
+
- [`dm_control.mjcf`]: A library for composing and modifying MuJoCo MJCF
|
| 26 |
+
models in Python.
|
| 27 |
+
|
| 28 |
+
- `dm_control.composer`: A library for defining rich RL environments from
|
| 29 |
+
reusable, self-contained components.
|
| 30 |
+
|
| 31 |
+
- [`dm_control.locomotion`]: Additional libraries for custom tasks.
|
| 32 |
+
|
| 33 |
+
- [`dm_control.locomotion.soccer`]: Multi-agent soccer tasks.
|
| 34 |
+
|
| 35 |
+
If you use this package, please cite our accompanying [publication]:
|
| 36 |
+
|
| 37 |
+
```
|
| 38 |
+
@article{tunyasuvunakool2020,
|
| 39 |
+
title = {dm_control: Software and tasks for continuous control},
|
| 40 |
+
journal = {Software Impacts},
|
| 41 |
+
volume = {6},
|
| 42 |
+
pages = {100022},
|
| 43 |
+
year = {2020},
|
| 44 |
+
issn = {2665-9638},
|
| 45 |
+
doi = {https://doi.org/10.1016/j.simpa.2020.100022},
|
| 46 |
+
url = {https://www.sciencedirect.com/science/article/pii/S2665963820300099},
|
| 47 |
+
author = {Saran Tunyasuvunakool and Alistair Muldal and Yotam Doron and
|
| 48 |
+
Siqi Liu and Steven Bohez and Josh Merel and Tom Erez and
|
| 49 |
+
Timothy Lillicrap and Nicolas Heess and Yuval Tassa},
|
| 50 |
+
}
|
| 51 |
+
```
|
| 52 |
+
|
| 53 |
+
## Installation
|
| 54 |
+
|
| 55 |
+
Install `dm_control` from PyPI by running
|
| 56 |
+
|
| 57 |
+
```sh
|
| 58 |
+
pip install dm_control
|
| 59 |
+
```
|
| 60 |
+
|
| 61 |
+
> **Note**: **`dm_control` cannot be installed in "editable" mode** (i.e. `pip
|
| 62 |
+
> install -e`).
|
| 63 |
+
>
|
| 64 |
+
> While `dm_control` has been largely updated to use the pybind11-based bindings
|
| 65 |
+
> provided via the `mujoco` package, at this time it still relies on some legacy
|
| 66 |
+
> components that are automatically generated from MuJoCo header files in a way
|
| 67 |
+
> that is incompatible with editable mode. Attempting to install `dm_control` in
|
| 68 |
+
> editable mode will result in import errors like:
|
| 69 |
+
>
|
| 70 |
+
> ```
|
| 71 |
+
> ImportError: cannot import name 'constants' from partially initialized module 'dm_control.mujoco.wrapper.mjbindings' ...
|
| 72 |
+
> ```
|
| 73 |
+
>
|
| 74 |
+
> The solution is to `pip uninstall dm_control` and then reinstall it without
|
| 75 |
+
> the `-e` flag.
|
| 76 |
+
|
| 77 |
+
## Versioning
|
| 78 |
+
|
| 79 |
+
Starting from version 1.0.0, we adopt semantic versioning.
|
| 80 |
+
|
| 81 |
+
Prior to version 1.0.0, the `dm_control` Python package was versioned `0.0.N`,
|
| 82 |
+
where `N` was an internal revision number that increased by an arbitrary amount
|
| 83 |
+
at every single Git commit.
|
| 84 |
+
|
| 85 |
+
If you want to install an unreleased version of `dm_control` directly from our
|
| 86 |
+
repository, you can do so by running `pip install
|
| 87 |
+
git+https://github.com/google-deepmind/dm_control.git`.
|
| 88 |
+
|
| 89 |
+
## Rendering
|
| 90 |
+
|
| 91 |
+
The MuJoCo Python bindings support three different OpenGL rendering backends:
|
| 92 |
+
EGL (headless, hardware-accelerated), GLFW (windowed, hardware-accelerated), and
|
| 93 |
+
OSMesa (purely software-based). At least one of these three backends must be
|
| 94 |
+
available in order render through `dm_control`.
|
| 95 |
+
|
| 96 |
+
* Hardware rendering with a windowing system is supported via GLFW and GLEW.
|
| 97 |
+
On Linux these can be installed using your distribution's package manager.
|
| 98 |
+
For example, on Debian and Ubuntu, this can be done by running `sudo apt-get
|
| 99 |
+
install libglfw3 libglew2.0`. Please note that:
|
| 100 |
+
|
| 101 |
+
- [`dm_control.viewer`] can only be used with GLFW.
|
| 102 |
+
- GLFW will not work on headless machines.
|
| 103 |
+
|
| 104 |
+
* "Headless" hardware rendering (i.e. without a windowing system such as X11)
|
| 105 |
+
requires [EXT_platform_device] support in the EGL driver. Recent Nvidia
|
| 106 |
+
drivers support this. You will also need GLEW. On Debian and Ubuntu, this
|
| 107 |
+
can be installed via `sudo apt-get install libglew2.0`.
|
| 108 |
+
|
| 109 |
+
* Software rendering requires GLX and OSMesa. On Debian and Ubuntu these can
|
| 110 |
+
be installed using `sudo apt-get install libgl1-mesa-glx libosmesa6`.
|
| 111 |
+
|
| 112 |
+
By default, `dm_control` will attempt to use GLFW first, then EGL, then OSMesa.
|
| 113 |
+
You can also specify a particular backend to use by setting the `MUJOCO_GL=`
|
| 114 |
+
environment variable to `"glfw"`, `"egl"`, or `"osmesa"`, respectively. When
|
| 115 |
+
rendering with EGL, you can also specify which GPU to use for rendering by
|
| 116 |
+
setting the environment variable `MUJOCO_EGL_DEVICE_ID=` to the target GPU ID.
|
| 117 |
+
|
| 118 |
+
## Additional instructions for Homebrew users on macOS
|
| 119 |
+
|
| 120 |
+
1. The above instructions using `pip` should work, provided that you use a
|
| 121 |
+
Python interpreter that is installed by Homebrew (rather than the
|
| 122 |
+
system-default one).
|
| 123 |
+
|
| 124 |
+
2. Before running, the `DYLD_LIBRARY_PATH` environment variable needs to be
|
| 125 |
+
updated with the path to the GLFW library. This can be done by running
|
| 126 |
+
`export DYLD_LIBRARY_PATH=$(brew --prefix)/lib:$DYLD_LIBRARY_PATH`.
|
| 127 |
+
|
| 128 |
+
[EXT_platform_device]: https://www.khronos.org/registry/EGL/extensions/EXT/EGL_EXT_platform_device.txt
|
| 129 |
+
[Releases page on the MuJoCo GitHub repository]: https://github.com/google-deepmind/mujoco/releases
|
| 130 |
+
[MuJoCo website]: https://mujoco.org/
|
| 131 |
+
[publication]: https://doi.org/10.1016/j.simpa.2020.100022
|
| 132 |
+
[`ctypes`]: https://docs.python.org/3/library/ctypes.html
|
| 133 |
+
[`dm_control.mjcf`]: dm_control/mjcf/README.md
|
| 134 |
+
[`dm_control.mujoco`]: dm_control/mujoco/README.md
|
| 135 |
+
[`dm_control.suite`]: dm_control/suite/README.md
|
| 136 |
+
[`dm_control.viewer`]: dm_control/viewer/README.md
|
| 137 |
+
[`dm_control.locomotion`]: dm_control/locomotion/README.md
|
| 138 |
+
[`dm_control.locomotion.soccer`]: dm_control/locomotion/soccer/README.md
|
data/dm_control/__init__.py
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2017 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
data/dm_control/_render/__init__.py
ADDED
|
@@ -0,0 +1,109 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2017-2018 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""OpenGL context management for rendering MuJoCo scenes.
|
| 17 |
+
|
| 18 |
+
By default, the `Renderer` class will try to load one of the following rendering
|
| 19 |
+
APIs, in descending order of priority: GLFW > EGL > OSMesa.
|
| 20 |
+
|
| 21 |
+
It is also possible to select a specific backend by setting the `MUJOCO_GL=`
|
| 22 |
+
environment variable to 'glfw', 'egl', or 'osmesa'.
|
| 23 |
+
"""
|
| 24 |
+
|
| 25 |
+
import collections
|
| 26 |
+
import os
|
| 27 |
+
|
| 28 |
+
from absl import logging
|
| 29 |
+
from dm_control._render import constants
|
| 30 |
+
|
| 31 |
+
BACKEND = os.environ.get(constants.MUJOCO_GL)
|
| 32 |
+
|
| 33 |
+
|
| 34 |
+
# pylint: disable=g-import-not-at-top
|
| 35 |
+
def _import_egl():
|
| 36 |
+
from dm_control._render.pyopengl.egl_renderer import EGLContext
|
| 37 |
+
return EGLContext
|
| 38 |
+
|
| 39 |
+
|
| 40 |
+
def _import_glfw():
|
| 41 |
+
from dm_control._render.glfw_renderer import GLFWContext
|
| 42 |
+
return GLFWContext
|
| 43 |
+
|
| 44 |
+
|
| 45 |
+
def _import_osmesa():
|
| 46 |
+
from dm_control._render.pyopengl.osmesa_renderer import OSMesaContext
|
| 47 |
+
return OSMesaContext
|
| 48 |
+
|
| 49 |
+
|
| 50 |
+
# Import removed.
|
| 51 |
+
# pylint: enable=g-import-not-at-top
|
| 52 |
+
|
| 53 |
+
|
| 54 |
+
def _no_renderer():
|
| 55 |
+
def no_renderer(*args, **kwargs):
|
| 56 |
+
del args, kwargs
|
| 57 |
+
raise RuntimeError('No OpenGL rendering backend is available.')
|
| 58 |
+
return no_renderer
|
| 59 |
+
|
| 60 |
+
|
| 61 |
+
_ALL_RENDERERS = (
|
| 62 |
+
(constants.GLFW, _import_glfw),
|
| 63 |
+
(constants.EGL, _import_egl),
|
| 64 |
+
(constants.OSMESA, _import_osmesa),
|
| 65 |
+
# Option removed.
|
| 66 |
+
)
|
| 67 |
+
|
| 68 |
+
_NO_RENDERER = (
|
| 69 |
+
(constants.NO_RENDERER, _no_renderer),
|
| 70 |
+
)
|
| 71 |
+
|
| 72 |
+
|
| 73 |
+
if BACKEND is not None:
|
| 74 |
+
# If a backend was specified, try importing it and error if unsuccessful.
|
| 75 |
+
import_func = None
|
| 76 |
+
for names, importer in _ALL_RENDERERS + _NO_RENDERER:
|
| 77 |
+
if BACKEND in names:
|
| 78 |
+
import_func = importer
|
| 79 |
+
BACKEND = names[0] # canonicalize the renderer name
|
| 80 |
+
break
|
| 81 |
+
if import_func is None:
|
| 82 |
+
all_names = set()
|
| 83 |
+
for names, _ in _ALL_RENDERERS + _NO_RENDERER:
|
| 84 |
+
all_names.update(names)
|
| 85 |
+
raise RuntimeError(
|
| 86 |
+
'Environment variable {} must be one of {!r}: got {!r}.'
|
| 87 |
+
.format(constants.MUJOCO_GL, sorted(all_names), BACKEND))
|
| 88 |
+
logging.info('MUJOCO_GL=%s, attempting to import specified OpenGL backend.',
|
| 89 |
+
BACKEND)
|
| 90 |
+
Renderer = import_func()
|
| 91 |
+
else:
|
| 92 |
+
logging.info('MUJOCO_GL is not set, so an OpenGL backend will be chosen '
|
| 93 |
+
'automatically.')
|
| 94 |
+
# Otherwise try importing them in descending order of priority until
|
| 95 |
+
# successful.
|
| 96 |
+
for names, import_func in _ALL_RENDERERS:
|
| 97 |
+
try:
|
| 98 |
+
Renderer = import_func()
|
| 99 |
+
BACKEND = names[0]
|
| 100 |
+
logging.info('Successfully imported OpenGL backend: %s', names[0])
|
| 101 |
+
break
|
| 102 |
+
except ImportError:
|
| 103 |
+
logging.info('Failed to import OpenGL backend: %s', names[0])
|
| 104 |
+
if BACKEND is None:
|
| 105 |
+
logging.info('No OpenGL backend could be imported. Attempting to create a '
|
| 106 |
+
'rendering context will result in a RuntimeError.')
|
| 107 |
+
Renderer = _no_renderer()
|
| 108 |
+
|
| 109 |
+
USING_GPU = BACKEND in constants.EGL + constants.GLFW
|
data/dm_control/_render/base.py
ADDED
|
@@ -0,0 +1,166 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2017 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""Base class for OpenGL context handlers.
|
| 17 |
+
|
| 18 |
+
`ContextBase` defines a common API that OpenGL rendering contexts should conform
|
| 19 |
+
to. In addition, it provides a `make_current` context manager that:
|
| 20 |
+
|
| 21 |
+
1. Makes this OpenGL context current within the appropriate rendering thread.
|
| 22 |
+
2. Yields an object exposing a `call` method that can be used to execute OpenGL
|
| 23 |
+
calls within the rendering thread.
|
| 24 |
+
|
| 25 |
+
See the docstring for `dm_control.utils.render_executor` for further details
|
| 26 |
+
regarding rendering threads.
|
| 27 |
+
"""
|
| 28 |
+
|
| 29 |
+
import abc
|
| 30 |
+
import atexit
|
| 31 |
+
import collections
|
| 32 |
+
import contextlib
|
| 33 |
+
import sys
|
| 34 |
+
import weakref
|
| 35 |
+
|
| 36 |
+
from absl import logging
|
| 37 |
+
from dm_control._render import executor
|
| 38 |
+
import numpy as np
|
| 39 |
+
|
| 40 |
+
|
| 41 |
+
_CURRENT_CONTEXT_FOR_THREAD = collections.defaultdict(lambda: None)
|
| 42 |
+
_CURRENT_THREAD_FOR_CONTEXT = collections.defaultdict(lambda: None)
|
| 43 |
+
|
| 44 |
+
|
| 45 |
+
class ContextBase(metaclass=abc.ABCMeta):
|
| 46 |
+
"""Base class for managing OpenGL contexts."""
|
| 47 |
+
|
| 48 |
+
def __init__(self,
|
| 49 |
+
max_width,
|
| 50 |
+
max_height,
|
| 51 |
+
render_executor_class=executor.RenderExecutor):
|
| 52 |
+
"""Initializes this context."""
|
| 53 |
+
logging.debug('Using render executor class: %s',
|
| 54 |
+
render_executor_class.__name__)
|
| 55 |
+
self._render_executor = render_executor_class()
|
| 56 |
+
self._refcount = 0
|
| 57 |
+
|
| 58 |
+
self_weakref = weakref.ref(self)
|
| 59 |
+
def _free_at_exit():
|
| 60 |
+
if self_weakref():
|
| 61 |
+
self_weakref()._free_unconditionally() # pylint: disable=protected-access
|
| 62 |
+
atexit.register(_free_at_exit)
|
| 63 |
+
|
| 64 |
+
with self._render_executor.execution_context() as ctx:
|
| 65 |
+
ctx.call(self._platform_init, max_width, max_height)
|
| 66 |
+
|
| 67 |
+
self._patients = []
|
| 68 |
+
|
| 69 |
+
def keep_alive(self, obj):
|
| 70 |
+
self._patients.append(obj)
|
| 71 |
+
|
| 72 |
+
def dont_keep_alive(self, obj):
|
| 73 |
+
try:
|
| 74 |
+
self._patients.remove(obj)
|
| 75 |
+
except ValueError:
|
| 76 |
+
pass
|
| 77 |
+
|
| 78 |
+
def increment_refcount(self):
|
| 79 |
+
self._refcount += 1
|
| 80 |
+
|
| 81 |
+
def decrement_refcount(self):
|
| 82 |
+
self._refcount -= 1
|
| 83 |
+
|
| 84 |
+
@property
|
| 85 |
+
def terminated(self):
|
| 86 |
+
return self._render_executor.terminated
|
| 87 |
+
|
| 88 |
+
@property
|
| 89 |
+
def thread(self):
|
| 90 |
+
return self._render_executor.thread
|
| 91 |
+
|
| 92 |
+
def _free_on_executor_thread(self): # pylint: disable=missing-function-docstring
|
| 93 |
+
current_ctx = _CURRENT_CONTEXT_FOR_THREAD[self._render_executor.thread]
|
| 94 |
+
if current_ctx is not None:
|
| 95 |
+
del _CURRENT_THREAD_FOR_CONTEXT[current_ctx]
|
| 96 |
+
del _CURRENT_CONTEXT_FOR_THREAD[self._render_executor.thread]
|
| 97 |
+
|
| 98 |
+
self._platform_make_current()
|
| 99 |
+
|
| 100 |
+
try:
|
| 101 |
+
dummy = []
|
| 102 |
+
while self._patients:
|
| 103 |
+
patient = self._patients.pop()
|
| 104 |
+
assert sys.getrefcount(patient) == sys.getrefcount(dummy)
|
| 105 |
+
if hasattr(patient, 'free'):
|
| 106 |
+
patient.free()
|
| 107 |
+
del patient
|
| 108 |
+
finally:
|
| 109 |
+
self._platform_free()
|
| 110 |
+
|
| 111 |
+
def free(self):
|
| 112 |
+
"""Frees resources associated with this context if its refcount is zero."""
|
| 113 |
+
if self._refcount == 0:
|
| 114 |
+
self._free_unconditionally()
|
| 115 |
+
|
| 116 |
+
def _free_unconditionally(self):
|
| 117 |
+
self._render_executor.terminate(self._free_on_executor_thread)
|
| 118 |
+
|
| 119 |
+
def __del__(self):
|
| 120 |
+
self._free_unconditionally()
|
| 121 |
+
|
| 122 |
+
@contextlib.contextmanager
|
| 123 |
+
def make_current(self):
|
| 124 |
+
"""Context manager that makes this Renderer's OpenGL context current.
|
| 125 |
+
|
| 126 |
+
Yields:
|
| 127 |
+
An object that exposes a `call` method that can be used to call a
|
| 128 |
+
function on the dedicated rendering thread.
|
| 129 |
+
|
| 130 |
+
Raises:
|
| 131 |
+
RuntimeError: If this context is already current on another thread.
|
| 132 |
+
"""
|
| 133 |
+
|
| 134 |
+
with self._render_executor.execution_context() as ctx:
|
| 135 |
+
if _CURRENT_CONTEXT_FOR_THREAD[self._render_executor.thread] != id(self):
|
| 136 |
+
if _CURRENT_THREAD_FOR_CONTEXT[id(self)]:
|
| 137 |
+
raise RuntimeError(
|
| 138 |
+
'Cannot make context {!r} current on thread {!r}: '
|
| 139 |
+
'this context is already current on another thread {!r}.'
|
| 140 |
+
.format(self, self._render_executor.thread,
|
| 141 |
+
_CURRENT_THREAD_FOR_CONTEXT[id(self)]))
|
| 142 |
+
else:
|
| 143 |
+
current_context = (
|
| 144 |
+
_CURRENT_CONTEXT_FOR_THREAD[self._render_executor.thread])
|
| 145 |
+
if current_context:
|
| 146 |
+
del _CURRENT_THREAD_FOR_CONTEXT[current_context]
|
| 147 |
+
_CURRENT_THREAD_FOR_CONTEXT[id(self)] = self._render_executor.thread
|
| 148 |
+
_CURRENT_CONTEXT_FOR_THREAD[self._render_executor.thread] = id(self)
|
| 149 |
+
ctx.call(self._platform_make_current)
|
| 150 |
+
yield ctx
|
| 151 |
+
|
| 152 |
+
def to_pixels(self, buffer):
|
| 153 |
+
"""Converts the buffer to pixels."""
|
| 154 |
+
return np.flipud(buffer)
|
| 155 |
+
|
| 156 |
+
@abc.abstractmethod
|
| 157 |
+
def _platform_init(self, max_width, max_height):
|
| 158 |
+
"""Performs an implementation-specific context initialization."""
|
| 159 |
+
|
| 160 |
+
@abc.abstractmethod
|
| 161 |
+
def _platform_make_current(self):
|
| 162 |
+
"""Make the OpenGL context current on the executing thread."""
|
| 163 |
+
|
| 164 |
+
@abc.abstractmethod
|
| 165 |
+
def _platform_free(self):
|
| 166 |
+
"""Performs an implementation-specific context cleanup."""
|
data/dm_control/_render/base_test.py
ADDED
|
@@ -0,0 +1,162 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2017 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""Tests for the base rendering module."""
|
| 17 |
+
|
| 18 |
+
import threading
|
| 19 |
+
from absl.testing import absltest
|
| 20 |
+
from dm_control._render import base
|
| 21 |
+
from dm_control._render import executor
|
| 22 |
+
|
| 23 |
+
WIDTH = 1024
|
| 24 |
+
HEIGHT = 768
|
| 25 |
+
|
| 26 |
+
|
| 27 |
+
class ContextBaseTests(absltest.TestCase):
|
| 28 |
+
|
| 29 |
+
class ContextMock(base.ContextBase):
|
| 30 |
+
|
| 31 |
+
def _platform_init(self, max_width, max_height):
|
| 32 |
+
self.init_thread = threading.current_thread()
|
| 33 |
+
self.make_current_count = 0
|
| 34 |
+
self.max_width = max_width
|
| 35 |
+
self.max_height = max_height
|
| 36 |
+
self.free_thread = None
|
| 37 |
+
|
| 38 |
+
def _platform_make_current(self):
|
| 39 |
+
self.make_current_count += 1
|
| 40 |
+
self.make_current_thread = threading.current_thread()
|
| 41 |
+
|
| 42 |
+
def _platform_free(self):
|
| 43 |
+
self.free_thread = threading.current_thread()
|
| 44 |
+
|
| 45 |
+
def setUp(self):
|
| 46 |
+
super().setUp()
|
| 47 |
+
self.context = ContextBaseTests.ContextMock(WIDTH, HEIGHT)
|
| 48 |
+
|
| 49 |
+
def test_init(self):
|
| 50 |
+
self.assertIs(self.context.init_thread, self.context.thread)
|
| 51 |
+
self.assertEqual(self.context.max_width, WIDTH)
|
| 52 |
+
self.assertEqual(self.context.max_height, HEIGHT)
|
| 53 |
+
|
| 54 |
+
def test_make_current(self):
|
| 55 |
+
self.assertEqual(self.context.make_current_count, 0)
|
| 56 |
+
|
| 57 |
+
with self.context.make_current():
|
| 58 |
+
pass
|
| 59 |
+
self.assertEqual(self.context.make_current_count, 1)
|
| 60 |
+
self.assertIs(self.context.make_current_thread, self.context.thread)
|
| 61 |
+
|
| 62 |
+
# Already current, shouldn't trigger a call to `_platform_make_current`.
|
| 63 |
+
with self.context.make_current():
|
| 64 |
+
pass
|
| 65 |
+
self.assertEqual(self.context.make_current_count, 1)
|
| 66 |
+
self.assertIs(self.context.make_current_thread, self.context.thread)
|
| 67 |
+
|
| 68 |
+
def test_thread_sharing(self):
|
| 69 |
+
first_context = ContextBaseTests.ContextMock(
|
| 70 |
+
WIDTH, HEIGHT, executor.PassthroughRenderExecutor)
|
| 71 |
+
second_context = ContextBaseTests.ContextMock(
|
| 72 |
+
WIDTH, HEIGHT, executor.PassthroughRenderExecutor)
|
| 73 |
+
|
| 74 |
+
with first_context.make_current():
|
| 75 |
+
pass
|
| 76 |
+
self.assertEqual(first_context.make_current_count, 1)
|
| 77 |
+
|
| 78 |
+
with first_context.make_current():
|
| 79 |
+
pass
|
| 80 |
+
self.assertEqual(first_context.make_current_count, 1)
|
| 81 |
+
|
| 82 |
+
with second_context.make_current():
|
| 83 |
+
pass
|
| 84 |
+
self.assertEqual(second_context.make_current_count, 1)
|
| 85 |
+
|
| 86 |
+
with second_context.make_current():
|
| 87 |
+
pass
|
| 88 |
+
self.assertEqual(second_context.make_current_count, 1)
|
| 89 |
+
|
| 90 |
+
with first_context.make_current():
|
| 91 |
+
pass
|
| 92 |
+
self.assertEqual(first_context.make_current_count, 2)
|
| 93 |
+
|
| 94 |
+
with second_context.make_current():
|
| 95 |
+
pass
|
| 96 |
+
self.assertEqual(second_context.make_current_count, 2)
|
| 97 |
+
|
| 98 |
+
def test_free(self):
|
| 99 |
+
with self.context.make_current():
|
| 100 |
+
pass
|
| 101 |
+
|
| 102 |
+
thread = self.context.thread
|
| 103 |
+
self.assertIn(id(self.context), base._CURRENT_THREAD_FOR_CONTEXT)
|
| 104 |
+
self.assertIn(thread, base._CURRENT_CONTEXT_FOR_THREAD)
|
| 105 |
+
|
| 106 |
+
self.context.free()
|
| 107 |
+
self.assertIs(self.context.free_thread, thread)
|
| 108 |
+
self.assertIsNone(self.context.thread)
|
| 109 |
+
|
| 110 |
+
self.assertNotIn(id(self.context), base._CURRENT_THREAD_FOR_CONTEXT)
|
| 111 |
+
self.assertNotIn(thread, base._CURRENT_CONTEXT_FOR_THREAD)
|
| 112 |
+
|
| 113 |
+
def test_free_with_multiple_contexts(self):
|
| 114 |
+
context1 = ContextBaseTests.ContextMock(WIDTH, HEIGHT,
|
| 115 |
+
executor.PassthroughRenderExecutor)
|
| 116 |
+
with context1.make_current():
|
| 117 |
+
pass
|
| 118 |
+
|
| 119 |
+
context2 = ContextBaseTests.ContextMock(WIDTH, HEIGHT,
|
| 120 |
+
executor.PassthroughRenderExecutor)
|
| 121 |
+
with context2.make_current():
|
| 122 |
+
pass
|
| 123 |
+
|
| 124 |
+
self.assertEqual(base._CURRENT_CONTEXT_FOR_THREAD[threading.main_thread()],
|
| 125 |
+
id(context2))
|
| 126 |
+
self.assertIs(base._CURRENT_THREAD_FOR_CONTEXT[id(context2)],
|
| 127 |
+
threading.main_thread())
|
| 128 |
+
|
| 129 |
+
context1.free()
|
| 130 |
+
self.assertIsNone(
|
| 131 |
+
base._CURRENT_CONTEXT_FOR_THREAD[self.context.free_thread])
|
| 132 |
+
self.assertIsNone(base._CURRENT_THREAD_FOR_CONTEXT[id(context2)])
|
| 133 |
+
|
| 134 |
+
def test_refcounting(self):
|
| 135 |
+
thread = self.context.thread
|
| 136 |
+
|
| 137 |
+
self.assertEqual(self.context._refcount, 0)
|
| 138 |
+
self.context.increment_refcount()
|
| 139 |
+
self.assertEqual(self.context._refcount, 1)
|
| 140 |
+
|
| 141 |
+
# Context should not be freed yet, since its refcount is still positive.
|
| 142 |
+
self.context.free()
|
| 143 |
+
self.assertIsNone(self.context.free_thread)
|
| 144 |
+
self.assertIs(self.context.thread, thread)
|
| 145 |
+
|
| 146 |
+
# Decrement the refcount to zero.
|
| 147 |
+
self.context.decrement_refcount()
|
| 148 |
+
self.assertEqual(self.context._refcount, 0)
|
| 149 |
+
|
| 150 |
+
# Now the context can be freed.
|
| 151 |
+
self.context.free()
|
| 152 |
+
self.assertIs(self.context.free_thread, thread)
|
| 153 |
+
self.assertIsNone(self.context.thread)
|
| 154 |
+
|
| 155 |
+
def test_del(self):
|
| 156 |
+
self.assertIsNone(self.context.free_thread)
|
| 157 |
+
self.context.__del__()
|
| 158 |
+
self.assertIsNotNone(self.context.free_thread)
|
| 159 |
+
|
| 160 |
+
|
| 161 |
+
if __name__ == '__main__':
|
| 162 |
+
absltest.main()
|
data/dm_control/_render/constants.py
ADDED
|
@@ -0,0 +1,33 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2018 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""String constants for the rendering module."""
|
| 17 |
+
|
| 18 |
+
# Name of the environment variable that selects a renderer platform.
|
| 19 |
+
MUJOCO_GL = 'MUJOCO_GL'
|
| 20 |
+
|
| 21 |
+
# Name of the environment variable that selects a platform for PyOpenGL.
|
| 22 |
+
PYOPENGL_PLATFORM = 'PYOPENGL_PLATFORM'
|
| 23 |
+
|
| 24 |
+
# Renderer platform specifiers.
|
| 25 |
+
# All values in each tuple are synonyms for the MUJOCO_GL environment variable.
|
| 26 |
+
# The first entry in each tuple is considered "canonical", and is the one
|
| 27 |
+
# assigned to the _render.BACKEND variable.
|
| 28 |
+
OSMESA = ('osmesa',)
|
| 29 |
+
GLFW = ('glfw', 'on', 'enable', 'enabled', 'true', '1', '')
|
| 30 |
+
EGL = ('egl',)
|
| 31 |
+
# Constant removed.
|
| 32 |
+
NO_RENDERER = ('off', 'disable', 'disabled', 'false', '0')
|
| 33 |
+
|
data/dm_control/_render/executor/__init__.py
ADDED
|
@@ -0,0 +1,51 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2017 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""RenderExecutor executes OpenGL rendering calls on an appropriate thread.
|
| 17 |
+
|
| 18 |
+
OpenGL calls must be made on the same thread as where an OpenGL context is
|
| 19 |
+
made current on. With GPU rendering, migrating OpenGL contexts between threads
|
| 20 |
+
can become expensive. We provide a thread-safe executor that maintains a
|
| 21 |
+
thread on which an OpenGL context can be kept permanently current, and any other
|
| 22 |
+
threads that wish to render with that context will have their rendering calls
|
| 23 |
+
offloaded to the dedicated thread.
|
| 24 |
+
|
| 25 |
+
For single-threaded applications, set the `DISABLE_RENDER_THREAD_OFFLOADING`
|
| 26 |
+
environment variable before launching the Python interpreter. This will
|
| 27 |
+
eliminate the overhead of unnecessary thread-switching.
|
| 28 |
+
"""
|
| 29 |
+
|
| 30 |
+
# pylint: disable=g-import-not-at-top
|
| 31 |
+
import os
|
| 32 |
+
_OFFLOAD = not bool(os.environ.get('DISABLE_RENDER_THREAD_OFFLOADING', ''))
|
| 33 |
+
del os
|
| 34 |
+
|
| 35 |
+
from dm_control._render.executor.render_executor import BaseRenderExecutor
|
| 36 |
+
from dm_control._render.executor.render_executor import OffloadingRenderExecutor
|
| 37 |
+
from dm_control._render.executor.render_executor import PassthroughRenderExecutor
|
| 38 |
+
|
| 39 |
+
_EXECUTORS = (PassthroughRenderExecutor, OffloadingRenderExecutor)
|
| 40 |
+
|
| 41 |
+
try:
|
| 42 |
+
from dm_control._render.executor.native_mutex.render_executor import NativeMutexOffloadingRenderExecutor
|
| 43 |
+
_EXECUTORS += (NativeMutexOffloadingRenderExecutor,)
|
| 44 |
+
except ImportError:
|
| 45 |
+
NativeMutexOffloadingRenderExecutor = None
|
| 46 |
+
|
| 47 |
+
if _OFFLOAD:
|
| 48 |
+
RenderExecutor = ( # pylint: disable=invalid-name
|
| 49 |
+
NativeMutexOffloadingRenderExecutor or OffloadingRenderExecutor)
|
| 50 |
+
else:
|
| 51 |
+
RenderExecutor = PassthroughRenderExecutor # pylint: disable=invalid-name
|
data/dm_control/_render/executor/render_executor.py
ADDED
|
@@ -0,0 +1,218 @@
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|
| 1 |
+
# Copyright 2017-2018 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""RenderExecutors executes OpenGL rendering calls on an appropriate thread.
|
| 17 |
+
|
| 18 |
+
The purpose of these classes is to ensure that OpenGL calls are made on the
|
| 19 |
+
same thread as where an OpenGL context was made current.
|
| 20 |
+
|
| 21 |
+
In a single-threaded setting, `PassthroughRenderExecutor` is essentially a no-op
|
| 22 |
+
that executes rendering calls on the same thread. This is provided to minimize
|
| 23 |
+
thread-switching overhead.
|
| 24 |
+
|
| 25 |
+
In a multithreaded setting, `OffloadingRenderExecutor` maintains a separate
|
| 26 |
+
dedicated thread on which the OpenGL context is created and made current. All
|
| 27 |
+
subsequent rendering calls are then offloaded onto this dedicated thread.
|
| 28 |
+
"""
|
| 29 |
+
|
| 30 |
+
import abc
|
| 31 |
+
import collections
|
| 32 |
+
from concurrent import futures
|
| 33 |
+
import contextlib
|
| 34 |
+
import threading
|
| 35 |
+
|
| 36 |
+
|
| 37 |
+
_NOT_IN_CONTEXT = 'Cannot be called outside of an `execution_context`.'
|
| 38 |
+
_ALREADY_TERMINATED = 'This executor has already been terminated.'
|
| 39 |
+
|
| 40 |
+
|
| 41 |
+
class _FakeLock:
|
| 42 |
+
"""An object with the same API as `threading.Lock` but that does nothing."""
|
| 43 |
+
|
| 44 |
+
def acquire(self, blocking=True):
|
| 45 |
+
pass
|
| 46 |
+
|
| 47 |
+
def release(self):
|
| 48 |
+
pass
|
| 49 |
+
|
| 50 |
+
def __enter__(self):
|
| 51 |
+
pass
|
| 52 |
+
|
| 53 |
+
def __exit__(self, exc_type, exc_value, traceback):
|
| 54 |
+
del exc_type, exc_value, traceback
|
| 55 |
+
|
| 56 |
+
|
| 57 |
+
_FAKE_LOCK = _FakeLock()
|
| 58 |
+
|
| 59 |
+
|
| 60 |
+
class BaseRenderExecutor(metaclass=abc.ABCMeta):
|
| 61 |
+
"""An object that manages rendering calls for an OpenGL context.
|
| 62 |
+
|
| 63 |
+
This class helps ensure that OpenGL calls are made on the correct thread. The
|
| 64 |
+
usage pattern is as follows:
|
| 65 |
+
|
| 66 |
+
```python
|
| 67 |
+
executor = SomeRenderExecutorClass()
|
| 68 |
+
with executor.execution_context() as ctx:
|
| 69 |
+
ctx.call(an_opengl_call, arg, kwarg=foo)
|
| 70 |
+
result = ctx.call(another_opengl_call)
|
| 71 |
+
```
|
| 72 |
+
"""
|
| 73 |
+
|
| 74 |
+
def __init__(self):
|
| 75 |
+
self._locked = 0
|
| 76 |
+
self._terminated = False
|
| 77 |
+
|
| 78 |
+
def _check_locked(self):
|
| 79 |
+
if not self._locked:
|
| 80 |
+
raise RuntimeError(_NOT_IN_CONTEXT)
|
| 81 |
+
|
| 82 |
+
def _check_not_terminated(self):
|
| 83 |
+
if self._terminated:
|
| 84 |
+
raise RuntimeError(_ALREADY_TERMINATED)
|
| 85 |
+
|
| 86 |
+
@contextlib.contextmanager
|
| 87 |
+
def execution_context(self):
|
| 88 |
+
"""A context manager that allows calls to be offloaded to this executor."""
|
| 89 |
+
self._check_not_terminated()
|
| 90 |
+
with self._lock_if_necessary:
|
| 91 |
+
self._locked += 1
|
| 92 |
+
yield self
|
| 93 |
+
self._locked -= 1
|
| 94 |
+
|
| 95 |
+
@property
|
| 96 |
+
def terminated(self):
|
| 97 |
+
return self._terminated
|
| 98 |
+
|
| 99 |
+
@property
|
| 100 |
+
@abc.abstractmethod
|
| 101 |
+
def thread(self):
|
| 102 |
+
pass
|
| 103 |
+
|
| 104 |
+
@property
|
| 105 |
+
@abc.abstractmethod
|
| 106 |
+
def _lock_if_necessary(self):
|
| 107 |
+
pass
|
| 108 |
+
|
| 109 |
+
@abc.abstractmethod
|
| 110 |
+
def call(self, *args, **kwargs):
|
| 111 |
+
pass
|
| 112 |
+
|
| 113 |
+
@abc.abstractmethod
|
| 114 |
+
def terminate(self, cleanup_callable=None):
|
| 115 |
+
pass
|
| 116 |
+
|
| 117 |
+
|
| 118 |
+
class PassthroughRenderExecutor(BaseRenderExecutor):
|
| 119 |
+
"""A no-op render executor that executes on the calling thread."""
|
| 120 |
+
|
| 121 |
+
def __init__(self):
|
| 122 |
+
super().__init__()
|
| 123 |
+
self._mutex = threading.RLock()
|
| 124 |
+
|
| 125 |
+
@property
|
| 126 |
+
def thread(self):
|
| 127 |
+
if not self._terminated:
|
| 128 |
+
return threading.current_thread()
|
| 129 |
+
else:
|
| 130 |
+
return None
|
| 131 |
+
|
| 132 |
+
@property
|
| 133 |
+
def _lock_if_necessary(self):
|
| 134 |
+
return self._mutex
|
| 135 |
+
|
| 136 |
+
def call(self, func, *args, **kwargs):
|
| 137 |
+
self._check_locked()
|
| 138 |
+
return func(*args, **kwargs)
|
| 139 |
+
|
| 140 |
+
def terminate(self, cleanup_callable=None):
|
| 141 |
+
with self._lock_if_necessary:
|
| 142 |
+
if not self._terminated:
|
| 143 |
+
if cleanup_callable:
|
| 144 |
+
cleanup_callable()
|
| 145 |
+
self._terminated = True
|
| 146 |
+
|
| 147 |
+
|
| 148 |
+
class _ThreadPoolExecutorPool:
|
| 149 |
+
"""A pool of reusable ThreadPoolExecutors."""
|
| 150 |
+
|
| 151 |
+
def __init__(self):
|
| 152 |
+
self._deque = collections.deque()
|
| 153 |
+
self._lock = threading.Lock()
|
| 154 |
+
|
| 155 |
+
def acquire(self):
|
| 156 |
+
with self._lock:
|
| 157 |
+
if self._deque:
|
| 158 |
+
return self._deque.popleft()
|
| 159 |
+
else:
|
| 160 |
+
return futures.ThreadPoolExecutor(max_workers=1)
|
| 161 |
+
|
| 162 |
+
def release(self, thread_pool_executor):
|
| 163 |
+
with self._lock:
|
| 164 |
+
self._deque.append(thread_pool_executor)
|
| 165 |
+
|
| 166 |
+
|
| 167 |
+
_THREAD_POOL_EXECUTOR_POOL = _ThreadPoolExecutorPool()
|
| 168 |
+
|
| 169 |
+
|
| 170 |
+
class OffloadingRenderExecutor(BaseRenderExecutor):
|
| 171 |
+
"""A render executor that executes calls on a dedicated offload thread."""
|
| 172 |
+
|
| 173 |
+
def __init__(self):
|
| 174 |
+
super().__init__()
|
| 175 |
+
self._mutex = threading.RLock()
|
| 176 |
+
self._executor = _THREAD_POOL_EXECUTOR_POOL.acquire()
|
| 177 |
+
self._thread = self._executor.submit(threading.current_thread).result()
|
| 178 |
+
|
| 179 |
+
@property
|
| 180 |
+
def thread(self):
|
| 181 |
+
return self._thread
|
| 182 |
+
|
| 183 |
+
@property
|
| 184 |
+
def _lock_if_necessary(self):
|
| 185 |
+
if threading.current_thread() is self.thread:
|
| 186 |
+
# If the offload thread needs to make a call to its own executor, for
|
| 187 |
+
# example when a weakref callback is triggered during an offloaded call,
|
| 188 |
+
# then we must not try to reacquire our own lock.
|
| 189 |
+
# Otherwise, a deadlock ensues.
|
| 190 |
+
return _FAKE_LOCK
|
| 191 |
+
else:
|
| 192 |
+
return self._mutex
|
| 193 |
+
|
| 194 |
+
def call(self, func, *args, **kwargs):
|
| 195 |
+
self._check_locked()
|
| 196 |
+
return self._call_locked(func, *args, **kwargs)
|
| 197 |
+
|
| 198 |
+
def _call_locked(self, func, *args, **kwargs):
|
| 199 |
+
if threading.current_thread() is self.thread:
|
| 200 |
+
# If the offload thread needs to make a call to its own executor, for
|
| 201 |
+
# example when a weakref callback is triggered during an offloaded call,
|
| 202 |
+
# we should just directly call the function.
|
| 203 |
+
# Otherwise, a deadlock ensues.
|
| 204 |
+
return func(*args, **kwargs)
|
| 205 |
+
else:
|
| 206 |
+
return self._executor.submit(func, *args, **kwargs).result()
|
| 207 |
+
|
| 208 |
+
def terminate(self, cleanup_callable=None):
|
| 209 |
+
if self._terminated:
|
| 210 |
+
return
|
| 211 |
+
with self._lock_if_necessary:
|
| 212 |
+
if not self._terminated:
|
| 213 |
+
if cleanup_callable:
|
| 214 |
+
self._call_locked(cleanup_callable)
|
| 215 |
+
_THREAD_POOL_EXECUTOR_POOL.release(self._executor)
|
| 216 |
+
self._executor = None
|
| 217 |
+
self._thread = None
|
| 218 |
+
self._terminated = True
|
data/dm_control/_render/executor/render_executor_test.py
ADDED
|
@@ -0,0 +1,205 @@
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|
| 1 |
+
# Copyright 2017-2018 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""Tests for dm_control.utils.render_executor."""
|
| 17 |
+
|
| 18 |
+
import threading
|
| 19 |
+
import time
|
| 20 |
+
import unittest
|
| 21 |
+
|
| 22 |
+
from absl.testing import absltest
|
| 23 |
+
from absl.testing import parameterized
|
| 24 |
+
from dm_control._render import executor
|
| 25 |
+
import mock
|
| 26 |
+
|
| 27 |
+
|
| 28 |
+
def enforce_timeout(timeout):
|
| 29 |
+
def wrap(test_func):
|
| 30 |
+
def wrapped_test(self, *args, **kwargs):
|
| 31 |
+
thread = threading.Thread(
|
| 32 |
+
target=test_func, args=((self,) + args), kwargs=kwargs)
|
| 33 |
+
thread.daemon = True
|
| 34 |
+
thread.start()
|
| 35 |
+
thread.join(timeout=timeout)
|
| 36 |
+
self.assertFalse(
|
| 37 |
+
thread.is_alive(),
|
| 38 |
+
msg='Test timed out after {} seconds.'.format(timeout))
|
| 39 |
+
return wrapped_test
|
| 40 |
+
return wrap
|
| 41 |
+
|
| 42 |
+
|
| 43 |
+
class RenderExecutorTest(parameterized.TestCase):
|
| 44 |
+
|
| 45 |
+
def _make_executor(self, executor_type):
|
| 46 |
+
if (executor_type == executor.NativeMutexOffloadingRenderExecutor and
|
| 47 |
+
executor_type is None):
|
| 48 |
+
raise unittest.SkipTest(
|
| 49 |
+
'NativeMutexOffloadingRenderExecutor is not available.')
|
| 50 |
+
else:
|
| 51 |
+
return executor_type()
|
| 52 |
+
|
| 53 |
+
def test_passthrough_executor_thread(self):
|
| 54 |
+
render_executor = self._make_executor(executor.PassthroughRenderExecutor)
|
| 55 |
+
self.assertIs(render_executor.thread, threading.current_thread())
|
| 56 |
+
render_executor.terminate()
|
| 57 |
+
|
| 58 |
+
@parameterized.parameters(executor.OffloadingRenderExecutor,
|
| 59 |
+
executor.NativeMutexOffloadingRenderExecutor)
|
| 60 |
+
def test_offloading_executor_thread(self, executor_type):
|
| 61 |
+
render_executor = self._make_executor(executor_type)
|
| 62 |
+
self.assertIsNot(render_executor.thread, threading.current_thread())
|
| 63 |
+
render_executor.terminate()
|
| 64 |
+
|
| 65 |
+
@parameterized.parameters(executor.PassthroughRenderExecutor,
|
| 66 |
+
executor.OffloadingRenderExecutor,
|
| 67 |
+
executor.NativeMutexOffloadingRenderExecutor)
|
| 68 |
+
def test_call_on_correct_thread(self, executor_type):
|
| 69 |
+
render_executor = self._make_executor(executor_type)
|
| 70 |
+
with render_executor.execution_context() as ctx:
|
| 71 |
+
actual_executed_thread = ctx.call(threading.current_thread)
|
| 72 |
+
self.assertIs(actual_executed_thread, render_executor.thread)
|
| 73 |
+
render_executor.terminate()
|
| 74 |
+
|
| 75 |
+
@parameterized.parameters(executor.PassthroughRenderExecutor,
|
| 76 |
+
executor.OffloadingRenderExecutor,
|
| 77 |
+
executor.NativeMutexOffloadingRenderExecutor)
|
| 78 |
+
def test_multithreaded(self, executor_type):
|
| 79 |
+
render_executor = self._make_executor(executor_type)
|
| 80 |
+
list_length = 5
|
| 81 |
+
shared_list = [None] * list_length
|
| 82 |
+
|
| 83 |
+
def fill_list(thread_idx):
|
| 84 |
+
def assign_value(i):
|
| 85 |
+
shared_list[i] = thread_idx
|
| 86 |
+
for _ in range(1000):
|
| 87 |
+
with render_executor.execution_context() as ctx:
|
| 88 |
+
for i in range(list_length):
|
| 89 |
+
ctx.call(assign_value, i)
|
| 90 |
+
# Other threads should be prevented from calling `assign_value` while
|
| 91 |
+
# this thread is inside the `execution_context`.
|
| 92 |
+
self.assertEqual(shared_list, [thread_idx] * list_length)
|
| 93 |
+
|
| 94 |
+
threads = [threading.Thread(target=fill_list, args=(i,)) for i in range(9)]
|
| 95 |
+
for thread in threads:
|
| 96 |
+
thread.start()
|
| 97 |
+
for thread in threads:
|
| 98 |
+
thread.join()
|
| 99 |
+
|
| 100 |
+
render_executor.terminate()
|
| 101 |
+
|
| 102 |
+
@parameterized.parameters(executor.PassthroughRenderExecutor,
|
| 103 |
+
executor.OffloadingRenderExecutor,
|
| 104 |
+
executor.NativeMutexOffloadingRenderExecutor)
|
| 105 |
+
def test_exception(self, executor_type):
|
| 106 |
+
render_executor = self._make_executor(executor_type)
|
| 107 |
+
message = 'fake error'
|
| 108 |
+
def raise_value_error():
|
| 109 |
+
raise ValueError(message)
|
| 110 |
+
with render_executor.execution_context() as ctx:
|
| 111 |
+
with self.assertRaisesWithLiteralMatch(ValueError, message):
|
| 112 |
+
ctx.call(raise_value_error)
|
| 113 |
+
render_executor.terminate()
|
| 114 |
+
|
| 115 |
+
@parameterized.parameters(executor.PassthroughRenderExecutor,
|
| 116 |
+
executor.OffloadingRenderExecutor,
|
| 117 |
+
executor.NativeMutexOffloadingRenderExecutor)
|
| 118 |
+
def test_terminate(self, executor_type):
|
| 119 |
+
render_executor = self._make_executor(executor_type)
|
| 120 |
+
cleanup = mock.MagicMock()
|
| 121 |
+
render_executor.terminate(cleanup)
|
| 122 |
+
cleanup.assert_called_once_with()
|
| 123 |
+
|
| 124 |
+
@parameterized.parameters(executor.PassthroughRenderExecutor,
|
| 125 |
+
executor.OffloadingRenderExecutor,
|
| 126 |
+
executor.NativeMutexOffloadingRenderExecutor)
|
| 127 |
+
def test_call_outside_of_context(self, executor_type):
|
| 128 |
+
render_executor = self._make_executor(executor_type)
|
| 129 |
+
func = mock.MagicMock()
|
| 130 |
+
with self.assertRaisesWithLiteralMatch(
|
| 131 |
+
RuntimeError, executor.render_executor._NOT_IN_CONTEXT):
|
| 132 |
+
render_executor.call(func)
|
| 133 |
+
# Also test that the locked flag is properly cleared when leaving a context.
|
| 134 |
+
with render_executor.execution_context():
|
| 135 |
+
render_executor.call(lambda: None)
|
| 136 |
+
with self.assertRaisesWithLiteralMatch(
|
| 137 |
+
RuntimeError, executor.render_executor._NOT_IN_CONTEXT):
|
| 138 |
+
render_executor.call(func)
|
| 139 |
+
func.assert_not_called()
|
| 140 |
+
render_executor.terminate()
|
| 141 |
+
|
| 142 |
+
@parameterized.parameters(executor.PassthroughRenderExecutor,
|
| 143 |
+
executor.OffloadingRenderExecutor,
|
| 144 |
+
executor.NativeMutexOffloadingRenderExecutor)
|
| 145 |
+
def test_call_after_terminate(self, executor_type):
|
| 146 |
+
render_executor = self._make_executor(executor_type)
|
| 147 |
+
render_executor.terminate()
|
| 148 |
+
func = mock.MagicMock()
|
| 149 |
+
with self.assertRaisesWithLiteralMatch(
|
| 150 |
+
RuntimeError, executor.render_executor._ALREADY_TERMINATED):
|
| 151 |
+
with render_executor.execution_context() as ctx:
|
| 152 |
+
ctx.call(func)
|
| 153 |
+
func.assert_not_called()
|
| 154 |
+
|
| 155 |
+
@parameterized.parameters(executor.PassthroughRenderExecutor,
|
| 156 |
+
executor.OffloadingRenderExecutor,
|
| 157 |
+
executor.NativeMutexOffloadingRenderExecutor)
|
| 158 |
+
def test_locking(self, executor_type):
|
| 159 |
+
render_executor = self._make_executor(executor_type)
|
| 160 |
+
other_thread_context_entered = threading.Condition()
|
| 161 |
+
other_thread_context_done = [False]
|
| 162 |
+
def other_thread_func():
|
| 163 |
+
with render_executor.execution_context():
|
| 164 |
+
with other_thread_context_entered:
|
| 165 |
+
other_thread_context_entered.notify()
|
| 166 |
+
time.sleep(1)
|
| 167 |
+
other_thread_context_done[0] = True
|
| 168 |
+
other_thread = threading.Thread(target=other_thread_func)
|
| 169 |
+
with other_thread_context_entered:
|
| 170 |
+
other_thread.start()
|
| 171 |
+
other_thread_context_entered.wait()
|
| 172 |
+
with render_executor.execution_context():
|
| 173 |
+
self.assertTrue(
|
| 174 |
+
other_thread_context_done[0],
|
| 175 |
+
msg=('Main thread should not be able to enter the execution context '
|
| 176 |
+
'until the other thread is done.'))
|
| 177 |
+
|
| 178 |
+
@parameterized.parameters(executor.PassthroughRenderExecutor,
|
| 179 |
+
executor.OffloadingRenderExecutor,
|
| 180 |
+
executor.NativeMutexOffloadingRenderExecutor)
|
| 181 |
+
@enforce_timeout(timeout=5.)
|
| 182 |
+
def test_reentrant_locking(self, executor_type):
|
| 183 |
+
render_executor = self._make_executor(executor_type)
|
| 184 |
+
def triple_lock(render_executor):
|
| 185 |
+
with render_executor.execution_context():
|
| 186 |
+
with render_executor.execution_context():
|
| 187 |
+
with render_executor.execution_context():
|
| 188 |
+
pass
|
| 189 |
+
triple_lock(render_executor)
|
| 190 |
+
|
| 191 |
+
@parameterized.parameters(executor.PassthroughRenderExecutor,
|
| 192 |
+
executor.OffloadingRenderExecutor,
|
| 193 |
+
executor.NativeMutexOffloadingRenderExecutor)
|
| 194 |
+
@enforce_timeout(timeout=5.)
|
| 195 |
+
def test_no_deadlock_in_callbacks(self, executor_type):
|
| 196 |
+
render_executor = self._make_executor(executor_type)
|
| 197 |
+
# This test times out in the event of a deadlock.
|
| 198 |
+
def callback():
|
| 199 |
+
with render_executor.execution_context() as ctx:
|
| 200 |
+
ctx.call(lambda: None)
|
| 201 |
+
with render_executor.execution_context() as ctx:
|
| 202 |
+
ctx.call(callback)
|
| 203 |
+
|
| 204 |
+
if __name__ == '__main__':
|
| 205 |
+
absltest.main()
|
data/dm_control/_render/glfw_renderer.py
ADDED
|
@@ -0,0 +1,68 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2017 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""An OpenGL renderer backed by GLFW."""
|
| 17 |
+
|
| 18 |
+
from dm_control._render import base
|
| 19 |
+
from dm_control._render import executor
|
| 20 |
+
|
| 21 |
+
# Re-raise any exceptions that occur during module import as `ImportError`s.
|
| 22 |
+
# This simplifies the conditional imports in `render/__init__.py`.
|
| 23 |
+
try:
|
| 24 |
+
import glfw # pylint: disable=g-import-not-at-top
|
| 25 |
+
except (ImportError, IOError, OSError) as exc:
|
| 26 |
+
raise ImportError from exc
|
| 27 |
+
try:
|
| 28 |
+
glfw.init()
|
| 29 |
+
except glfw.GLFWError as exc:
|
| 30 |
+
raise ImportError from exc
|
| 31 |
+
|
| 32 |
+
|
| 33 |
+
class GLFWContext(base.ContextBase):
|
| 34 |
+
"""An OpenGL context backed by GLFW."""
|
| 35 |
+
|
| 36 |
+
def __init__(self, max_width, max_height):
|
| 37 |
+
# GLFWContext always uses `PassthroughRenderExecutor` rather than offloading
|
| 38 |
+
# rendering calls to a separate thread because GLFW can only be safely used
|
| 39 |
+
# from the main thread.
|
| 40 |
+
super().__init__(max_width, max_height, executor.PassthroughRenderExecutor)
|
| 41 |
+
|
| 42 |
+
def _platform_init(self, max_width, max_height):
|
| 43 |
+
"""Initializes this context.
|
| 44 |
+
|
| 45 |
+
Args:
|
| 46 |
+
max_width: Integer specifying the maximum framebuffer width in pixels.
|
| 47 |
+
max_height: Integer specifying the maximum framebuffer height in pixels.
|
| 48 |
+
"""
|
| 49 |
+
glfw.window_hint(glfw.VISIBLE, 0)
|
| 50 |
+
glfw.window_hint(glfw.DOUBLEBUFFER, 0)
|
| 51 |
+
self._context = glfw.create_window(width=max_width, height=max_height,
|
| 52 |
+
title='Invisible window', monitor=None,
|
| 53 |
+
share=None)
|
| 54 |
+
# This reference prevents `glfw.destroy_window` from being garbage-collected
|
| 55 |
+
# before the last window is destroyed, otherwise we may get
|
| 56 |
+
# `AttributeError`s when the `__del__` method is later called.
|
| 57 |
+
self._destroy_window = glfw.destroy_window
|
| 58 |
+
|
| 59 |
+
def _platform_make_current(self):
|
| 60 |
+
glfw.make_context_current(self._context)
|
| 61 |
+
|
| 62 |
+
def _platform_free(self):
|
| 63 |
+
"""Frees resources associated with this context."""
|
| 64 |
+
if self._context:
|
| 65 |
+
if glfw.get_current_context() == self._context:
|
| 66 |
+
glfw.make_context_current(None)
|
| 67 |
+
self._destroy_window(self._context)
|
| 68 |
+
self._context = None
|
data/dm_control/_render/glfw_renderer_test.py
ADDED
|
@@ -0,0 +1,68 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2017 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""Tests for GLFWContext."""
|
| 17 |
+
|
| 18 |
+
import unittest
|
| 19 |
+
from absl.testing import absltest
|
| 20 |
+
from dm_control import _render
|
| 21 |
+
from dm_control.mujoco import wrapper
|
| 22 |
+
from dm_control.mujoco.testing import decorators
|
| 23 |
+
|
| 24 |
+
import mock # pylint: disable=g-import-not-at-top
|
| 25 |
+
|
| 26 |
+
MAX_WIDTH = 1024
|
| 27 |
+
MAX_HEIGHT = 1024
|
| 28 |
+
|
| 29 |
+
CONTEXT_PATH = _render.__name__ + '.glfw_renderer.glfw'
|
| 30 |
+
|
| 31 |
+
|
| 32 |
+
@unittest.skipUnless(
|
| 33 |
+
_render.BACKEND == _render.constants.GLFW[0],
|
| 34 |
+
reason='GLFW beckend not selected.')
|
| 35 |
+
class GLFWContextTest(absltest.TestCase):
|
| 36 |
+
|
| 37 |
+
def test_init(self):
|
| 38 |
+
mock_context = mock.MagicMock()
|
| 39 |
+
with mock.patch(CONTEXT_PATH) as mock_glfw:
|
| 40 |
+
mock_glfw.create_window.return_value = mock_context
|
| 41 |
+
renderer = _render.Renderer(MAX_WIDTH, MAX_HEIGHT)
|
| 42 |
+
self.assertIs(renderer._context, mock_context)
|
| 43 |
+
|
| 44 |
+
def test_make_current(self):
|
| 45 |
+
mock_context = mock.MagicMock()
|
| 46 |
+
with mock.patch(CONTEXT_PATH) as mock_glfw:
|
| 47 |
+
mock_glfw.create_window.return_value = mock_context
|
| 48 |
+
renderer = _render.Renderer(MAX_WIDTH, MAX_HEIGHT)
|
| 49 |
+
with renderer.make_current():
|
| 50 |
+
pass
|
| 51 |
+
mock_glfw.make_context_current.assert_called_once_with(mock_context)
|
| 52 |
+
|
| 53 |
+
def test_freeing(self):
|
| 54 |
+
mock_context = mock.MagicMock()
|
| 55 |
+
with mock.patch(CONTEXT_PATH) as mock_glfw:
|
| 56 |
+
mock_glfw.create_window.return_value = mock_context
|
| 57 |
+
renderer = _render.Renderer(MAX_WIDTH, MAX_HEIGHT)
|
| 58 |
+
renderer.free()
|
| 59 |
+
mock_glfw.destroy_window.assert_called_once_with(mock_context)
|
| 60 |
+
self.assertIsNone(renderer._context)
|
| 61 |
+
|
| 62 |
+
@decorators.run_threaded(num_threads=1, calls_per_thread=20)
|
| 63 |
+
def test_repeatedly_create_and_destroy_context(self):
|
| 64 |
+
renderer = _render.Renderer(MAX_WIDTH, MAX_HEIGHT)
|
| 65 |
+
wrapper.MjrContext(wrapper.MjModel.from_xml_string('<mujoco/>'), renderer)
|
| 66 |
+
|
| 67 |
+
if __name__ == '__main__':
|
| 68 |
+
absltest.main()
|
data/dm_control/_render/pyopengl/__init__.py
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2018 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
data/dm_control/_render/pyopengl/egl_ext.py
ADDED
|
@@ -0,0 +1,74 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2018 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""Extends OpenGL.EGL with definitions necessary for headless rendering."""
|
| 17 |
+
|
| 18 |
+
import ctypes
|
| 19 |
+
from OpenGL.platform import ctypesloader # pylint: disable=g-bad-import-order
|
| 20 |
+
try:
|
| 21 |
+
# Nvidia driver seems to need libOpenGL.so (as opposed to libGL.so)
|
| 22 |
+
# for multithreading to work properly. We load this in before everything else.
|
| 23 |
+
ctypesloader.loadLibrary(ctypes.cdll, 'OpenGL', mode=ctypes.RTLD_GLOBAL)
|
| 24 |
+
except OSError:
|
| 25 |
+
pass
|
| 26 |
+
|
| 27 |
+
# pylint: disable=g-import-not-at-top
|
| 28 |
+
|
| 29 |
+
from OpenGL import EGL
|
| 30 |
+
from OpenGL import error
|
| 31 |
+
|
| 32 |
+
|
| 33 |
+
# From the EGL_EXT_device_enumeration extension.
|
| 34 |
+
PFNEGLQUERYDEVICESEXTPROC = ctypes.CFUNCTYPE(
|
| 35 |
+
EGL.EGLBoolean,
|
| 36 |
+
EGL.EGLint,
|
| 37 |
+
ctypes.POINTER(EGL.EGLDeviceEXT),
|
| 38 |
+
ctypes.POINTER(EGL.EGLint),
|
| 39 |
+
)
|
| 40 |
+
try:
|
| 41 |
+
_eglQueryDevicesEXT = PFNEGLQUERYDEVICESEXTPROC( # pylint: disable=invalid-name
|
| 42 |
+
EGL.eglGetProcAddress('eglQueryDevicesEXT'))
|
| 43 |
+
except TypeError:
|
| 44 |
+
raise ImportError('eglQueryDevicesEXT is not available.')
|
| 45 |
+
|
| 46 |
+
|
| 47 |
+
# From the EGL_EXT_platform_device extension.
|
| 48 |
+
EGL_PLATFORM_DEVICE_EXT = 0x313F
|
| 49 |
+
PFNEGLGETPLATFORMDISPLAYEXTPROC = ctypes.CFUNCTYPE(
|
| 50 |
+
EGL.EGLDisplay, EGL.EGLenum, ctypes.c_void_p, ctypes.POINTER(EGL.EGLint))
|
| 51 |
+
try:
|
| 52 |
+
eglGetPlatformDisplayEXT = PFNEGLGETPLATFORMDISPLAYEXTPROC( # pylint: disable=invalid-name
|
| 53 |
+
EGL.eglGetProcAddress('eglGetPlatformDisplayEXT'))
|
| 54 |
+
except TypeError:
|
| 55 |
+
raise ImportError('eglGetPlatformDisplayEXT is not available.')
|
| 56 |
+
|
| 57 |
+
|
| 58 |
+
# Wrap raw _eglQueryDevicesEXT function into something more Pythonic.
|
| 59 |
+
def eglQueryDevicesEXT(max_devices=10): # pylint: disable=invalid-name
|
| 60 |
+
devices = (EGL.EGLDeviceEXT * max_devices)()
|
| 61 |
+
num_devices = EGL.EGLint()
|
| 62 |
+
success = _eglQueryDevicesEXT(max_devices, devices, num_devices)
|
| 63 |
+
if success == EGL.EGL_TRUE:
|
| 64 |
+
return [devices[i] for i in range(num_devices.value)]
|
| 65 |
+
else:
|
| 66 |
+
raise error.GLError(err=EGL.eglGetError(),
|
| 67 |
+
baseOperation=eglQueryDevicesEXT,
|
| 68 |
+
result=success)
|
| 69 |
+
|
| 70 |
+
|
| 71 |
+
# Expose everything from upstream so that
|
| 72 |
+
# we can use this as a drop-in replacement for OpenGL.EGL.
|
| 73 |
+
# pylint: disable=wildcard-import,g-bad-import-order
|
| 74 |
+
from OpenGL.EGL import *
|
data/dm_control/_render/pyopengl/egl_renderer.py
ADDED
|
@@ -0,0 +1,140 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2018 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""An OpenGL renderer backed by EGL, provided through PyOpenGL."""
|
| 17 |
+
|
| 18 |
+
import atexit
|
| 19 |
+
import ctypes
|
| 20 |
+
import os
|
| 21 |
+
|
| 22 |
+
from dm_control._render import base
|
| 23 |
+
from dm_control._render import constants
|
| 24 |
+
from dm_control._render import executor
|
| 25 |
+
|
| 26 |
+
PYOPENGL_PLATFORM = os.environ.get(constants.PYOPENGL_PLATFORM)
|
| 27 |
+
|
| 28 |
+
if not PYOPENGL_PLATFORM:
|
| 29 |
+
os.environ[constants.PYOPENGL_PLATFORM] = constants.EGL[0]
|
| 30 |
+
elif PYOPENGL_PLATFORM != constants.EGL[0]:
|
| 31 |
+
raise ImportError(
|
| 32 |
+
'Cannot use EGL rendering platform. '
|
| 33 |
+
'The PYOPENGL_PLATFORM environment variable is set to {!r} '
|
| 34 |
+
'(should be either unset or {!r}).'
|
| 35 |
+
.format(PYOPENGL_PLATFORM, constants.EGL[0]))
|
| 36 |
+
|
| 37 |
+
|
| 38 |
+
# pylint: disable=g-import-not-at-top
|
| 39 |
+
from dm_control._render.pyopengl import egl_ext as EGL
|
| 40 |
+
from OpenGL import error
|
| 41 |
+
|
| 42 |
+
|
| 43 |
+
def create_initialized_headless_egl_display():
|
| 44 |
+
"""Creates an initialized EGL display directly on a device."""
|
| 45 |
+
all_devices = EGL.eglQueryDevicesEXT()
|
| 46 |
+
selected_device = os.environ.get('MUJOCO_EGL_DEVICE_ID', None)
|
| 47 |
+
if selected_device is None:
|
| 48 |
+
candidates = all_devices
|
| 49 |
+
else:
|
| 50 |
+
device_idx = int(selected_device)
|
| 51 |
+
if not 0 <= device_idx < len(all_devices):
|
| 52 |
+
raise RuntimeError(
|
| 53 |
+
f'MUJOCO_EGL_DEVICE_ID must be an integer between 0 and '
|
| 54 |
+
f'{len(all_devices) - 1} (inclusive), got {device_idx}.')
|
| 55 |
+
candidates = all_devices[device_idx:device_idx + 1]
|
| 56 |
+
for device in candidates:
|
| 57 |
+
display = EGL.eglGetPlatformDisplayEXT(
|
| 58 |
+
EGL.EGL_PLATFORM_DEVICE_EXT, device, None)
|
| 59 |
+
if display != EGL.EGL_NO_DISPLAY and EGL.eglGetError() == EGL.EGL_SUCCESS:
|
| 60 |
+
# `eglInitialize` may or may not raise an exception on failure depending
|
| 61 |
+
# on how PyOpenGL is configured. We therefore catch a `GLError` and also
|
| 62 |
+
# manually check the output of `eglGetError()` here.
|
| 63 |
+
try:
|
| 64 |
+
initialized = EGL.eglInitialize(display, None, None)
|
| 65 |
+
except error.GLError:
|
| 66 |
+
pass
|
| 67 |
+
else:
|
| 68 |
+
if initialized == EGL.EGL_TRUE and EGL.eglGetError() == EGL.EGL_SUCCESS:
|
| 69 |
+
return display
|
| 70 |
+
return EGL.EGL_NO_DISPLAY
|
| 71 |
+
|
| 72 |
+
|
| 73 |
+
EGL_DISPLAY = create_initialized_headless_egl_display()
|
| 74 |
+
if EGL_DISPLAY == EGL.EGL_NO_DISPLAY:
|
| 75 |
+
raise ImportError('Cannot initialize a headless EGL display.')
|
| 76 |
+
atexit.register(EGL.eglTerminate, EGL_DISPLAY)
|
| 77 |
+
|
| 78 |
+
|
| 79 |
+
EGL_ATTRIBUTES = (
|
| 80 |
+
EGL.EGL_RED_SIZE, 8,
|
| 81 |
+
EGL.EGL_GREEN_SIZE, 8,
|
| 82 |
+
EGL.EGL_BLUE_SIZE, 8,
|
| 83 |
+
EGL.EGL_ALPHA_SIZE, 8,
|
| 84 |
+
EGL.EGL_DEPTH_SIZE, 24,
|
| 85 |
+
EGL.EGL_STENCIL_SIZE, 8,
|
| 86 |
+
EGL.EGL_COLOR_BUFFER_TYPE, EGL.EGL_RGB_BUFFER,
|
| 87 |
+
EGL.EGL_SURFACE_TYPE, EGL.EGL_PBUFFER_BIT,
|
| 88 |
+
EGL.EGL_RENDERABLE_TYPE, EGL.EGL_OPENGL_BIT,
|
| 89 |
+
EGL.EGL_NONE
|
| 90 |
+
)
|
| 91 |
+
|
| 92 |
+
|
| 93 |
+
class EGLContext(base.ContextBase):
|
| 94 |
+
"""An OpenGL context backed by EGL."""
|
| 95 |
+
|
| 96 |
+
def __init__(self, max_width, max_height):
|
| 97 |
+
# EGLContext currently only works with `PassthroughRenderExecutor`.
|
| 98 |
+
# TODO(b/110927854) Make this work with the offloading executor.
|
| 99 |
+
self._context = None
|
| 100 |
+
super().__init__(max_width, max_height, executor.PassthroughRenderExecutor)
|
| 101 |
+
|
| 102 |
+
def _platform_init(self, unused_max_width, unused_max_height):
|
| 103 |
+
"""Initialization this EGL context."""
|
| 104 |
+
num_configs = ctypes.c_long(0)
|
| 105 |
+
config_size = 1
|
| 106 |
+
# ctypes syntax for making an array of length config_size.
|
| 107 |
+
configs = (EGL.EGLConfig * config_size)()
|
| 108 |
+
EGL.eglReleaseThread()
|
| 109 |
+
EGL.eglChooseConfig(
|
| 110 |
+
EGL_DISPLAY,
|
| 111 |
+
EGL_ATTRIBUTES,
|
| 112 |
+
configs,
|
| 113 |
+
config_size,
|
| 114 |
+
num_configs)
|
| 115 |
+
if num_configs.value < 1:
|
| 116 |
+
raise RuntimeError(
|
| 117 |
+
'EGL failed to find a framebuffer configuration that matches the '
|
| 118 |
+
'desired attributes: {}'.format(EGL_ATTRIBUTES))
|
| 119 |
+
EGL.eglBindAPI(EGL.EGL_OPENGL_API)
|
| 120 |
+
self._context = EGL.eglCreateContext(
|
| 121 |
+
EGL_DISPLAY, configs[0], EGL.EGL_NO_CONTEXT, None)
|
| 122 |
+
if not self._context:
|
| 123 |
+
raise RuntimeError('Cannot create an EGL context.')
|
| 124 |
+
|
| 125 |
+
def _platform_make_current(self):
|
| 126 |
+
if self._context:
|
| 127 |
+
success = EGL.eglMakeCurrent(
|
| 128 |
+
EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, self._context)
|
| 129 |
+
if not success:
|
| 130 |
+
raise RuntimeError('Failed to make the EGL context current.')
|
| 131 |
+
|
| 132 |
+
def _platform_free(self):
|
| 133 |
+
"""Frees resources associated with this context."""
|
| 134 |
+
if self._context:
|
| 135 |
+
current_context = EGL.eglGetCurrentContext()
|
| 136 |
+
if current_context and self._context.address == current_context.address:
|
| 137 |
+
EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE,
|
| 138 |
+
EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
|
| 139 |
+
EGL.eglDestroyContext(EGL_DISPLAY, self._context)
|
| 140 |
+
self._context = None
|
data/dm_control/_render/pyopengl/osmesa_renderer.py
ADDED
|
@@ -0,0 +1,86 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2018 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""An OpenGL renderer backed by OSMesa."""
|
| 17 |
+
|
| 18 |
+
import os
|
| 19 |
+
|
| 20 |
+
from dm_control._render import base
|
| 21 |
+
from dm_control._render import constants
|
| 22 |
+
|
| 23 |
+
PYOPENGL_PLATFORM = os.environ.get(constants.PYOPENGL_PLATFORM)
|
| 24 |
+
|
| 25 |
+
if not PYOPENGL_PLATFORM:
|
| 26 |
+
os.environ[constants.PYOPENGL_PLATFORM] = constants.OSMESA[0]
|
| 27 |
+
elif PYOPENGL_PLATFORM != constants.OSMESA[0]:
|
| 28 |
+
raise ImportError(
|
| 29 |
+
'Cannot use OSMesa rendering platform. '
|
| 30 |
+
'The PYOPENGL_PLATFORM environment variable is set to {!r} '
|
| 31 |
+
'(should be either unset or {!r}).'
|
| 32 |
+
.format(PYOPENGL_PLATFORM, constants.OSMESA[0]))
|
| 33 |
+
|
| 34 |
+
# pylint: disable=g-import-not-at-top
|
| 35 |
+
from OpenGL import GL
|
| 36 |
+
from OpenGL import osmesa
|
| 37 |
+
from OpenGL.GL import arrays
|
| 38 |
+
|
| 39 |
+
_DEPTH_BITS = 24
|
| 40 |
+
_STENCIL_BITS = 8
|
| 41 |
+
_ACCUM_BITS = 0
|
| 42 |
+
|
| 43 |
+
|
| 44 |
+
class OSMesaContext(base.ContextBase):
|
| 45 |
+
"""An OpenGL context backed by OSMesa."""
|
| 46 |
+
|
| 47 |
+
def __init__(self, *args, **kwargs):
|
| 48 |
+
self._context = None
|
| 49 |
+
super().__init__(*args, **kwargs)
|
| 50 |
+
|
| 51 |
+
def _platform_init(self, max_width, max_height):
|
| 52 |
+
"""Initializes this OSMesa context."""
|
| 53 |
+
self._context = osmesa.OSMesaCreateContextExt(
|
| 54 |
+
osmesa.OSMESA_RGBA,
|
| 55 |
+
_DEPTH_BITS,
|
| 56 |
+
_STENCIL_BITS,
|
| 57 |
+
_ACCUM_BITS,
|
| 58 |
+
None, # sharelist
|
| 59 |
+
)
|
| 60 |
+
if not self._context:
|
| 61 |
+
raise RuntimeError('Failed to create OSMesa GL context.')
|
| 62 |
+
|
| 63 |
+
self._height = max_height
|
| 64 |
+
self._width = max_width
|
| 65 |
+
|
| 66 |
+
# Allocate a buffer to render into.
|
| 67 |
+
self._buffer = arrays.GLfloatArray.zeros((max_height, max_width, 4))
|
| 68 |
+
|
| 69 |
+
def _platform_make_current(self):
|
| 70 |
+
if self._context:
|
| 71 |
+
success = osmesa.OSMesaMakeCurrent(
|
| 72 |
+
self._context,
|
| 73 |
+
self._buffer,
|
| 74 |
+
GL.GL_FLOAT,
|
| 75 |
+
self._width,
|
| 76 |
+
self._height)
|
| 77 |
+
if not success:
|
| 78 |
+
raise RuntimeError('Failed to make OSMesa context current.')
|
| 79 |
+
|
| 80 |
+
def _platform_free(self):
|
| 81 |
+
"""Frees resources associated with this context."""
|
| 82 |
+
if self._context and self._context == osmesa.OSMesaGetCurrentContext():
|
| 83 |
+
osmesa.OSMesaMakeCurrent(None, None, GL.GL_FLOAT, 0, 0)
|
| 84 |
+
osmesa.OSMesaDestroyContext(self._context)
|
| 85 |
+
self._buffer = None
|
| 86 |
+
self._context = None
|
data/dm_control/_render/pyopengl/osmesa_renderer_test.py
ADDED
|
@@ -0,0 +1,70 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2018 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""Tests for OSMesaContext."""
|
| 17 |
+
|
| 18 |
+
import unittest
|
| 19 |
+
|
| 20 |
+
from absl.testing import absltest
|
| 21 |
+
from dm_control import _render
|
| 22 |
+
import mock
|
| 23 |
+
from OpenGL import GL
|
| 24 |
+
|
| 25 |
+
MAX_WIDTH = 640
|
| 26 |
+
MAX_HEIGHT = 480
|
| 27 |
+
|
| 28 |
+
CONTEXT_PATH = _render.__name__ + '.pyopengl.osmesa_renderer.osmesa'
|
| 29 |
+
GL_ARRAYS_PATH = _render.__name__ + '.pyopengl.osmesa_renderer.arrays'
|
| 30 |
+
|
| 31 |
+
|
| 32 |
+
@unittest.skipUnless(
|
| 33 |
+
_render.BACKEND == _render.constants.OSMESA,
|
| 34 |
+
reason='OSMesa backend not selected.')
|
| 35 |
+
class OSMesaContextTest(absltest.TestCase):
|
| 36 |
+
|
| 37 |
+
def test_init(self):
|
| 38 |
+
mock_context = mock.MagicMock()
|
| 39 |
+
with mock.patch(CONTEXT_PATH) as mock_osmesa:
|
| 40 |
+
mock_osmesa.OSMesaCreateContextExt.return_value = mock_context
|
| 41 |
+
renderer = _render.Renderer(MAX_WIDTH, MAX_HEIGHT)
|
| 42 |
+
self.assertIs(renderer._context, mock_context)
|
| 43 |
+
renderer.free()
|
| 44 |
+
|
| 45 |
+
def test_make_current(self):
|
| 46 |
+
mock_context = mock.MagicMock()
|
| 47 |
+
mock_buffer = mock.MagicMock()
|
| 48 |
+
with mock.patch(CONTEXT_PATH) as mock_osmesa:
|
| 49 |
+
with mock.patch(GL_ARRAYS_PATH) as mock_glarrays:
|
| 50 |
+
mock_osmesa.OSMesaCreateContextExt.return_value = mock_context
|
| 51 |
+
mock_glarrays.GLfloatArray.zeros.return_value = mock_buffer
|
| 52 |
+
renderer = _render.Renderer(MAX_WIDTH, MAX_HEIGHT)
|
| 53 |
+
with renderer.make_current():
|
| 54 |
+
pass
|
| 55 |
+
mock_osmesa.OSMesaMakeCurrent.assert_called_once_with(
|
| 56 |
+
mock_context, mock_buffer, GL.GL_FLOAT, MAX_WIDTH, MAX_HEIGHT)
|
| 57 |
+
renderer.free()
|
| 58 |
+
|
| 59 |
+
def test_freeing(self):
|
| 60 |
+
mock_context = mock.MagicMock()
|
| 61 |
+
with mock.patch(CONTEXT_PATH) as mock_osmesa:
|
| 62 |
+
mock_osmesa.OSMesaCreateContextExt.return_value = mock_context
|
| 63 |
+
renderer = _render.Renderer(MAX_WIDTH, MAX_HEIGHT)
|
| 64 |
+
renderer.free()
|
| 65 |
+
mock_osmesa.OSMesaDestroyContext.assert_called_once_with(mock_context)
|
| 66 |
+
self.assertIsNone(renderer._context)
|
| 67 |
+
|
| 68 |
+
|
| 69 |
+
if __name__ == '__main__':
|
| 70 |
+
absltest.main()
|
data/dm_control/autowrap/__init__.py
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2017 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
data/dm_control/autowrap/autowrap.py
ADDED
|
@@ -0,0 +1,126 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2017 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
r"""Automatically generates ctypes Python bindings for MuJoCo.
|
| 17 |
+
|
| 18 |
+
Parses the following MuJoCo header files:
|
| 19 |
+
|
| 20 |
+
mjdata.h
|
| 21 |
+
mjmodel.h
|
| 22 |
+
mjrender.h
|
| 23 |
+
mjui.h
|
| 24 |
+
mjvisualize.h
|
| 25 |
+
mjxmacro.h
|
| 26 |
+
mujoco.h;
|
| 27 |
+
|
| 28 |
+
generates the following Python source files:
|
| 29 |
+
|
| 30 |
+
constants.py: constants
|
| 31 |
+
enums.py: enums
|
| 32 |
+
sizes.py: size information for dynamically-shaped arrays
|
| 33 |
+
|
| 34 |
+
Example usage:
|
| 35 |
+
|
| 36 |
+
autowrap --header_paths='/path/to/mjmodel.h /path/to/mjdata.h ...' \
|
| 37 |
+
--output_dir=/path/to/mjbindings
|
| 38 |
+
"""
|
| 39 |
+
|
| 40 |
+
import collections
|
| 41 |
+
import io
|
| 42 |
+
import os
|
| 43 |
+
|
| 44 |
+
from absl import app
|
| 45 |
+
from absl import flags
|
| 46 |
+
from absl import logging
|
| 47 |
+
from dm_control.autowrap import binding_generator
|
| 48 |
+
from dm_control.autowrap import codegen_util
|
| 49 |
+
|
| 50 |
+
_MJMODEL_H = "mjmodel.h"
|
| 51 |
+
_MJXMACRO_H = "mjxmacro.h"
|
| 52 |
+
|
| 53 |
+
FLAGS = flags.FLAGS
|
| 54 |
+
|
| 55 |
+
flags.DEFINE_spaceseplist(
|
| 56 |
+
"header_paths", None,
|
| 57 |
+
"Space-separated list of paths to MuJoCo header files.")
|
| 58 |
+
|
| 59 |
+
flags.DEFINE_string("output_dir", None,
|
| 60 |
+
"Path to output directory for wrapper source files.")
|
| 61 |
+
|
| 62 |
+
|
| 63 |
+
def main(unused_argv):
|
| 64 |
+
special_header_paths = {}
|
| 65 |
+
|
| 66 |
+
# Get the path to the mjmodel and mjxmacro header files.
|
| 67 |
+
# These header files need special handling.
|
| 68 |
+
for header in (_MJMODEL_H, _MJXMACRO_H):
|
| 69 |
+
for path in FLAGS.header_paths:
|
| 70 |
+
if path.endswith(header):
|
| 71 |
+
special_header_paths[header] = path
|
| 72 |
+
break
|
| 73 |
+
if header not in special_header_paths:
|
| 74 |
+
logging.fatal("List of inputs must contain a path to %s", header)
|
| 75 |
+
|
| 76 |
+
# Make sure mjmodel.h is parsed first, since it is included by other headers.
|
| 77 |
+
srcs = codegen_util.UniqueOrderedDict()
|
| 78 |
+
sorted_header_paths = sorted(FLAGS.header_paths)
|
| 79 |
+
sorted_header_paths.remove(special_header_paths[_MJMODEL_H])
|
| 80 |
+
sorted_header_paths.insert(0, special_header_paths[_MJMODEL_H])
|
| 81 |
+
for p in sorted_header_paths:
|
| 82 |
+
with io.open(p, "r", errors="ignore") as f:
|
| 83 |
+
srcs[p] = f.read()
|
| 84 |
+
|
| 85 |
+
# consts_dict should be a codegen_util.UniqueOrderedDict.
|
| 86 |
+
# This is a temporary workaround due to the fact that the parser does not yet
|
| 87 |
+
# handle nested `#if define(predicate)` blocks, which results in some
|
| 88 |
+
# constants being parsed twice. We therefore can't enforce the uniqueness of
|
| 89 |
+
# the keys in `consts_dict`. As of MuJoCo v1.30 there is only a single problem
|
| 90 |
+
# block beginning on line 10 in mujoco.h, and a single constant is affected
|
| 91 |
+
# (MJAPI).
|
| 92 |
+
consts_dict = collections.OrderedDict()
|
| 93 |
+
|
| 94 |
+
# These are commented in `mjdata.h` but have no macros in `mjxmacro.h`.
|
| 95 |
+
hints_dict = codegen_util.UniqueOrderedDict({"buffer": ("nbuffer",),
|
| 96 |
+
"stack": ("narena",)})
|
| 97 |
+
|
| 98 |
+
parser = binding_generator.BindingGenerator(
|
| 99 |
+
consts_dict=consts_dict, hints_dict=hints_dict)
|
| 100 |
+
|
| 101 |
+
# Parse enums.
|
| 102 |
+
for pth, src in srcs.items():
|
| 103 |
+
if pth is not special_header_paths[_MJXMACRO_H]:
|
| 104 |
+
parser.parse_enums(src)
|
| 105 |
+
|
| 106 |
+
# Parse constants and type declarations.
|
| 107 |
+
for pth, src in srcs.items():
|
| 108 |
+
if pth is not special_header_paths[_MJXMACRO_H]:
|
| 109 |
+
parser.parse_consts_typedefs(src)
|
| 110 |
+
|
| 111 |
+
# Get shape hints from mjxmacro.h.
|
| 112 |
+
parser.parse_hints(srcs[special_header_paths[_MJXMACRO_H]])
|
| 113 |
+
|
| 114 |
+
# Create the output directory if it doesn't already exist.
|
| 115 |
+
if not os.path.exists(FLAGS.output_dir):
|
| 116 |
+
os.makedirs(FLAGS.output_dir)
|
| 117 |
+
|
| 118 |
+
# Generate Python source files and write them to the output directory.
|
| 119 |
+
parser.write_consts(os.path.join(FLAGS.output_dir, "constants.py"))
|
| 120 |
+
parser.write_enums(os.path.join(FLAGS.output_dir, "enums.py"))
|
| 121 |
+
parser.write_index_dict(os.path.join(FLAGS.output_dir, "sizes.py"))
|
| 122 |
+
|
| 123 |
+
if __name__ == "__main__":
|
| 124 |
+
flags.mark_flag_as_required("header_paths")
|
| 125 |
+
flags.mark_flag_as_required("output_dir")
|
| 126 |
+
app.run(main)
|
data/dm_control/autowrap/binding_generator.py
ADDED
|
@@ -0,0 +1,296 @@
|
|
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|
|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2017 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""Parses MuJoCo header files and generates Python bindings."""
|
| 17 |
+
|
| 18 |
+
import os
|
| 19 |
+
import pprint
|
| 20 |
+
import textwrap
|
| 21 |
+
|
| 22 |
+
from absl import logging
|
| 23 |
+
from dm_control.autowrap import codegen_util
|
| 24 |
+
from dm_control.autowrap import header_parsing
|
| 25 |
+
import pyparsing
|
| 26 |
+
|
| 27 |
+
|
| 28 |
+
class BindingGenerator:
|
| 29 |
+
"""Parses declarations from MuJoCo headers and generates Python bindings."""
|
| 30 |
+
|
| 31 |
+
def __init__(self,
|
| 32 |
+
enums_dict=None,
|
| 33 |
+
consts_dict=None,
|
| 34 |
+
typedefs_dict=None,
|
| 35 |
+
hints_dict=None,
|
| 36 |
+
index_dict=None):
|
| 37 |
+
"""Constructs a new HeaderParser instance.
|
| 38 |
+
|
| 39 |
+
The optional arguments listed below can be used to passing in dict-like
|
| 40 |
+
objects specifying pre-defined declarations. By default empty
|
| 41 |
+
UniqueOrderedDicts will be instantiated and then populated according to the
|
| 42 |
+
contents of the headers.
|
| 43 |
+
|
| 44 |
+
Args:
|
| 45 |
+
enums_dict: Nested mappings from {enum_name: {member_name: value}}.
|
| 46 |
+
consts_dict: Mapping from {const_name: value}.
|
| 47 |
+
typedefs_dict: Mapping from {type_name: ctypes_typename}.
|
| 48 |
+
hints_dict: Mapping from {var_name: shape_tuple}.
|
| 49 |
+
index_dict: Mapping from {lowercase_struct_name: {var_name: shape_tuple}}.
|
| 50 |
+
"""
|
| 51 |
+
self.enums_dict = (enums_dict if enums_dict is not None
|
| 52 |
+
else codegen_util.UniqueOrderedDict())
|
| 53 |
+
self.consts_dict = (consts_dict if consts_dict is not None
|
| 54 |
+
else codegen_util.UniqueOrderedDict())
|
| 55 |
+
self.typedefs_dict = (typedefs_dict if typedefs_dict is not None
|
| 56 |
+
else codegen_util.UniqueOrderedDict())
|
| 57 |
+
self.hints_dict = (hints_dict if hints_dict is not None
|
| 58 |
+
else codegen_util.UniqueOrderedDict())
|
| 59 |
+
self.index_dict = (index_dict if index_dict is not None
|
| 60 |
+
else codegen_util.UniqueOrderedDict())
|
| 61 |
+
|
| 62 |
+
def get_consts_and_enums(self):
|
| 63 |
+
consts_and_enums = self.consts_dict.copy()
|
| 64 |
+
for enum in self.enums_dict.values():
|
| 65 |
+
consts_and_enums.update(enum)
|
| 66 |
+
return consts_and_enums
|
| 67 |
+
|
| 68 |
+
def resolve_size(self, old_size):
|
| 69 |
+
"""Resolves an array size identifier.
|
| 70 |
+
|
| 71 |
+
The following conversions will be attempted:
|
| 72 |
+
|
| 73 |
+
* If `old_size` is an integer it will be returned as-is.
|
| 74 |
+
* If `old_size` is a string of the form `"3"` it will be cast to an int.
|
| 75 |
+
* If `old_size` is a string in `self.consts_dict` then the value of the
|
| 76 |
+
constant will be returned.
|
| 77 |
+
* If `old_size` is a string of the form `"3*constant_name"` then the
|
| 78 |
+
result of `3*constant_value` will be returned.
|
| 79 |
+
* If `old_size` is a string that does not specify an int constant and
|
| 80 |
+
cannot be cast to an int (e.g. an identifier for a dynamic dimension,
|
| 81 |
+
such as `"ncontact"`) then it will be returned as-is.
|
| 82 |
+
|
| 83 |
+
Args:
|
| 84 |
+
old_size: An int or string.
|
| 85 |
+
|
| 86 |
+
Returns:
|
| 87 |
+
An int or string.
|
| 88 |
+
"""
|
| 89 |
+
if isinstance(old_size, int):
|
| 90 |
+
return old_size # If it's already an int then there's nothing left to do
|
| 91 |
+
elif "*" in old_size:
|
| 92 |
+
# If it's a string specifying a product (such as "2*mjMAXLINEPNT"),
|
| 93 |
+
# recursively resolve the components to ints and calculate the result.
|
| 94 |
+
size = 1
|
| 95 |
+
sizes = []
|
| 96 |
+
is_int = True
|
| 97 |
+
for part in old_size.split("*"):
|
| 98 |
+
dim = self.resolve_size(part)
|
| 99 |
+
sizes.append(dim)
|
| 100 |
+
if not isinstance(dim, int):
|
| 101 |
+
is_int = False
|
| 102 |
+
else:
|
| 103 |
+
size *= dim
|
| 104 |
+
if is_int:
|
| 105 |
+
return size
|
| 106 |
+
else:
|
| 107 |
+
return tuple(sizes)
|
| 108 |
+
else:
|
| 109 |
+
# Recursively dereference any sizes declared in header macros
|
| 110 |
+
size = codegen_util.recursive_dict_lookup(old_size,
|
| 111 |
+
self.get_consts_and_enums())
|
| 112 |
+
# Try to coerce the result to an int, return a string if this fails
|
| 113 |
+
return codegen_util.try_coerce_to_num(size, try_types=(int,))
|
| 114 |
+
|
| 115 |
+
def get_shape_tuple(self, old_size, squeeze=False):
|
| 116 |
+
"""Generates a shape tuple from parser results.
|
| 117 |
+
|
| 118 |
+
Args:
|
| 119 |
+
old_size: Either a `pyparsing.ParseResults`, or a valid int or string
|
| 120 |
+
input to `self.resolve_size` (see method docstring for further details).
|
| 121 |
+
squeeze: If True, any dimensions that are statically defined as 1 will be
|
| 122 |
+
removed from the shape tuple.
|
| 123 |
+
|
| 124 |
+
Returns:
|
| 125 |
+
A shape tuple containing ints for dimensions that are statically defined,
|
| 126 |
+
and string size identifiers for dimensions that can only be determined at
|
| 127 |
+
runtime.
|
| 128 |
+
"""
|
| 129 |
+
if isinstance(old_size, pyparsing.ParseResults):
|
| 130 |
+
# For multi-dimensional arrays, convert each dimension separately
|
| 131 |
+
shape = tuple(self.resolve_size(dim) for dim in old_size)
|
| 132 |
+
else:
|
| 133 |
+
shape = (self.resolve_size(old_size),)
|
| 134 |
+
if squeeze:
|
| 135 |
+
shape = tuple(d for d in shape if d != 1) # Remove singleton dimensions
|
| 136 |
+
return shape
|
| 137 |
+
|
| 138 |
+
def resolve_typename(self, old_ctypes_typename):
|
| 139 |
+
"""Gets a qualified ctypes typename from typedefs_dict and C_TO_CTYPES."""
|
| 140 |
+
|
| 141 |
+
# Recursively dereference any typenames declared in self.typedefs_dict
|
| 142 |
+
new_ctypes_typename = codegen_util.recursive_dict_lookup(
|
| 143 |
+
old_ctypes_typename, self.typedefs_dict)
|
| 144 |
+
|
| 145 |
+
# Try to convert to a ctypes native typename
|
| 146 |
+
new_ctypes_typename = header_parsing.C_TO_CTYPES.get(
|
| 147 |
+
new_ctypes_typename, new_ctypes_typename)
|
| 148 |
+
|
| 149 |
+
if new_ctypes_typename == old_ctypes_typename:
|
| 150 |
+
logging.warning("Could not resolve typename '%s'", old_ctypes_typename)
|
| 151 |
+
|
| 152 |
+
return new_ctypes_typename
|
| 153 |
+
|
| 154 |
+
# Parsing functions.
|
| 155 |
+
# ----------------------------------------------------------------------------
|
| 156 |
+
|
| 157 |
+
def parse_hints(self, xmacro_src):
|
| 158 |
+
"""Parses mjxmacro.h, update self.hints_dict."""
|
| 159 |
+
parser = header_parsing.XMACRO
|
| 160 |
+
for tokens, _, _ in parser.scanString(xmacro_src):
|
| 161 |
+
for xmacro in tokens:
|
| 162 |
+
if not (
|
| 163 |
+
xmacro.name.startswith("MJMODEL")
|
| 164 |
+
or xmacro.name.startswith("MJDATA")
|
| 165 |
+
):
|
| 166 |
+
continue
|
| 167 |
+
for member in xmacro.members:
|
| 168 |
+
if not hasattr(member, "name") or not member.name:
|
| 169 |
+
continue
|
| 170 |
+
# "Squeeze out" singleton dimensions.
|
| 171 |
+
shape = self.get_shape_tuple(member.dims, squeeze=True)
|
| 172 |
+
self.hints_dict.update({member.name: shape})
|
| 173 |
+
|
| 174 |
+
if codegen_util.is_macro_pointer(xmacro.name):
|
| 175 |
+
struct_name = codegen_util.macro_struct_name(xmacro.name)
|
| 176 |
+
if struct_name not in self.index_dict:
|
| 177 |
+
self.index_dict[struct_name] = {}
|
| 178 |
+
|
| 179 |
+
self.index_dict[struct_name].update({member.name: shape})
|
| 180 |
+
|
| 181 |
+
def parse_enums(self, src):
|
| 182 |
+
"""Parses mj*.h, update self.enums_dict."""
|
| 183 |
+
parser = header_parsing.ENUM_DECL
|
| 184 |
+
for tokens, _, _ in parser.scanString(src):
|
| 185 |
+
for enum in tokens:
|
| 186 |
+
members = codegen_util.UniqueOrderedDict()
|
| 187 |
+
value = 0
|
| 188 |
+
for member in enum.members:
|
| 189 |
+
# Leftward bitshift
|
| 190 |
+
if member.bit_lshift_a:
|
| 191 |
+
value = int(member.bit_lshift_a) << int(member.bit_lshift_b)
|
| 192 |
+
# Assignment
|
| 193 |
+
elif member.value:
|
| 194 |
+
value = int(member.value)
|
| 195 |
+
# Implicit count
|
| 196 |
+
else:
|
| 197 |
+
value += 1
|
| 198 |
+
members.update({member.name: value})
|
| 199 |
+
self.enums_dict.update({enum.name: members})
|
| 200 |
+
|
| 201 |
+
def parse_consts_typedefs(self, src):
|
| 202 |
+
"""Updates self.consts_dict, self.typedefs_dict."""
|
| 203 |
+
parser = (header_parsing.COND_DECL |
|
| 204 |
+
header_parsing.UNCOND_DECL)
|
| 205 |
+
for tokens, _, _ in parser.scanString(src):
|
| 206 |
+
self.recurse_into_conditionals(tokens)
|
| 207 |
+
|
| 208 |
+
def recurse_into_conditionals(self, tokens):
|
| 209 |
+
"""Called recursively within nested #if(n)def... #else... #endif blocks."""
|
| 210 |
+
for token in tokens:
|
| 211 |
+
# Another nested conditional block
|
| 212 |
+
if token.predicate:
|
| 213 |
+
if (token.predicate in self.get_consts_and_enums()
|
| 214 |
+
and self.get_consts_and_enums()[token.predicate]):
|
| 215 |
+
self.recurse_into_conditionals(token.if_true)
|
| 216 |
+
else:
|
| 217 |
+
self.recurse_into_conditionals(token.if_false)
|
| 218 |
+
# One or more declarations
|
| 219 |
+
else:
|
| 220 |
+
if token.typename:
|
| 221 |
+
self.typedefs_dict.update({token.name: token.typename})
|
| 222 |
+
elif token.value:
|
| 223 |
+
value = codegen_util.try_coerce_to_num(token.value)
|
| 224 |
+
# Avoid adding function aliases.
|
| 225 |
+
if isinstance(value, str):
|
| 226 |
+
continue
|
| 227 |
+
else:
|
| 228 |
+
self.consts_dict.update({token.name: value})
|
| 229 |
+
else:
|
| 230 |
+
self.consts_dict.update({token.name: True})
|
| 231 |
+
|
| 232 |
+
# Code generation methods
|
| 233 |
+
# ----------------------------------------------------------------------------
|
| 234 |
+
|
| 235 |
+
def make_header(self, imports=()):
|
| 236 |
+
"""Returns a header string for an auto-generated Python source file."""
|
| 237 |
+
docstring = textwrap.dedent("""
|
| 238 |
+
\"\"\"Automatically generated by {scriptname:}.
|
| 239 |
+
|
| 240 |
+
MuJoCo header version: {mujoco_version:}
|
| 241 |
+
\"\"\"
|
| 242 |
+
""".format(scriptname=os.path.split(__file__)[-1],
|
| 243 |
+
mujoco_version=self.consts_dict["mjVERSION_HEADER"]))
|
| 244 |
+
docstring = docstring[1:] # Strip the leading line break.
|
| 245 |
+
return "\n".join([docstring] + list(imports) + ["\n"])
|
| 246 |
+
|
| 247 |
+
def write_consts(self, fname):
|
| 248 |
+
"""Write constants."""
|
| 249 |
+
imports = [
|
| 250 |
+
"# pylint: disable=invalid-name",
|
| 251 |
+
]
|
| 252 |
+
with open(fname, "w") as f:
|
| 253 |
+
f.write(self.make_header(imports))
|
| 254 |
+
f.write(codegen_util.comment_line("Constants") + "\n")
|
| 255 |
+
for name, value in self.consts_dict.items():
|
| 256 |
+
f.write("{0} = {1}\n".format(name, value))
|
| 257 |
+
f.write("\n" + codegen_util.comment_line("End of generated code"))
|
| 258 |
+
|
| 259 |
+
def write_enums(self, fname):
|
| 260 |
+
"""Write enum definitions."""
|
| 261 |
+
with open(fname, "w") as f:
|
| 262 |
+
imports = [
|
| 263 |
+
"import collections",
|
| 264 |
+
"# pylint: disable=invalid-name",
|
| 265 |
+
"# pylint: disable=line-too-long",
|
| 266 |
+
]
|
| 267 |
+
f.write(self.make_header(imports))
|
| 268 |
+
f.write(codegen_util.comment_line("Enums"))
|
| 269 |
+
for enum_name, members in self.enums_dict.items():
|
| 270 |
+
fields = ["\"{}\"".format(name) for name in members.keys()]
|
| 271 |
+
values = [str(value) for value in members.values()]
|
| 272 |
+
s = textwrap.dedent("""
|
| 273 |
+
{0} = collections.namedtuple(
|
| 274 |
+
"{0}",
|
| 275 |
+
[{1}]
|
| 276 |
+
)({2})
|
| 277 |
+
""").format(enum_name, ",\n ".join(fields), ", ".join(values))
|
| 278 |
+
f.write(s)
|
| 279 |
+
f.write("\n" + codegen_util.comment_line("End of generated code"))
|
| 280 |
+
|
| 281 |
+
def write_index_dict(self, fname):
|
| 282 |
+
"""Write file containing array shape information for indexing."""
|
| 283 |
+
pp = pprint.PrettyPrinter()
|
| 284 |
+
output_string = pp.pformat(dict(self.index_dict))
|
| 285 |
+
indent = codegen_util.Indenter()
|
| 286 |
+
imports = [
|
| 287 |
+
"# pylint: disable=bad-continuation",
|
| 288 |
+
"# pylint: disable=line-too-long",
|
| 289 |
+
]
|
| 290 |
+
with open(fname, "w") as f:
|
| 291 |
+
f.write(self.make_header(imports))
|
| 292 |
+
f.write("array_sizes = (\n")
|
| 293 |
+
with indent:
|
| 294 |
+
f.write(output_string)
|
| 295 |
+
f.write("\n)")
|
| 296 |
+
f.write("\n" + codegen_util.comment_line("End of generated code"))
|
data/dm_control/autowrap/codegen_util.py
ADDED
|
@@ -0,0 +1,119 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2017 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""Misc helper functions needed by autowrap.py."""
|
| 17 |
+
|
| 18 |
+
import collections
|
| 19 |
+
|
| 20 |
+
_MJXMACRO_SUFFIX = "_POINTERS"
|
| 21 |
+
|
| 22 |
+
|
| 23 |
+
class Indenter:
|
| 24 |
+
r"""Callable context manager for tracking string indentation levels.
|
| 25 |
+
|
| 26 |
+
Example usage:
|
| 27 |
+
|
| 28 |
+
```python
|
| 29 |
+
idt = Indenter()
|
| 30 |
+
s = idt("level 0\n")
|
| 31 |
+
with idt:
|
| 32 |
+
s += idt("level 1\n")
|
| 33 |
+
with idt:
|
| 34 |
+
s += idt("level 2\n")
|
| 35 |
+
s += idt("level 1 again\n")
|
| 36 |
+
s += idt("back to level 0\n")
|
| 37 |
+
print(s)
|
| 38 |
+
```
|
| 39 |
+
"""
|
| 40 |
+
|
| 41 |
+
def __init__(self, level=0, indent_str=" "):
|
| 42 |
+
"""Initializes an Indenter.
|
| 43 |
+
|
| 44 |
+
Args:
|
| 45 |
+
level: The initial indentation level.
|
| 46 |
+
indent_str: The string used to indent each line.
|
| 47 |
+
"""
|
| 48 |
+
self.indent_str = indent_str
|
| 49 |
+
self.level = level
|
| 50 |
+
|
| 51 |
+
def __enter__(self):
|
| 52 |
+
self.level += 1
|
| 53 |
+
return self
|
| 54 |
+
|
| 55 |
+
def __exit__(self, type_, value, traceback):
|
| 56 |
+
self.level -= 1
|
| 57 |
+
|
| 58 |
+
def __call__(self, string):
|
| 59 |
+
return indent(string, self.level, self.indent_str)
|
| 60 |
+
|
| 61 |
+
|
| 62 |
+
def indent(s, n=1, indent_str=" "):
|
| 63 |
+
"""Inserts `n * indent_str` at the start of each non-empty line in `s`."""
|
| 64 |
+
p = n * indent_str
|
| 65 |
+
return "".join((p + l) if l.lstrip() else l for l in s.splitlines(True))
|
| 66 |
+
|
| 67 |
+
|
| 68 |
+
class UniqueOrderedDict(collections.OrderedDict):
|
| 69 |
+
"""Subclass of `OrderedDict` that enforces the uniqueness of keys."""
|
| 70 |
+
|
| 71 |
+
def __setitem__(self, k, v):
|
| 72 |
+
existing_v = self.get(k)
|
| 73 |
+
if existing_v is None:
|
| 74 |
+
super().__setitem__(k, v)
|
| 75 |
+
elif v != existing_v:
|
| 76 |
+
raise ValueError("Key '{}' already exists.".format(k))
|
| 77 |
+
|
| 78 |
+
|
| 79 |
+
def macro_struct_name(name, suffix=None):
|
| 80 |
+
"""Converts mjxmacro struct names, e.g. "MJDATA_POINTERS" to "mjdata"."""
|
| 81 |
+
if name.startswith("MJMODEL_POINTERS"):
|
| 82 |
+
return "mjmodel"
|
| 83 |
+
if suffix is None:
|
| 84 |
+
suffix = _MJXMACRO_SUFFIX
|
| 85 |
+
if name.endswith(suffix):
|
| 86 |
+
return name[:-len(suffix)].lower()
|
| 87 |
+
return name.lower()
|
| 88 |
+
|
| 89 |
+
|
| 90 |
+
def is_macro_pointer(name):
|
| 91 |
+
"""Returns True if the mjxmacro struct name contains pointer sizes."""
|
| 92 |
+
return name.endswith(_MJXMACRO_SUFFIX) or name.startswith("MJMODEL_POINTERS")
|
| 93 |
+
|
| 94 |
+
|
| 95 |
+
def try_coerce_to_num(s, try_types=(int, float)):
|
| 96 |
+
"""Try to coerce string to Python numeric type, return None if empty."""
|
| 97 |
+
if not s:
|
| 98 |
+
return None
|
| 99 |
+
for try_type in try_types:
|
| 100 |
+
try:
|
| 101 |
+
return try_type(s.rstrip("UuFf"))
|
| 102 |
+
except (ValueError, AttributeError):
|
| 103 |
+
continue
|
| 104 |
+
return s
|
| 105 |
+
|
| 106 |
+
|
| 107 |
+
def recursive_dict_lookup(key, try_dict, max_depth=10):
|
| 108 |
+
"""Recursively map dictionary keys to values."""
|
| 109 |
+
if max_depth < 0:
|
| 110 |
+
raise KeyError("Maximum recursion depth exceeded")
|
| 111 |
+
while key in try_dict:
|
| 112 |
+
key = try_dict[key]
|
| 113 |
+
return recursive_dict_lookup(key, try_dict, max_depth - 1)
|
| 114 |
+
return key
|
| 115 |
+
|
| 116 |
+
|
| 117 |
+
def comment_line(string, width=79, fill_char="-"):
|
| 118 |
+
"""Wraps `string` in a padded comment line."""
|
| 119 |
+
return "# {0:{2}^{1}}\n".format(string, width - 2, fill_char)
|
data/dm_control/autowrap/header_parsing.py
ADDED
|
@@ -0,0 +1,335 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2017 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""pyparsing definitions and helper functions for parsing MuJoCo headers."""
|
| 17 |
+
|
| 18 |
+
import pyparsing as pp
|
| 19 |
+
|
| 20 |
+
|
| 21 |
+
# NB: Don't enable parser memoization (`pp.ParserElement.enablePackrat()`),
|
| 22 |
+
# since this results in a ~6x slowdown.
|
| 23 |
+
|
| 24 |
+
|
| 25 |
+
NONE = "None"
|
| 26 |
+
CTYPES_CHAR = "ctypes.c_char"
|
| 27 |
+
|
| 28 |
+
C_TO_CTYPES = {
|
| 29 |
+
# integers
|
| 30 |
+
"int": "ctypes.c_int",
|
| 31 |
+
"unsigned int": "ctypes.c_uint",
|
| 32 |
+
"char": CTYPES_CHAR,
|
| 33 |
+
"unsigned char": "ctypes.c_ubyte",
|
| 34 |
+
"size_t": "ctypes.c_size_t",
|
| 35 |
+
# floats
|
| 36 |
+
"float": "ctypes.c_float",
|
| 37 |
+
"double": "ctypes.c_double",
|
| 38 |
+
# pointers
|
| 39 |
+
"void": NONE,
|
| 40 |
+
}
|
| 41 |
+
|
| 42 |
+
CTYPES_PTRS = {NONE: "ctypes.c_void_p"}
|
| 43 |
+
|
| 44 |
+
CTYPES_TO_NUMPY = {
|
| 45 |
+
# integers
|
| 46 |
+
"ctypes.c_int": "np.intc",
|
| 47 |
+
"ctypes.c_uint": "np.uintc",
|
| 48 |
+
"ctypes.c_ubyte": "np.ubyte",
|
| 49 |
+
# floats
|
| 50 |
+
"ctypes.c_float": "np.float32",
|
| 51 |
+
"ctypes.c_double": "np.float64",
|
| 52 |
+
}
|
| 53 |
+
|
| 54 |
+
# Helper functions for constructing recursive parsers.
|
| 55 |
+
# ------------------------------------------------------------------------------
|
| 56 |
+
|
| 57 |
+
|
| 58 |
+
def _nested_scopes(opening, closing, body):
|
| 59 |
+
"""Constructs a parser for (possibly nested) scopes."""
|
| 60 |
+
scope = pp.Forward()
|
| 61 |
+
scope << pp.Group( # pylint: disable=expression-not-assigned
|
| 62 |
+
opening +
|
| 63 |
+
pp.ZeroOrMore(body | scope)("members") +
|
| 64 |
+
closing)
|
| 65 |
+
return scope
|
| 66 |
+
|
| 67 |
+
|
| 68 |
+
def _nested_if_else(if_, pred, else_, endif, match_if_true, match_if_false):
|
| 69 |
+
"""Constructs a parser for (possibly nested) if...(else)...endif blocks."""
|
| 70 |
+
ifelse = pp.Forward()
|
| 71 |
+
ifelse << pp.Group( # pylint: disable=expression-not-assigned
|
| 72 |
+
if_ +
|
| 73 |
+
pred("predicate") +
|
| 74 |
+
pp.ZeroOrMore(match_if_true | ifelse)("if_true") +
|
| 75 |
+
pp.Optional(else_ +
|
| 76 |
+
pp.ZeroOrMore(match_if_false | ifelse)("if_false")) +
|
| 77 |
+
endif)
|
| 78 |
+
return ifelse
|
| 79 |
+
|
| 80 |
+
|
| 81 |
+
def _nested_ifn_else(ifn_, pred, else_, endif, match_if_true, match_if_false):
|
| 82 |
+
"""Constructs a parser for (possibly nested) if...(else)...endif blocks."""
|
| 83 |
+
ifnelse = pp.Forward()
|
| 84 |
+
ifnelse << pp.Group( # pylint: disable=expression-not-assigned
|
| 85 |
+
ifn_ +
|
| 86 |
+
pred("predicate") +
|
| 87 |
+
pp.ZeroOrMore(match_if_true | ifnelse)("if_false") +
|
| 88 |
+
pp.Optional(else_ +
|
| 89 |
+
pp.ZeroOrMore(match_if_false | ifnelse)("if_true")) +
|
| 90 |
+
endif)
|
| 91 |
+
return ifnelse
|
| 92 |
+
|
| 93 |
+
|
| 94 |
+
# Some common string patterns to suppress.
|
| 95 |
+
# ------------------------------------------------------------------------------
|
| 96 |
+
(LPAREN, RPAREN, LBRACK, RBRACK, LBRACE, RBRACE, SEMI, COMMA, EQUAL, FSLASH,
|
| 97 |
+
BSLASH) = list(map(pp.Suppress, "()[]{};,=/\\"))
|
| 98 |
+
X = (pp.Keyword("X") | pp.Keyword("XMJV") | pp.Keyword("XNV")).suppress()
|
| 99 |
+
EOL = pp.LineEnd().suppress()
|
| 100 |
+
|
| 101 |
+
# Comments, continuation.
|
| 102 |
+
# ------------------------------------------------------------------------------
|
| 103 |
+
COMMENT = pp.Combine(
|
| 104 |
+
pp.Suppress("//") +
|
| 105 |
+
pp.Optional(pp.White()).suppress() +
|
| 106 |
+
pp.SkipTo(pp.LineEnd()))
|
| 107 |
+
|
| 108 |
+
MULTILINE_COMMENT = pp.delimitedList(
|
| 109 |
+
COMMENT.copy().setWhitespaceChars(" \t"), delim=EOL)
|
| 110 |
+
|
| 111 |
+
CONTINUATION = (BSLASH + pp.LineEnd()).suppress()
|
| 112 |
+
|
| 113 |
+
# Preprocessor directives.
|
| 114 |
+
# ------------------------------------------------------------------------------
|
| 115 |
+
DEFINE = pp.Keyword("#define").suppress()
|
| 116 |
+
IFDEF = pp.Keyword("#ifdef").suppress()
|
| 117 |
+
IFNDEF = pp.Keyword("#ifndef").suppress()
|
| 118 |
+
ELSE = pp.Keyword("#else").suppress()
|
| 119 |
+
ENDIF = pp.Keyword("#endif").suppress()
|
| 120 |
+
|
| 121 |
+
# Variable names, types, literals etc.
|
| 122 |
+
# ------------------------------------------------------------------------------
|
| 123 |
+
NAME = pp.Word(pp.alphanums + "_")
|
| 124 |
+
INT = pp.Word(pp.nums + "UuLl")
|
| 125 |
+
FLOAT = pp.Word(pp.nums + ".+-EeFf")
|
| 126 |
+
NUMBER = FLOAT | INT
|
| 127 |
+
|
| 128 |
+
# Dimensions can be of the form `[3]`, `[constant_name]` or `[2*constant_name]`
|
| 129 |
+
ARRAY_DIM = pp.Combine(
|
| 130 |
+
LBRACK +
|
| 131 |
+
(INT | NAME) +
|
| 132 |
+
pp.Optional(pp.Literal("*")) +
|
| 133 |
+
pp.Optional(INT | NAME) +
|
| 134 |
+
RBRACK)
|
| 135 |
+
|
| 136 |
+
PTR = pp.Literal("*")
|
| 137 |
+
EXTERN = pp.Keyword("extern")
|
| 138 |
+
NATIVE_TYPENAME = pp.MatchFirst([pp.Keyword(n) for n in C_TO_CTYPES.keys()])
|
| 139 |
+
|
| 140 |
+
# Macros.
|
| 141 |
+
# ------------------------------------------------------------------------------
|
| 142 |
+
|
| 143 |
+
HDR_GUARD = DEFINE + "THIRD_PARTY_MUJOCO_HDRS_"
|
| 144 |
+
|
| 145 |
+
# e.g. "#define mjUSEDOUBLE"
|
| 146 |
+
DEF_FLAG = pp.Group(
|
| 147 |
+
DEFINE +
|
| 148 |
+
NAME("name") +
|
| 149 |
+
(COMMENT("comment") | EOL)).ignore(HDR_GUARD)
|
| 150 |
+
|
| 151 |
+
# e.g. "#define mjMINVAL 1E-14 // minimum value in any denominator"
|
| 152 |
+
DEF_CONST = pp.Group(
|
| 153 |
+
DEFINE +
|
| 154 |
+
NAME("name") +
|
| 155 |
+
(NUMBER | NAME)("value") +
|
| 156 |
+
(COMMENT("comment") | EOL))
|
| 157 |
+
|
| 158 |
+
# e.g. "X( mjtNum*, name_textadr, ntext, 1 )"
|
| 159 |
+
XDIM = pp.delimitedList(
|
| 160 |
+
(
|
| 161 |
+
pp.Suppress(pp.Keyword("MJ_M") + LPAREN) +
|
| 162 |
+
NAME +
|
| 163 |
+
pp.Suppress(RPAREN)
|
| 164 |
+
) | NAME | INT, delim="*", combine=True)
|
| 165 |
+
XMEMBER = pp.Group(
|
| 166 |
+
X +
|
| 167 |
+
LPAREN +
|
| 168 |
+
(NATIVE_TYPENAME | NAME)("typename") +
|
| 169 |
+
pp.Optional(PTR("ptr")) +
|
| 170 |
+
COMMA +
|
| 171 |
+
NAME("name") +
|
| 172 |
+
COMMA +
|
| 173 |
+
pp.delimitedList(XDIM, delim=COMMA)("dims") +
|
| 174 |
+
RPAREN)
|
| 175 |
+
|
| 176 |
+
XMACRO_LINE = XMEMBER | NAME
|
| 177 |
+
XMACRO = pp.Group(
|
| 178 |
+
pp.Optional(COMMENT("comment")) +
|
| 179 |
+
DEFINE +
|
| 180 |
+
NAME("name") +
|
| 181 |
+
CONTINUATION +
|
| 182 |
+
pp.delimitedList(XMACRO_LINE, delim=CONTINUATION)("members"))
|
| 183 |
+
|
| 184 |
+
|
| 185 |
+
# Type/variable declarations.
|
| 186 |
+
# ------------------------------------------------------------------------------
|
| 187 |
+
TYPEDEF = pp.Keyword("typedef").suppress()
|
| 188 |
+
STRUCT = pp.Keyword("struct")
|
| 189 |
+
UNION = pp.Keyword("union")
|
| 190 |
+
ENUM = pp.Keyword("enum").suppress()
|
| 191 |
+
|
| 192 |
+
# e.g. "typedef unsigned char mjtByte; // used for true/false"
|
| 193 |
+
TYPE_DECL = pp.Group(
|
| 194 |
+
TYPEDEF +
|
| 195 |
+
pp.Optional(STRUCT) +
|
| 196 |
+
(NATIVE_TYPENAME | NAME)("typename") +
|
| 197 |
+
pp.Optional(PTR("ptr")) +
|
| 198 |
+
NAME("name") +
|
| 199 |
+
SEMI +
|
| 200 |
+
pp.Optional(COMMENT("comment")))
|
| 201 |
+
|
| 202 |
+
# Declarations of flags/constants/types.
|
| 203 |
+
UNCOND_DECL = DEF_FLAG | DEF_CONST | TYPE_DECL
|
| 204 |
+
|
| 205 |
+
# Declarations inside (possibly nested) #if(n)def... #else... #endif... blocks.
|
| 206 |
+
COND_DECL = _nested_if_else(
|
| 207 |
+
IFDEF, NAME, ELSE, ENDIF, UNCOND_DECL, UNCOND_DECL
|
| 208 |
+
) | _nested_ifn_else(IFNDEF, NAME, ELSE, ENDIF, UNCOND_DECL, UNCOND_DECL)
|
| 209 |
+
# Note: this doesn't work for '#if defined(FLAG)' blocks
|
| 210 |
+
|
| 211 |
+
# e.g. "mjtNum gravity[3]; // gravitational acceleration"
|
| 212 |
+
STRUCT_MEMBER = pp.Group(
|
| 213 |
+
pp.Optional(STRUCT("struct")) +
|
| 214 |
+
(NATIVE_TYPENAME | NAME)("typename") +
|
| 215 |
+
pp.Optional(PTR("ptr")) +
|
| 216 |
+
NAME("name") +
|
| 217 |
+
pp.ZeroOrMore(ARRAY_DIM)("size") +
|
| 218 |
+
SEMI +
|
| 219 |
+
pp.Optional(COMMENT("comment")))
|
| 220 |
+
|
| 221 |
+
# Struct declaration within a union (non-nested).
|
| 222 |
+
UNION_STRUCT_DECL = pp.Group(
|
| 223 |
+
STRUCT("struct") +
|
| 224 |
+
pp.Optional(NAME("typename")) +
|
| 225 |
+
pp.Optional(COMMENT("comment")) +
|
| 226 |
+
LBRACE +
|
| 227 |
+
pp.OneOrMore(STRUCT_MEMBER)("members") +
|
| 228 |
+
RBRACE +
|
| 229 |
+
pp.Optional(NAME("name")) +
|
| 230 |
+
SEMI)
|
| 231 |
+
|
| 232 |
+
ANONYMOUS_UNION_DECL = pp.Group(
|
| 233 |
+
pp.Optional(MULTILINE_COMMENT("comment")) +
|
| 234 |
+
UNION("anonymous_union") +
|
| 235 |
+
LBRACE +
|
| 236 |
+
pp.OneOrMore(
|
| 237 |
+
UNION_STRUCT_DECL |
|
| 238 |
+
STRUCT_MEMBER |
|
| 239 |
+
COMMENT.suppress())("members") +
|
| 240 |
+
RBRACE +
|
| 241 |
+
SEMI)
|
| 242 |
+
|
| 243 |
+
# Multiple (possibly nested) struct declarations.
|
| 244 |
+
NESTED_STRUCTS = _nested_scopes(
|
| 245 |
+
opening=(STRUCT +
|
| 246 |
+
pp.Optional(NAME("typename")) +
|
| 247 |
+
pp.Optional(COMMENT("comment")) +
|
| 248 |
+
LBRACE),
|
| 249 |
+
closing=(RBRACE + pp.Optional(NAME("name")) + SEMI),
|
| 250 |
+
body=pp.OneOrMore(
|
| 251 |
+
STRUCT_MEMBER |
|
| 252 |
+
ANONYMOUS_UNION_DECL |
|
| 253 |
+
COMMENT.suppress())("members"))
|
| 254 |
+
|
| 255 |
+
BIT_LSHIFT = INT("bit_lshift_a") + pp.Suppress("<<") + INT("bit_lshift_b")
|
| 256 |
+
|
| 257 |
+
ENUM_LINE = pp.Group(
|
| 258 |
+
NAME("name") +
|
| 259 |
+
pp.Optional(EQUAL + (INT("value") ^ BIT_LSHIFT)) +
|
| 260 |
+
pp.Optional(COMMA) +
|
| 261 |
+
pp.Optional(COMMENT("comment")))
|
| 262 |
+
|
| 263 |
+
ENUM_DECL = pp.Group(
|
| 264 |
+
TYPEDEF +
|
| 265 |
+
ENUM +
|
| 266 |
+
NAME("typename") +
|
| 267 |
+
pp.Optional(COMMENT("comment")) +
|
| 268 |
+
LBRACE +
|
| 269 |
+
pp.OneOrMore(ENUM_LINE | COMMENT.suppress())("members") +
|
| 270 |
+
RBRACE +
|
| 271 |
+
pp.Optional(NAME("name")) +
|
| 272 |
+
SEMI)
|
| 273 |
+
|
| 274 |
+
# Function declarations.
|
| 275 |
+
# ------------------------------------------------------------------------------
|
| 276 |
+
MJAPI = pp.Keyword("MJAPI").suppress()
|
| 277 |
+
CONST = pp.Keyword("const")
|
| 278 |
+
VOID = pp.Group(pp.Keyword("void") + ~PTR).suppress()
|
| 279 |
+
|
| 280 |
+
ARG = pp.Group(
|
| 281 |
+
pp.Optional(CONST("is_const")) +
|
| 282 |
+
(NATIVE_TYPENAME | NAME)("typename") +
|
| 283 |
+
pp.Optional(PTR("ptr")) +
|
| 284 |
+
NAME("name") +
|
| 285 |
+
pp.Optional(ARRAY_DIM("size")))
|
| 286 |
+
|
| 287 |
+
RET = pp.Group(
|
| 288 |
+
pp.Optional(CONST("is_const")) +
|
| 289 |
+
(NATIVE_TYPENAME | NAME)("typename") +
|
| 290 |
+
pp.Optional(PTR("ptr")))
|
| 291 |
+
|
| 292 |
+
FUNCTION_DECL = (
|
| 293 |
+
(VOID | RET("return_value")) +
|
| 294 |
+
NAME("name") +
|
| 295 |
+
LPAREN +
|
| 296 |
+
(VOID | pp.delimitedList(ARG, delim=COMMA)("arguments")) +
|
| 297 |
+
RPAREN +
|
| 298 |
+
SEMI)
|
| 299 |
+
|
| 300 |
+
MJAPI_FUNCTION_DECL = pp.Group(
|
| 301 |
+
pp.Optional(MULTILINE_COMMENT("comment")) +
|
| 302 |
+
pp.LineStart() +
|
| 303 |
+
MJAPI +
|
| 304 |
+
FUNCTION_DECL)
|
| 305 |
+
|
| 306 |
+
# e.g.
|
| 307 |
+
# // predicate function: set enable/disable based on item category
|
| 308 |
+
# typedef int (*mjfItemEnable)(int category, void* data);
|
| 309 |
+
FUNCTION_PTR_TYPE_DECL = pp.Group(
|
| 310 |
+
pp.Optional(MULTILINE_COMMENT("comment")) +
|
| 311 |
+
TYPEDEF +
|
| 312 |
+
RET("return_type") +
|
| 313 |
+
LPAREN +
|
| 314 |
+
PTR +
|
| 315 |
+
NAME("typename") +
|
| 316 |
+
RPAREN +
|
| 317 |
+
LPAREN +
|
| 318 |
+
(VOID | pp.delimitedList(ARG, delim=COMMA)("arguments")) +
|
| 319 |
+
RPAREN +
|
| 320 |
+
SEMI)
|
| 321 |
+
|
| 322 |
+
# Global variables.
|
| 323 |
+
# ------------------------------------------------------------------------------
|
| 324 |
+
|
| 325 |
+
MJAPI_STRING_ARRAY = (
|
| 326 |
+
MJAPI +
|
| 327 |
+
EXTERN +
|
| 328 |
+
CONST +
|
| 329 |
+
pp.Keyword("char") +
|
| 330 |
+
PTR +
|
| 331 |
+
NAME("name") +
|
| 332 |
+
pp.OneOrMore(ARRAY_DIM)("dims") +
|
| 333 |
+
SEMI)
|
| 334 |
+
|
| 335 |
+
MJAPI_FUNCTION_PTR = MJAPI + EXTERN + NAME("typename") + NAME("name") + SEMI
|
data/dm_control/blender/fake_core/bpy.py
ADDED
|
@@ -0,0 +1,229 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2023 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""Fake Blender bpy module."""
|
| 17 |
+
|
| 18 |
+
from __future__ import annotations # postponed evaluation of annotations
|
| 19 |
+
|
| 20 |
+
from typing import Any, Collection, Sequence
|
| 21 |
+
|
| 22 |
+
from dm_control.blender.fake_core import mathutils
|
| 23 |
+
|
| 24 |
+
# pylint: disable=invalid-name
|
| 25 |
+
# pylint: disable=missing-class-docstring
|
| 26 |
+
|
| 27 |
+
|
| 28 |
+
class WindowManager:
|
| 29 |
+
|
| 30 |
+
def progress_begin(self, start: int, end: int):
|
| 31 |
+
pass
|
| 32 |
+
|
| 33 |
+
def progress_update(self, steps_done: int):
|
| 34 |
+
pass
|
| 35 |
+
|
| 36 |
+
def progress_end(self):
|
| 37 |
+
pass
|
| 38 |
+
|
| 39 |
+
|
| 40 |
+
class context:
|
| 41 |
+
|
| 42 |
+
@property
|
| 43 |
+
def window_manager(self) -> WindowManager:
|
| 44 |
+
return WindowManager()
|
| 45 |
+
|
| 46 |
+
@staticmethod
|
| 47 |
+
def evaluated_depsgraph_get():
|
| 48 |
+
pass
|
| 49 |
+
|
| 50 |
+
|
| 51 |
+
class types:
|
| 52 |
+
|
| 53 |
+
class Constraint:
|
| 54 |
+
|
| 55 |
+
@property
|
| 56 |
+
def name(self):
|
| 57 |
+
pass
|
| 58 |
+
|
| 59 |
+
@property
|
| 60 |
+
def owner_space(self):
|
| 61 |
+
pass
|
| 62 |
+
|
| 63 |
+
class Scene:
|
| 64 |
+
pass
|
| 65 |
+
|
| 66 |
+
class Object:
|
| 67 |
+
|
| 68 |
+
@property
|
| 69 |
+
def name(self) -> str:
|
| 70 |
+
raise NotImplementedError()
|
| 71 |
+
|
| 72 |
+
@property
|
| 73 |
+
def parent(self) -> types.Object | None:
|
| 74 |
+
pass
|
| 75 |
+
|
| 76 |
+
@property
|
| 77 |
+
def parent_bone(self) -> types.Bone | None:
|
| 78 |
+
pass
|
| 79 |
+
|
| 80 |
+
@property
|
| 81 |
+
def data(self):
|
| 82 |
+
pass
|
| 83 |
+
|
| 84 |
+
@property
|
| 85 |
+
def pose(self):
|
| 86 |
+
pass
|
| 87 |
+
|
| 88 |
+
@property
|
| 89 |
+
def matrix_world(self) -> mathutils.Matrix:
|
| 90 |
+
raise NotImplementedError()
|
| 91 |
+
|
| 92 |
+
@matrix_world.setter
|
| 93 |
+
def matrix_world(self, _) -> mathutils.Matrix:
|
| 94 |
+
raise NotImplementedError()
|
| 95 |
+
|
| 96 |
+
def select_set(self, _):
|
| 97 |
+
pass
|
| 98 |
+
|
| 99 |
+
def to_mesh(self):
|
| 100 |
+
pass
|
| 101 |
+
|
| 102 |
+
def evaluated_get(self, _) -> types.Object:
|
| 103 |
+
pass
|
| 104 |
+
|
| 105 |
+
@property
|
| 106 |
+
def mode(self) -> str:
|
| 107 |
+
return 'OBJECT'
|
| 108 |
+
|
| 109 |
+
@property
|
| 110 |
+
def type(self):
|
| 111 |
+
pass
|
| 112 |
+
|
| 113 |
+
def update_from_editmode(self):
|
| 114 |
+
pass
|
| 115 |
+
|
| 116 |
+
class Bone:
|
| 117 |
+
|
| 118 |
+
@property
|
| 119 |
+
def name(self) -> str:
|
| 120 |
+
raise NotImplementedError()
|
| 121 |
+
|
| 122 |
+
@property
|
| 123 |
+
def parent(self) -> types.Bone | None:
|
| 124 |
+
pass
|
| 125 |
+
|
| 126 |
+
@property
|
| 127 |
+
def matrix_local(self) -> mathutils.Matrix:
|
| 128 |
+
raise NotImplementedError()
|
| 129 |
+
|
| 130 |
+
@property
|
| 131 |
+
def matrix(self) -> mathutils.Matrix:
|
| 132 |
+
raise NotImplementedError()
|
| 133 |
+
|
| 134 |
+
class bpy_struct:
|
| 135 |
+
pass
|
| 136 |
+
|
| 137 |
+
class Context:
|
| 138 |
+
|
| 139 |
+
@property
|
| 140 |
+
def scene(self) -> types.Scene:
|
| 141 |
+
pass
|
| 142 |
+
|
| 143 |
+
class Light:
|
| 144 |
+
|
| 145 |
+
@property
|
| 146 |
+
def type(self):
|
| 147 |
+
pass
|
| 148 |
+
|
| 149 |
+
@property
|
| 150 |
+
def use_shadow(self):
|
| 151 |
+
pass
|
| 152 |
+
|
| 153 |
+
@property
|
| 154 |
+
def color(self) -> mathutils.Color:
|
| 155 |
+
raise NotImplementedError()
|
| 156 |
+
|
| 157 |
+
@property
|
| 158 |
+
def linear_attenuation(self):
|
| 159 |
+
pass
|
| 160 |
+
|
| 161 |
+
@property
|
| 162 |
+
def quadratic_attenuation(self):
|
| 163 |
+
pass
|
| 164 |
+
|
| 165 |
+
class LimitRotationConstraint(Constraint):
|
| 166 |
+
pass
|
| 167 |
+
|
| 168 |
+
class LimitLocationConstraint(Constraint):
|
| 169 |
+
pass
|
| 170 |
+
|
| 171 |
+
class Material:
|
| 172 |
+
|
| 173 |
+
@property
|
| 174 |
+
def name(self) -> str:
|
| 175 |
+
raise NotImplementedError()
|
| 176 |
+
|
| 177 |
+
@property
|
| 178 |
+
def specular_intensity(self):
|
| 179 |
+
pass
|
| 180 |
+
|
| 181 |
+
@property
|
| 182 |
+
def metallic(self):
|
| 183 |
+
pass
|
| 184 |
+
|
| 185 |
+
@property
|
| 186 |
+
def roughness(self) -> float:
|
| 187 |
+
raise NotImplementedError()
|
| 188 |
+
|
| 189 |
+
@property
|
| 190 |
+
def diffuse_color(self) -> Sequence[float]:
|
| 191 |
+
raise NotImplementedError()
|
| 192 |
+
|
| 193 |
+
class Mesh:
|
| 194 |
+
|
| 195 |
+
@property
|
| 196 |
+
def name(self) -> str:
|
| 197 |
+
raise NotImplementedError()
|
| 198 |
+
|
| 199 |
+
def calc_loop_triangles(self):
|
| 200 |
+
pass
|
| 201 |
+
|
| 202 |
+
@property
|
| 203 |
+
def uv_layers(self) -> Any:
|
| 204 |
+
raise NotImplementedError()
|
| 205 |
+
|
| 206 |
+
@property
|
| 207 |
+
def loop_triangles(self) -> Collection[Any]:
|
| 208 |
+
raise NotImplementedError()
|
| 209 |
+
|
| 210 |
+
@property
|
| 211 |
+
def vertices(self) -> Any:
|
| 212 |
+
raise NotImplementedError()
|
| 213 |
+
|
| 214 |
+
|
| 215 |
+
class ops:
|
| 216 |
+
|
| 217 |
+
class object:
|
| 218 |
+
|
| 219 |
+
@staticmethod
|
| 220 |
+
def select_all(action):
|
| 221 |
+
pass
|
| 222 |
+
|
| 223 |
+
class export_mesh:
|
| 224 |
+
|
| 225 |
+
@classmethod
|
| 226 |
+
def stl(
|
| 227 |
+
cls, filepath, use_selection, use_mesh_modifiers, axis_forward, axis_up
|
| 228 |
+
):
|
| 229 |
+
pass
|
data/dm_control/blender/fake_core/mathutils.py
ADDED
|
@@ -0,0 +1,123 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2023 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""Fake Blender mathutils module."""
|
| 17 |
+
# pylint: disable=invalid-name
|
| 18 |
+
|
| 19 |
+
import numpy as np
|
| 20 |
+
|
| 21 |
+
|
| 22 |
+
class Color:
|
| 23 |
+
"""Fake color class."""
|
| 24 |
+
|
| 25 |
+
def __init__(self, coords):
|
| 26 |
+
self._coords = coords
|
| 27 |
+
|
| 28 |
+
@property
|
| 29 |
+
def r(self) -> float:
|
| 30 |
+
return self._coords[0]
|
| 31 |
+
|
| 32 |
+
@property
|
| 33 |
+
def g(self) -> float:
|
| 34 |
+
return self._coords[1]
|
| 35 |
+
|
| 36 |
+
@property
|
| 37 |
+
def b(self) -> float:
|
| 38 |
+
return self._coords[2]
|
| 39 |
+
|
| 40 |
+
@property
|
| 41 |
+
def a(self) -> float:
|
| 42 |
+
return self._coords[3]
|
| 43 |
+
|
| 44 |
+
|
| 45 |
+
class Vector:
|
| 46 |
+
"""Fake vector class."""
|
| 47 |
+
|
| 48 |
+
def __init__(self, coords):
|
| 49 |
+
self._coords = np.asarray(coords)
|
| 50 |
+
|
| 51 |
+
@property
|
| 52 |
+
def x(self) -> float:
|
| 53 |
+
return self._coords[0]
|
| 54 |
+
|
| 55 |
+
@property
|
| 56 |
+
def y(self) -> float:
|
| 57 |
+
return self._coords[1]
|
| 58 |
+
|
| 59 |
+
@property
|
| 60 |
+
def z(self) -> float:
|
| 61 |
+
return self._coords[2]
|
| 62 |
+
|
| 63 |
+
@property
|
| 64 |
+
def w(self) -> float:
|
| 65 |
+
return self._coords[3]
|
| 66 |
+
|
| 67 |
+
def __eq__(self, rhs) -> bool:
|
| 68 |
+
if not isinstance(rhs, Vector):
|
| 69 |
+
return False
|
| 70 |
+
return np.linalg.norm(self._coords - rhs._coords) < 1e-6
|
| 71 |
+
|
| 72 |
+
def __str__(self) -> str:
|
| 73 |
+
return 'Vector({:.2f}, {:.2f}, {:.2f})'.format(self.x, self.y, self.z)
|
| 74 |
+
|
| 75 |
+
def __repr__(self) -> str:
|
| 76 |
+
return 'Vector({:.2f}, {:.2f}, {:.2f})'.format(self.x, self.y, self.z)
|
| 77 |
+
|
| 78 |
+
|
| 79 |
+
class Quaternion:
|
| 80 |
+
"""Fake quaternion class."""
|
| 81 |
+
|
| 82 |
+
def __init__(self, coords):
|
| 83 |
+
self._coords = coords
|
| 84 |
+
|
| 85 |
+
@property
|
| 86 |
+
def x(self) -> float:
|
| 87 |
+
return self._coords[1]
|
| 88 |
+
|
| 89 |
+
@property
|
| 90 |
+
def y(self) -> float:
|
| 91 |
+
return self._coords[2]
|
| 92 |
+
|
| 93 |
+
@property
|
| 94 |
+
def z(self) -> float:
|
| 95 |
+
return self._coords[3]
|
| 96 |
+
|
| 97 |
+
@property
|
| 98 |
+
def w(self) -> float:
|
| 99 |
+
return self._coords[0]
|
| 100 |
+
|
| 101 |
+
def __matmul__(self, rhs: Vector) -> Vector:
|
| 102 |
+
return Vector((1, 0, 0))
|
| 103 |
+
|
| 104 |
+
|
| 105 |
+
class Matrix:
|
| 106 |
+
"""Fake matrix class."""
|
| 107 |
+
|
| 108 |
+
def __init__(self, coords):
|
| 109 |
+
self._coords = coords
|
| 110 |
+
|
| 111 |
+
@classmethod
|
| 112 |
+
def Diagonal(cls, _):
|
| 113 |
+
return cls((1,))
|
| 114 |
+
|
| 115 |
+
@property
|
| 116 |
+
def translation(self) -> Vector:
|
| 117 |
+
return Vector((0.0, 0.0, 0.0))
|
| 118 |
+
|
| 119 |
+
def to_quaternion(self) -> Quaternion:
|
| 120 |
+
return Quaternion((1.0, 0.0, 0.0, 0.0))
|
| 121 |
+
|
| 122 |
+
def to_scale(self) -> Vector:
|
| 123 |
+
return Vector((0.0, 0.0, 0.0))
|
data/dm_control/blender/mujoco_exporter/README.md
ADDED
|
@@ -0,0 +1,213 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
| 1 |
+
# Export Mujoco models from Blender
|
| 2 |
+
|
| 3 |
+
## Prerequisites
|
| 4 |
+
|
| 5 |
+
The MuJoCo exporter works as Blender addon, tested with ver 3.4.1. You can
|
| 6 |
+
download Blender from [https://www.blender.org](https://www.blender.org/).
|
| 7 |
+
|
| 8 |
+
## Installation
|
| 9 |
+
|
| 10 |
+
### Preparing a plugin installer
|
| 11 |
+
|
| 12 |
+
The `install.sh` command will deploy the installable version of the plugin to
|
| 13 |
+
`./addons/mujoco_model_exporter`. This folder should be zipped:
|
| 14 |
+
|
| 15 |
+
```shell
|
| 16 |
+
$ cd ./addons && zip -r mujoco_model_exporter.zip mujoco_model_exporter/*
|
| 17 |
+
```
|
| 18 |
+
|
| 19 |
+
### Installing the plugin in Blender
|
| 20 |
+
|
| 21 |
+
Open Blender and select `Edit/Preferences` menu option.
|
| 22 |
+
|
| 23 |
+
{style="display:block;margin:auto"}
|
| 24 |
+
|
| 25 |
+
Clicking the Install button will open a file selection dialog that will allow
|
| 26 |
+
you to select the .zip archive with the plugin.
|
| 27 |
+
|
| 28 |
+
The next window will follow, listing the installed plugin and allowing you to
|
| 29 |
+
enable it.
|
| 30 |
+
|
| 31 |
+
{style="display:block;margin:auto"}
|
| 32 |
+
|
| 33 |
+
Check the checkbox next to its name to enable it.
|
| 34 |
+
|
| 35 |
+
## Modelling for Mujoco.
|
| 36 |
+
|
| 37 |
+
The plugin was designed to allow the artists to keep using core Blender features
|
| 38 |
+
when building models for Mujoco.
|
| 39 |
+
|
| 40 |
+
feature | Mujoco | Blender
|
| 41 |
+
-------------- | ------------------------- | -----------------------------------
|
| 42 |
+
kinematic tree | hierarchy of Bodies | Armatures or hierarchies of Objects
|
| 43 |
+
geometry | Geoms | Meshes
|
| 44 |
+
materials | Material + Texture assets | Material + Texture definitions
|
| 45 |
+
lighting | Lights | Lights
|
| 46 |
+
|
| 47 |
+
### Node naming
|
| 48 |
+
|
| 49 |
+
The exporter will copy the names of the bones, meshes and lights. Mujoco joints
|
| 50 |
+
will be named after the bone that owns the respective constraint, with a postfix
|
| 51 |
+
denoting the degree of freedom they enable.
|
| 52 |
+
|
| 53 |
+
### Modelling kinematic trees using Armatures and IK
|
| 54 |
+
|
| 55 |
+
Blender Armatures allow to model kinematic capabilities of a Blender model. They
|
| 56 |
+
comprise a tree of bones, each of which can be further extended with IK
|
| 57 |
+
Constraints.
|
| 58 |
+
|
| 59 |
+
Only the bones affected by an IK chain will receive appropriate degrees of
|
| 60 |
+
freedom. This means that if you export a model without any IK chains, it will be
|
| 61 |
+
exported as a static model.
|
| 62 |
+
|
| 63 |
+
#### IK Constraints and bone limits
|
| 64 |
+
|
| 65 |
+
IK constraints offer the easiest way to verify how a kinematic chain would
|
| 66 |
+
behave in a physical environment. For that reason we chose to use them, along
|
| 67 |
+
with IK bone limits, to model Mujoco joints.
|
| 68 |
+
|
| 69 |
+
|
| 70 |
+
|
| 71 |
+
* Select the bone at the end of a kinematic chain,
|
| 72 |
+
|
| 73 |
+
|
| 74 |
+
|
| 75 |
+
* Add an IK Bone Constraint to it.
|
| 76 |
+
[This webpage](https://docs.blender.org/manual/en/latest/animation/constraints/tracking/ik_solver.html)
|
| 77 |
+
contains detailed instructions.
|
| 78 |
+
|
| 79 |
+
|
| 80 |
+
|
| 81 |
+
* Add a target bone to the scene and use it as the IK constraint's target.
|
| 82 |
+
|
| 83 |
+
|
| 84 |
+
|
| 85 |
+
* Adjust the `Chain Length` value to reflect the number of parent bones that
|
| 86 |
+
should become a part of this IK chain.
|
| 87 |
+
|
| 88 |
+
|
| 89 |
+
|
| 90 |
+
* For each of the bones in the chain, visit the `Bone/Inverse Kinematics` tab
|
| 91 |
+
and adjust the locks and bone limits.
|
| 92 |
+
|
| 93 |
+
|
| 94 |
+
|
| 95 |
+
*NOTE*: you can take advantage of a helpful limit visualization gizmo.
|
| 96 |
+
|
| 97 |
+
### Armature free joints.
|
| 98 |
+
|
| 99 |
+
Armatures form the kinematic trees, so it makes sense to give their roots all 6
|
| 100 |
+
degrees of freedom.
|
| 101 |
+
|
| 102 |
+
This behavior can be changed by disabling the `Armature freejoint` export
|
| 103 |
+
option.
|
| 104 |
+
|
| 105 |
+
### Modelling the geometry
|
| 106 |
+
|
| 107 |
+
Mujoco uses parametric geometry comprised of primitive shapes such
|
| 108 |
+
as cubes, spheres and capsules. It does support triangle based mesh geometry
|
| 109 |
+
however.
|
| 110 |
+
|
| 111 |
+
Blender on the other hand deals exclusively in meshes, and even though it
|
| 112 |
+
contains a palette of such primitive shapes, these are not parametric.
|
| 113 |
+
|
| 114 |
+
#### MSH files
|
| 115 |
+
|
| 116 |
+
The exporter therefore exports the geometry as meshes. All meshes referenced by
|
| 117 |
+
the scene are exported into Mujoco's native .msh format.
|
| 118 |
+
|
| 119 |
+
When this plugin was created, the native .msh format was the only format to
|
| 120 |
+
support texture mapping. Since MuJoCo 2.1.2, `.obj` files are supported. The
|
| 121 |
+
`.msh` format is expected to be deprecated and removed soon. Until this plugin
|
| 122 |
+
is updated to output `.obj` files we recommend all user to convert their `.msh`
|
| 123 |
+
files to `.obj` files using [this](https://github.com/google-deepmind/mujoco/blob/main/python/mujoco/msh2obj.py) utility.
|
| 124 |
+
|
| 125 |
+
#### Phong lighting model and lack of support for Cycles nodes
|
| 126 |
+
|
| 127 |
+
Mujoco implements a forward rendering model with Phong lightning and support for
|
| 128 |
+
reflective surfaces.
|
| 129 |
+
|
| 130 |
+
[Mujoco material definition](http://www.mujoco.org/book/XMLreference.html#material)
|
| 131 |
+
is fixed and limited to:
|
| 132 |
+
|
| 133 |
+
* base color (diffuse color)
|
| 134 |
+
* specularity coefficient
|
| 135 |
+
* smoothness coefficient
|
| 136 |
+
* reflectiveness coefficient
|
| 137 |
+
|
| 138 |
+
These parameters translate well to Blender's default material definition, which
|
| 139 |
+
should be used to model the materials exported to Mujoco.
|
| 140 |
+
|
| 141 |
+
Due to the diversity and open-ended nature of Cycle's material nodes, the choice
|
| 142 |
+
was made not to support materials defined using them.
|
| 143 |
+
|
| 144 |
+
#### Division of meshes that employ multiple materials
|
| 145 |
+
|
| 146 |
+
Mujoco renderer supports a single material per mesh, in contrast to Blender's
|
| 147 |
+
multi material model. In order to support meshes with multiple materials, the
|
| 148 |
+
exporter divides them into submeshes, each of which uses a single material.
|
| 149 |
+
|
| 150 |
+
Since Blender materials are applied to faces, and a single face may only have a
|
| 151 |
+
single material assigned, there is no risk that the subdivided mesh will exhibit
|
| 152 |
+
any overlapping artifacts.
|
| 153 |
+
|
| 154 |
+
#### Effect of mesh division on inertia and mass.
|
| 155 |
+
|
| 156 |
+
The exported submeshes will have different geometry and volume than the
|
| 157 |
+
original. This will affect the mass and inertia of the geom that uses the
|
| 158 |
+
exported mesh.
|
| 159 |
+
|
| 160 |
+
Please note that Mujoco derives these quantities not from the mesh itself, but
|
| 161 |
+
rather from the convex hull calculated for it. The sum of hulls of subdivided
|
| 162 |
+
meshes are not guaranteed to be equal to the hull of the original mesh.
|
| 163 |
+
|
| 164 |
+
This phenomenon is illustrated on the image below.
|
| 165 |
+
|
| 166 |
+
Blender | Mujoco renderer | Mujoco convex hulls
|
| 167 |
+
----------------------------- | ------------------------------- | -------------------
|
| 168 |
+
 |  | 
|
| 169 |
+
|
| 170 |
+
A different material was assigned to 2 out of 6 rectangular faces of the right
|
| 171 |
+
cube, causing that mesh to be split into two submeshes.
|
| 172 |
+
|
| 173 |
+
While they render well in Mujoco, the Moiré effect visible on the convex hull
|
| 174 |
+
comes from two overlapping hulls, each with a different volume.
|
| 175 |
+
|
| 176 |
+
#### Double-sided materials
|
| 177 |
+
|
| 178 |
+
Double sided materials cause the meshes (or faces) that use them to be exported
|
| 179 |
+
with the faces duplicated with the reverse face winding order. This is because
|
| 180 |
+
Mujoco renderer does not support any other face culling modes than back face
|
| 181 |
+
culling.
|
| 182 |
+
|
| 183 |
+
*CAUTION*: Because this operation affects the exported geometry, it may
|
| 184 |
+
indirectly affect the physical properties of a geom that references that mesh,
|
| 185 |
+
such as its mass and inertia. Please use this feature with caution.
|
| 186 |
+
|
| 187 |
+
#### Scaling
|
| 188 |
+
|
| 189 |
+
*CAUTION*: If you are using the scaling transform, the exporter will modify your
|
| 190 |
+
scene!
|
| 191 |
+
|
| 192 |
+
The exporter will by default reset the scaling transform on all bones and meshes
|
| 193 |
+
to ensure affine reference frame transformations.
|
| 194 |
+
|
| 195 |
+
This operation can be undo'ed after the exporter is completed, but the exporter
|
| 196 |
+
doesn't undo it automatically!
|
| 197 |
+
|
| 198 |
+
### Textures
|
| 199 |
+
|
| 200 |
+
*NOTE*: This feature will be added in the next version of the exporter.
|
| 201 |
+
|
| 202 |
+
#### One texture channel
|
| 203 |
+
|
| 204 |
+
Mujoco renderer supports a single texture channel. It's therefore advised to use
|
| 205 |
+
a single UV map for meshes that are to be exported to Mujoco.
|
| 206 |
+
|
| 207 |
+
#### Choice between atlases and individual textures
|
| 208 |
+
|
| 209 |
+
Mujoco's fixed rendering pipeline is quite fast, and handles both variants well.
|
| 210 |
+
Therefore we leave it up to the artist to decide which it prefers using.
|
| 211 |
+
|
| 212 |
+
Please keep in mind that the exporter doesn't export the texture assets. Those
|
| 213 |
+
should be copied into the folder with the exported model manually.
|
data/dm_control/blender/mujoco_exporter/__init__.py
ADDED
|
@@ -0,0 +1,170 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
| 1 |
+
# Copyright 2023 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""Blender 3.4 plugin for exporting models to MuJoCo native format."""
|
| 17 |
+
|
| 18 |
+
import contextlib
|
| 19 |
+
import os
|
| 20 |
+
from xml.dom import minidom
|
| 21 |
+
|
| 22 |
+
import bpy
|
| 23 |
+
from bpy_extras.io_utils import ExportHelper
|
| 24 |
+
|
| 25 |
+
from . import blender_scene
|
| 26 |
+
from . import mujoco_assets
|
| 27 |
+
from . import mujoco_scene
|
| 28 |
+
|
| 29 |
+
|
| 30 |
+
bl_info = {
|
| 31 |
+
'name': 'Export MuJoCo',
|
| 32 |
+
'author': 'The dm_control authors',
|
| 33 |
+
'version': (2, 0),
|
| 34 |
+
'blender': (3, 3, 1),
|
| 35 |
+
'location': 'File > Export > MuJoCo',
|
| 36 |
+
'warning': '',
|
| 37 |
+
'description': 'Export articulated MuJoCo model',
|
| 38 |
+
'doc_url': '',
|
| 39 |
+
'category': 'Import-Export',
|
| 40 |
+
}
|
| 41 |
+
|
| 42 |
+
|
| 43 |
+
@contextlib.contextmanager
|
| 44 |
+
def context_settings_cacher(context: bpy.types.Context):
|
| 45 |
+
"""Preserves the pose of exported objects and the scene mode."""
|
| 46 |
+
# Cache the mode
|
| 47 |
+
prev_mode = context.mode
|
| 48 |
+
|
| 49 |
+
# Set the Object mode required by the exporter
|
| 50 |
+
bpy.ops.object.mode_set(mode='OBJECT')
|
| 51 |
+
|
| 52 |
+
# Set the armatures in their neutral pose
|
| 53 |
+
pose_positions = []
|
| 54 |
+
for o in context.scene.objects:
|
| 55 |
+
if o.type == 'ARMATURE':
|
| 56 |
+
pose_positions.append((o, o.data.pose_position))
|
| 57 |
+
o.data.pose_position = 'REST'
|
| 58 |
+
context.view_layer.update()
|
| 59 |
+
|
| 60 |
+
try:
|
| 61 |
+
yield
|
| 62 |
+
finally:
|
| 63 |
+
# Restore the poses.
|
| 64 |
+
for armature, pose_position in pose_positions:
|
| 65 |
+
armature.data.pose_position = pose_position
|
| 66 |
+
context.view_layer.update()
|
| 67 |
+
|
| 68 |
+
# Restore the mode
|
| 69 |
+
bpy.ops.object.mode_set(mode=prev_mode)
|
| 70 |
+
|
| 71 |
+
|
| 72 |
+
def apply_scale():
|
| 73 |
+
bpy.ops.object.select_all(action='SELECT')
|
| 74 |
+
bpy.ops.object.transform_apply(location=False, scale=True, rotation=False)
|
| 75 |
+
bpy.ops.object.select_all(action='DESELECT')
|
| 76 |
+
|
| 77 |
+
|
| 78 |
+
class ExportMjcf(bpy.types.Operator, ExportHelper):
|
| 79 |
+
"""Export to MJCF file format."""
|
| 80 |
+
|
| 81 |
+
bl_idname = 'export_scene.mjcf'
|
| 82 |
+
bl_label = 'Export MJCF'
|
| 83 |
+
|
| 84 |
+
filename_ext = '.xml'
|
| 85 |
+
filter_glob = bpy.props.StringProperty(default='*.xml', options={'HIDDEN'})
|
| 86 |
+
|
| 87 |
+
# Export settings
|
| 88 |
+
armature_freejoint: bpy.props.BoolProperty(
|
| 89 |
+
name='Armature freejoint',
|
| 90 |
+
description='Add a freejoint to armature body',
|
| 91 |
+
default=False,
|
| 92 |
+
)
|
| 93 |
+
apply_mesh_modifiers: bpy.props.BoolProperty(
|
| 94 |
+
name='Apply modifiers',
|
| 95 |
+
description='Apply mesh modifiers',
|
| 96 |
+
default=False,
|
| 97 |
+
)
|
| 98 |
+
|
| 99 |
+
def _export_mjcf(self, context: bpy.types.Context) -> None:
|
| 100 |
+
"""Converts a Blender scene to Mujoco XML format."""
|
| 101 |
+
# Create a new XML document
|
| 102 |
+
xml_doc = minidom.Document()
|
| 103 |
+
mujoco = xml_doc.createElement('mujoco')
|
| 104 |
+
xml_doc.appendChild(mujoco)
|
| 105 |
+
|
| 106 |
+
# Create a list of blender objects, arranged according to their hierarchy,
|
| 107 |
+
# where parents precede the children.
|
| 108 |
+
blender_objects = blender_scene.map_blender_tree(
|
| 109 |
+
context, lambda o: o if o.is_visible else None
|
| 110 |
+
)
|
| 111 |
+
# Remove None entries that correspond to invisible objects.
|
| 112 |
+
blender_objects = [o for o in blender_objects if o]
|
| 113 |
+
|
| 114 |
+
export_settings = self.as_keywords()
|
| 115 |
+
|
| 116 |
+
# Build the scene tree
|
| 117 |
+
worldbody_el = mujoco_scene.export_to_xml(
|
| 118 |
+
doc=xml_doc,
|
| 119 |
+
objects=blender_objects,
|
| 120 |
+
armature_freejoint=export_settings['armature_freejoint'],
|
| 121 |
+
)
|
| 122 |
+
mujoco.appendChild(worldbody_el)
|
| 123 |
+
|
| 124 |
+
# Build the asset tree
|
| 125 |
+
asset_el = mujoco_assets.export_to_xml(
|
| 126 |
+
doc=xml_doc,
|
| 127 |
+
objects=blender_objects,
|
| 128 |
+
folder=os.path.dirname(export_settings['filepath']),
|
| 129 |
+
apply_mesh_modifiers=export_settings['apply_mesh_modifiers'],
|
| 130 |
+
)
|
| 131 |
+
mujoco.appendChild(asset_el)
|
| 132 |
+
|
| 133 |
+
# Add compiler options that would allow to export small feature meshes.
|
| 134 |
+
compiler_el = xml_doc.createElement('compiler')
|
| 135 |
+
mujoco.appendChild(compiler_el)
|
| 136 |
+
compiler_el.setAttribute('boundmass', '1e-3')
|
| 137 |
+
compiler_el.setAttribute('boundinertia', '1e-9')
|
| 138 |
+
# TODO(b/266818670): support assets export into subdirectory
|
| 139 |
+
# compiler_el.setAttribute('meshdir', 'assets')
|
| 140 |
+
|
| 141 |
+
# Write the XML to a file.
|
| 142 |
+
with open(export_settings['filepath'], 'w') as file:
|
| 143 |
+
file.write(xml_doc.toprettyxml(indent=' '))
|
| 144 |
+
|
| 145 |
+
def execute(self, context: bpy.types.Context):
|
| 146 |
+
"""Export the scene."""
|
| 147 |
+
with context_settings_cacher(context):
|
| 148 |
+
apply_scale()
|
| 149 |
+
self._export_mjcf(context)
|
| 150 |
+
|
| 151 |
+
return {'FINISHED'}
|
| 152 |
+
|
| 153 |
+
|
| 154 |
+
def menu_func_export(self, context: bpy.types.Context):
|
| 155 |
+
del context
|
| 156 |
+
self.layout.operator(ExportMjcf.bl_idname, text='MuJoCo (.xml)')
|
| 157 |
+
|
| 158 |
+
|
| 159 |
+
def register():
|
| 160 |
+
bpy.utils.register_class(ExportMjcf)
|
| 161 |
+
bpy.types.TOPBAR_MT_file_export.append(menu_func_export)
|
| 162 |
+
|
| 163 |
+
|
| 164 |
+
def unregister():
|
| 165 |
+
bpy.utils.unregister_class(ExportMjcf)
|
| 166 |
+
bpy.types.TOPBAR_MT_file_export.remove(menu_func_export)
|
| 167 |
+
|
| 168 |
+
|
| 169 |
+
if __name__ == '__main__':
|
| 170 |
+
register()
|
data/dm_control/blender/mujoco_exporter/blender_scene.py
ADDED
|
@@ -0,0 +1,428 @@
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|
|
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|
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|
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|
|
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|
|
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|
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|
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|
|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
|
|
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|
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|
|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
| 1 |
+
# Copyright 2023 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""Blender scene parsers."""
|
| 17 |
+
|
| 18 |
+
# disable: pytype=strict-none
|
| 19 |
+
import dataclasses
|
| 20 |
+
import math
|
| 21 |
+
from typing import Any, Callable, Sequence, Tuple, cast
|
| 22 |
+
|
| 23 |
+
from dm_control.blender.fake_core import bpy
|
| 24 |
+
from dm_control.blender.fake_core import mathutils
|
| 25 |
+
|
| 26 |
+
_ARMATURE = 'ARMATURE'
|
| 27 |
+
_CAMERA = 'CAMERA'
|
| 28 |
+
_EMPTY = 'EMPTY'
|
| 29 |
+
_LIGHT = 'LIGHT'
|
| 30 |
+
_MESH = 'MESH'
|
| 31 |
+
_VEC_ZERO = mathutils.Vector((0, 0, 0))
|
| 32 |
+
_OX = mathutils.Vector((1, 0, 0))
|
| 33 |
+
_OY = mathutils.Vector((0, 1, 0))
|
| 34 |
+
_OZ = mathutils.Vector((0, 0, 1))
|
| 35 |
+
|
| 36 |
+
|
| 37 |
+
def _check_that_parent_bone_exists(obj: bpy.types.Object) -> None:
|
| 38 |
+
"""Checks if the bone the object was supposed to be parented exists."""
|
| 39 |
+
assert obj is not None
|
| 40 |
+
if obj.parent is None:
|
| 41 |
+
raise ValueError(
|
| 42 |
+
'Armature object "{}" was parented to does not exist'.format(obj.name)
|
| 43 |
+
)
|
| 44 |
+
|
| 45 |
+
armature = obj.parent
|
| 46 |
+
if armature.type != _ARMATURE:
|
| 47 |
+
raise ValueError(
|
| 48 |
+
'Parent of object "{}" - "{}", is not an armature, but a "{}"'.format(
|
| 49 |
+
obj.name, armature.name, armature.type
|
| 50 |
+
)
|
| 51 |
+
)
|
| 52 |
+
|
| 53 |
+
if obj.parent_bone not in armature.data.bones:
|
| 54 |
+
raise ValueError(
|
| 55 |
+
'Object "{}" is parented to a non-existing bone "{}" from '
|
| 56 |
+
'armature "{}"'.format(obj.name, obj.parent_bone, armature.name)
|
| 57 |
+
)
|
| 58 |
+
|
| 59 |
+
|
| 60 |
+
def _check_constraint_in_local_space(
|
| 61 |
+
constraint: bpy.types.Constraint, owner: 'ObjectRef'
|
| 62 |
+
) -> None:
|
| 63 |
+
if constraint and constraint.owner_space != 'LOCAL':
|
| 64 |
+
raise ValueError(
|
| 65 |
+
'Constraint "{}" (bone "{}", armature "{}") uses an unsupported '
|
| 66 |
+
'owner_mode "{}". Only "LOCAL" mode is supported at the '
|
| 67 |
+
'moment'.format(
|
| 68 |
+
type(constraint),
|
| 69 |
+
owner.bone_name(),
|
| 70 |
+
owner.obj_name(),
|
| 71 |
+
constraint.owner_space,
|
| 72 |
+
)
|
| 73 |
+
)
|
| 74 |
+
|
| 75 |
+
|
| 76 |
+
def _angle_distance(lhs_deg: float, rhs_deg: float) -> float:
|
| 77 |
+
"""Calculates distance between two angles, in degrees."""
|
| 78 |
+
x_2 = math.cos(math.radians(lhs_deg)) * math.cos(math.radians(rhs_deg))
|
| 79 |
+
y_2 = math.sin(math.radians(lhs_deg)) * math.sin(math.radians(rhs_deg))
|
| 80 |
+
return math.degrees(math.acos(x_2 + y_2))
|
| 81 |
+
|
| 82 |
+
|
| 83 |
+
@dataclasses.dataclass(frozen=True)
|
| 84 |
+
class AffineTransform:
|
| 85 |
+
pos: mathutils.Vector
|
| 86 |
+
rot: mathutils.Quaternion
|
| 87 |
+
|
| 88 |
+
|
| 89 |
+
@dataclasses.dataclass(frozen=True)
|
| 90 |
+
class Dof:
|
| 91 |
+
"""Degree of freedom description."""
|
| 92 |
+
|
| 93 |
+
name: str
|
| 94 |
+
axis: mathutils.Vector
|
| 95 |
+
limited: bool = False
|
| 96 |
+
limits: Tuple[float, float] = (0, 0)
|
| 97 |
+
|
| 98 |
+
|
| 99 |
+
@dataclasses.dataclass(frozen=True)
|
| 100 |
+
class ObjectRef:
|
| 101 |
+
"""References a Blender object, be that a scene object or a bone.
|
| 102 |
+
|
| 103 |
+
Object reference is hashable and comparable. Equality is based on the names
|
| 104 |
+
of the underlying objects. Blender's API guarantees that a combination of
|
| 105 |
+
object/bone name will be unique across the scene. We're leveraging that rule.
|
| 106 |
+
"""
|
| 107 |
+
|
| 108 |
+
native_obj: bpy.types.Object | None
|
| 109 |
+
native_bone: bpy.types.Bone | None = None
|
| 110 |
+
|
| 111 |
+
def __hash__(self) -> int:
|
| 112 |
+
return hash(self.name)
|
| 113 |
+
|
| 114 |
+
def __eq__(self, rhs) -> bool:
|
| 115 |
+
if not isinstance(rhs, ObjectRef):
|
| 116 |
+
return False
|
| 117 |
+
return self.name == rhs.name
|
| 118 |
+
|
| 119 |
+
@property
|
| 120 |
+
def is_none(self) -> bool:
|
| 121 |
+
return self.native_bone is None
|
| 122 |
+
|
| 123 |
+
@property
|
| 124 |
+
def is_armature(self) -> bool:
|
| 125 |
+
return ( # pytype: disable=bad-return-type
|
| 126 |
+
self.native_obj
|
| 127 |
+
and self.native_obj.type == _ARMATURE
|
| 128 |
+
and not self.native_bone
|
| 129 |
+
)
|
| 130 |
+
|
| 131 |
+
@property
|
| 132 |
+
def is_bone(self) -> bool:
|
| 133 |
+
return bool(
|
| 134 |
+
self.native_obj
|
| 135 |
+
and self.native_obj.type == _ARMATURE
|
| 136 |
+
and self.native_bone
|
| 137 |
+
)
|
| 138 |
+
|
| 139 |
+
@property
|
| 140 |
+
def is_mesh(self) -> bool:
|
| 141 |
+
return self.native_obj and self.native_obj.type == _MESH # pytype: disable=bad-return-type
|
| 142 |
+
|
| 143 |
+
@property
|
| 144 |
+
def is_light(self) -> bool:
|
| 145 |
+
return self.native_obj and self.native_obj.type == _LIGHT # pytype: disable=bad-return-type
|
| 146 |
+
|
| 147 |
+
@property
|
| 148 |
+
def is_camera(self) -> bool:
|
| 149 |
+
return self.native_obj and self.native_obj.type == _CAMERA # pytype: disable=bad-return-type
|
| 150 |
+
|
| 151 |
+
@property
|
| 152 |
+
def is_empty(self) -> bool:
|
| 153 |
+
return self.native_obj and self.native_obj.type == _EMPTY # pytype: disable=bad-return-type
|
| 154 |
+
|
| 155 |
+
@property
|
| 156 |
+
def name(self) -> str:
|
| 157 |
+
if not self.native_obj:
|
| 158 |
+
return ''
|
| 159 |
+
if self.native_bone:
|
| 160 |
+
return '{}_{}'.format(self.native_bone.name, self.native_obj.name)
|
| 161 |
+
else:
|
| 162 |
+
return self.native_obj.name
|
| 163 |
+
|
| 164 |
+
def as_light(self) -> bpy.types.Light:
|
| 165 |
+
return cast(bpy.types.Light, self.obj_data())
|
| 166 |
+
|
| 167 |
+
def get_local_transform(self) -> AffineTransform:
|
| 168 |
+
"""Returns a transform wrt. the local reference frame."""
|
| 169 |
+
|
| 170 |
+
def get_bone_local_mtx(bone: bpy.types.Bone) -> mathutils.Matrix:
|
| 171 |
+
"""Derives a local matrix of an armature bone."""
|
| 172 |
+
assert isinstance(bone, bpy.types.Bone)
|
| 173 |
+
if bone.parent:
|
| 174 |
+
return bone.parent.matrix_local.inverted() @ bone.matrix_local
|
| 175 |
+
else:
|
| 176 |
+
return bone.matrix_local
|
| 177 |
+
|
| 178 |
+
def get_object_local_mtx(obj: bpy.types.Object) -> mathutils.Matrix:
|
| 179 |
+
"""Derives a local matrix of an object, such as a mesh or armature."""
|
| 180 |
+
assert isinstance(obj, bpy.types.Object)
|
| 181 |
+
if obj.parent:
|
| 182 |
+
local_mtx = obj.parent.matrix_world.inverted() @ obj.matrix_world
|
| 183 |
+
if obj.parent_bone:
|
| 184 |
+
assert obj.parent.type == _ARMATURE
|
| 185 |
+
armature = obj.parent
|
| 186 |
+
bone = armature.data.bones[obj.parent_bone]
|
| 187 |
+
return bone.matrix_local.inverted() @ local_mtx
|
| 188 |
+
else:
|
| 189 |
+
return local_mtx
|
| 190 |
+
else:
|
| 191 |
+
return obj.matrix_world
|
| 192 |
+
|
| 193 |
+
if self.is_bone:
|
| 194 |
+
local_mtx = get_bone_local_mtx(self.native_bone)
|
| 195 |
+
else:
|
| 196 |
+
local_mtx = get_object_local_mtx(self.native_obj)
|
| 197 |
+
|
| 198 |
+
rot_quat = local_mtx.to_quaternion()
|
| 199 |
+
pos = local_mtx.translation
|
| 200 |
+
return AffineTransform(pos, rot_quat)
|
| 201 |
+
|
| 202 |
+
@property
|
| 203 |
+
def is_visible(self) -> bool:
|
| 204 |
+
"""Checks if an object is visible."""
|
| 205 |
+
if not self.native_obj:
|
| 206 |
+
return False
|
| 207 |
+
if hasattr(self.native_obj, 'visible_get'):
|
| 208 |
+
return self.native_obj.visible_get()
|
| 209 |
+
else:
|
| 210 |
+
return True
|
| 211 |
+
|
| 212 |
+
@property
|
| 213 |
+
def parent(self) -> 'ObjectRef':
|
| 214 |
+
"""Returns a reference to the parent of this object."""
|
| 215 |
+
if self.native_obj is None:
|
| 216 |
+
return ObjectRef(None)
|
| 217 |
+
|
| 218 |
+
def bone_parent(
|
| 219 |
+
armature: bpy.types.Object, bone: bpy.types.Bone
|
| 220 |
+
) -> 'ObjectRef':
|
| 221 |
+
if bone.parent:
|
| 222 |
+
# Parent of a child bone is its parent bone in the same armature
|
| 223 |
+
assert isinstance(bone.parent, bpy.types.Bone)
|
| 224 |
+
return ObjectRef.new_bone(armature, bone.parent)
|
| 225 |
+
else:
|
| 226 |
+
# Parent of the root bone is the armature.
|
| 227 |
+
return ObjectRef.new_object(armature)
|
| 228 |
+
|
| 229 |
+
def object_parent(obj: bpy.types.Object) -> 'ObjectRef':
|
| 230 |
+
if obj.parent_bone:
|
| 231 |
+
# The object is parented to an armature, and the .parent field must
|
| 232 |
+
# contain a reference the armature.
|
| 233 |
+
assert obj.parent and obj.parent.type == _ARMATURE
|
| 234 |
+
_check_that_parent_bone_exists(obj)
|
| 235 |
+
armature = obj.parent
|
| 236 |
+
parent_bone = armature.data.bones[obj.parent_bone]
|
| 237 |
+
return ObjectRef.new_bone(armature, parent_bone)
|
| 238 |
+
elif obj.parent:
|
| 239 |
+
# The object is parented to another object.
|
| 240 |
+
return ObjectRef.new_object(obj.parent)
|
| 241 |
+
else:
|
| 242 |
+
# This is a root object
|
| 243 |
+
return ObjectRef(None)
|
| 244 |
+
|
| 245 |
+
if self.native_bone:
|
| 246 |
+
return bone_parent(self.native_obj, self.native_bone)
|
| 247 |
+
else:
|
| 248 |
+
return object_parent(self.native_obj)
|
| 249 |
+
|
| 250 |
+
def get_rotation_dofs(self) -> Sequence[Dof]:
|
| 251 |
+
"""Returns the rotation degrees of freedom in the subtractive mode.
|
| 252 |
+
|
| 253 |
+
The method returns the degrees of freedom present from the point of view
|
| 254 |
+
of Blender. These are modeled such that in absence of constraints, all
|
| 255 |
+
degrees of freedom are present.
|
| 256 |
+
|
| 257 |
+
Returns:
|
| 258 |
+
A sequence of degree of freedom definitions.
|
| 259 |
+
"""
|
| 260 |
+
if not self.is_bone:
|
| 261 |
+
raise ValueError(
|
| 262 |
+
'Rotation degrees of freedom are defined only for bones.'
|
| 263 |
+
)
|
| 264 |
+
assert self.native_obj
|
| 265 |
+
assert self.native_obj.type == _ARMATURE
|
| 266 |
+
armature = self.native_obj
|
| 267 |
+
bone = armature.pose.bones[self.native_bone.name]
|
| 268 |
+
if not bone.is_in_ik_chain:
|
| 269 |
+
# Bones not in an IK chain don't receive any degrees of freedom.
|
| 270 |
+
return []
|
| 271 |
+
|
| 272 |
+
is_locked = [bone.lock_ik_x, bone.lock_ik_y, bone.lock_ik_z]
|
| 273 |
+
use_limits = [bone.use_ik_limit_x, bone.use_ik_limit_y, bone.use_ik_limit_z]
|
| 274 |
+
limits = [
|
| 275 |
+
(math.degrees(bone.ik_min_x), math.degrees(bone.ik_max_x)),
|
| 276 |
+
(math.degrees(bone.ik_min_y), math.degrees(bone.ik_max_y)),
|
| 277 |
+
(math.degrees(bone.ik_min_z), math.degrees(bone.ik_max_z)),
|
| 278 |
+
]
|
| 279 |
+
axes = [_OX, _OY, _OZ]
|
| 280 |
+
names = [
|
| 281 |
+
'rx_{}'.format(self.name),
|
| 282 |
+
'ry_{}'.format(self.name),
|
| 283 |
+
'rz_{}'.format(self.name),
|
| 284 |
+
]
|
| 285 |
+
axis_names = ['X', 'Y', 'Z']
|
| 286 |
+
|
| 287 |
+
def build_dof(idx):
|
| 288 |
+
if limits[idx][0] >= limits[idx][1]:
|
| 289 |
+
raise ValueError(
|
| 290 |
+
'Bone "{}" uses incorrect IK limits for {} axis. '
|
| 291 |
+
'{} < {} is violated'.format(
|
| 292 |
+
self.name, axis_names[idx], limits[idx][0], limits[idx][1]
|
| 293 |
+
)
|
| 294 |
+
)
|
| 295 |
+
return Dof(
|
| 296 |
+
name=names[idx],
|
| 297 |
+
axis=axes[idx],
|
| 298 |
+
limited=use_limits[idx],
|
| 299 |
+
limits=limits[idx],
|
| 300 |
+
)
|
| 301 |
+
|
| 302 |
+
return [build_dof(i) for i in range(3) if not is_locked[i]]
|
| 303 |
+
|
| 304 |
+
def obj_data(self) -> bpy.types.Object | None:
|
| 305 |
+
if self.native_obj is not None:
|
| 306 |
+
return self.native_obj.data
|
| 307 |
+
else:
|
| 308 |
+
return None
|
| 309 |
+
|
| 310 |
+
def obj_name(self) -> str | None:
|
| 311 |
+
if self.native_obj is not None:
|
| 312 |
+
return self.native_obj.name
|
| 313 |
+
else:
|
| 314 |
+
return None
|
| 315 |
+
|
| 316 |
+
def bone_name(self) -> str | None:
|
| 317 |
+
if self.native_bone is not None:
|
| 318 |
+
return self.native_bone.name
|
| 319 |
+
else:
|
| 320 |
+
return None
|
| 321 |
+
|
| 322 |
+
@property
|
| 323 |
+
def mesh(self) -> bpy.types.Mesh:
|
| 324 |
+
"""Returns the mesh associated with this object."""
|
| 325 |
+
assert self.is_mesh
|
| 326 |
+
return cast(bpy.types.Mesh, self.obj_data())
|
| 327 |
+
|
| 328 |
+
def get_modified_mesh(self) -> bpy.types.Mesh | None:
|
| 329 |
+
"""Returns a mesh with modifiers applied to it."""
|
| 330 |
+
assert self.is_mesh
|
| 331 |
+
assert self.native_obj is not None
|
| 332 |
+
if self.native_obj.mode == 'EDIT':
|
| 333 |
+
self.native_obj.update_from_editmode()
|
| 334 |
+
|
| 335 |
+
# get the modifiers
|
| 336 |
+
depsgraph = bpy.context.evaluated_depsgraph_get()
|
| 337 |
+
mesh_owner = self.native_obj.evaluated_get(depsgraph)
|
| 338 |
+
|
| 339 |
+
return mesh_owner.to_mesh()
|
| 340 |
+
|
| 341 |
+
@property
|
| 342 |
+
def materials(self) -> Sequence[bpy.types.Material]:
|
| 343 |
+
"""Returns the materials assigned to this object."""
|
| 344 |
+
data = self.obj_data()
|
| 345 |
+
if hasattr(data, 'materials'):
|
| 346 |
+
return data.materials
|
| 347 |
+
else:
|
| 348 |
+
return []
|
| 349 |
+
|
| 350 |
+
@classmethod
|
| 351 |
+
def new_object(cls, obj: bpy.types.Object) -> 'ObjectRef':
|
| 352 |
+
assert isinstance(obj, bpy.types.Object) or obj is None
|
| 353 |
+
return cls(obj)
|
| 354 |
+
|
| 355 |
+
@classmethod
|
| 356 |
+
def new_bone(
|
| 357 |
+
cls,
|
| 358 |
+
armature: bpy.types.Object,
|
| 359 |
+
bone: bpy.types.Bone | None,
|
| 360 |
+
) -> 'ObjectRef':
|
| 361 |
+
assert isinstance(armature, bpy.types.Object)
|
| 362 |
+
assert armature.type == _ARMATURE
|
| 363 |
+
assert isinstance(bone, bpy.types.Bone) or bone is None
|
| 364 |
+
return cls(armature, bone)
|
| 365 |
+
|
| 366 |
+
|
| 367 |
+
NoneRef = ObjectRef(None, None)
|
| 368 |
+
|
| 369 |
+
|
| 370 |
+
def map_blender_tree(
|
| 371 |
+
context: bpy.types.Context, callback: Callable[[ObjectRef], Any]
|
| 372 |
+
) -> Sequence[Any]:
|
| 373 |
+
"""Returns a list of scene objects in the breadth-first order."""
|
| 374 |
+
# Collect all nodes to explore - objects and bones alike
|
| 375 |
+
assert context.scene is not None
|
| 376 |
+
to_explore = [ObjectRef.new_object(o) for o in context.scene.objects]
|
| 377 |
+
armatures = [o for o in context.scene.objects if o.type == 'ARMATURE']
|
| 378 |
+
for armature in armatures:
|
| 379 |
+
for bone in armature.data.bones:
|
| 380 |
+
to_explore.append(ObjectRef.new_bone(armature, bone))
|
| 381 |
+
|
| 382 |
+
explored = set()
|
| 383 |
+
explored.add(NoneRef)
|
| 384 |
+
result = []
|
| 385 |
+
|
| 386 |
+
while to_explore:
|
| 387 |
+
obj_ref: ObjectRef = to_explore[0]
|
| 388 |
+
to_explore = to_explore[1:]
|
| 389 |
+
|
| 390 |
+
if obj_ref.parent in explored:
|
| 391 |
+
explored.add(obj_ref)
|
| 392 |
+
result.append(callback(obj_ref))
|
| 393 |
+
else:
|
| 394 |
+
to_explore.append(obj_ref)
|
| 395 |
+
|
| 396 |
+
return result
|
| 397 |
+
|
| 398 |
+
|
| 399 |
+
def get_material_mesh_pair_name(mesh_name: str, mat_name: str) -> str:
|
| 400 |
+
"""Build the name for a mesh-material pair."""
|
| 401 |
+
return '{}_{}'.format(mesh_name, mat_name) if mat_name else mesh_name
|
| 402 |
+
|
| 403 |
+
|
| 404 |
+
def is_material_mesh_pair_valid(mesh: bpy.types.Mesh, mat_idx: int) -> bool:
|
| 405 |
+
"""Tests the mesh-material pair whether it contains any geometry."""
|
| 406 |
+
mesh.calc_loop_triangles()
|
| 407 |
+
faces = [f for f in mesh.loop_triangles if f.material_index == mat_idx]
|
| 408 |
+
return bool(faces)
|
| 409 |
+
|
| 410 |
+
|
| 411 |
+
def map_materials(
|
| 412 |
+
func: Callable[[bpy.types.Material], Any],
|
| 413 |
+
materials: Sequence[bpy.types.Material],
|
| 414 |
+
) -> Sequence[Any]:
|
| 415 |
+
"""Maps a collection of materials, adjusting for empty collections.
|
| 416 |
+
|
| 417 |
+
In case of an empty collection, a substitute for a default material is passed
|
| 418 |
+
to the mapping callback.
|
| 419 |
+
|
| 420 |
+
Args:
|
| 421 |
+
func: Mapping callback.
|
| 422 |
+
materials: Collection of materials.
|
| 423 |
+
|
| 424 |
+
Returns:
|
| 425 |
+
An arbitrary collection of data mapped out of the materials collection.
|
| 426 |
+
"""
|
| 427 |
+
materials = materials or []
|
| 428 |
+
return [func(material) for material in materials]
|
data/dm_control/blender/mujoco_exporter/blender_scene_test.py
ADDED
|
@@ -0,0 +1,244 @@
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2023 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""Tests for blender_scene.py."""
|
| 17 |
+
|
| 18 |
+
import math
|
| 19 |
+
from unittest import mock
|
| 20 |
+
from absl.testing import absltest
|
| 21 |
+
from absl.testing import parameterized
|
| 22 |
+
from dm_control.blender.fake_core import bpy
|
| 23 |
+
from dm_control.blender.fake_core import mathutils
|
| 24 |
+
from dm_control.blender.mujoco_exporter import blender_scene
|
| 25 |
+
from dm_control.blender.mujoco_exporter import testing
|
| 26 |
+
import numpy as np
|
| 27 |
+
|
| 28 |
+
|
| 29 |
+
class AngleDistanceTest(parameterized.TestCase):
|
| 30 |
+
|
| 31 |
+
@parameterized.parameters([
|
| 32 |
+
[0, 0, 0],
|
| 33 |
+
[90, 90, 0],
|
| 34 |
+
[-90, -90, 0],
|
| 35 |
+
[-90, 0, 90],
|
| 36 |
+
[0, 90, 90],
|
| 37 |
+
[-90, 90, 180],
|
| 38 |
+
[-180, 180, 0],
|
| 39 |
+
[-270, 90, 0],
|
| 40 |
+
[-90, 270, 0],
|
| 41 |
+
[-90, 360, 90],
|
| 42 |
+
])
|
| 43 |
+
def test_angle_distance(self, lhs, rhs, result):
|
| 44 |
+
self.assertAlmostEqual(blender_scene._angle_distance(lhs, rhs), result, 2)
|
| 45 |
+
|
| 46 |
+
|
| 47 |
+
class ObjectRefTest(absltest.TestCase):
|
| 48 |
+
|
| 49 |
+
def test_hashing_and_comparison(self):
|
| 50 |
+
mesh_a = blender_scene.ObjectRef.new_object(
|
| 51 |
+
testing.build_mesh_object('mesh_a')
|
| 52 |
+
)
|
| 53 |
+
mesh_a_copy = blender_scene.ObjectRef.new_object(
|
| 54 |
+
testing.build_mesh_object('mesh_a')
|
| 55 |
+
)
|
| 56 |
+
mesh_b = blender_scene.ObjectRef.new_object(
|
| 57 |
+
testing.build_mesh_object('mesh_b')
|
| 58 |
+
)
|
| 59 |
+
|
| 60 |
+
self.assertEqual(hash(mesh_a), hash(mesh_a_copy))
|
| 61 |
+
self.assertNotEqual(hash(mesh_a), hash(mesh_b))
|
| 62 |
+
|
| 63 |
+
self.assertEqual(mesh_a, mesh_a_copy)
|
| 64 |
+
self.assertNotEqual(mesh_a, mesh_b)
|
| 65 |
+
|
| 66 |
+
def test_parent_of_root_object_is_noneref(self):
|
| 67 |
+
obj_ref = blender_scene.ObjectRef.new_object(
|
| 68 |
+
testing.build_mesh_object('mesh')
|
| 69 |
+
)
|
| 70 |
+
self.assertEqual(obj_ref.parent, blender_scene.NoneRef)
|
| 71 |
+
|
| 72 |
+
def test_parent_of_object_parented_to_another_object(self):
|
| 73 |
+
parent_obj = testing.build_mesh_object('parent_obj')
|
| 74 |
+
child_obj = testing.build_mesh_object('child_obj', parent=parent_obj)
|
| 75 |
+
|
| 76 |
+
parent_ref = blender_scene.ObjectRef.new_object(parent_obj)
|
| 77 |
+
child_ref = blender_scene.ObjectRef.new_object(child_obj)
|
| 78 |
+
self.assertEqual(child_ref.parent, parent_ref)
|
| 79 |
+
|
| 80 |
+
def test_parent_of_object_parented_to_bone(self):
|
| 81 |
+
bone = testing.build_bone('bone')
|
| 82 |
+
armature = testing.build_armature('armature', bones=[bone])
|
| 83 |
+
child_obj = testing.build_mesh_object(
|
| 84 |
+
'child_obj', parent=armature, parent_bone=bone.name
|
| 85 |
+
)
|
| 86 |
+
|
| 87 |
+
parent_ref = blender_scene.ObjectRef.new_bone(armature, bone)
|
| 88 |
+
child_ref = blender_scene.ObjectRef.new_object(child_obj)
|
| 89 |
+
self.assertEqual(child_ref.parent, parent_ref)
|
| 90 |
+
|
| 91 |
+
def test_parent_of_root_bone_is_armature(self):
|
| 92 |
+
bone = testing.build_bone('bone')
|
| 93 |
+
armature = testing.build_armature('armature', bones=[bone])
|
| 94 |
+
|
| 95 |
+
armature_ref = blender_scene.ObjectRef.new_object(armature)
|
| 96 |
+
bone_ref = blender_scene.ObjectRef.new_bone(armature, bone)
|
| 97 |
+
self.assertEqual(bone_ref.parent, armature_ref)
|
| 98 |
+
|
| 99 |
+
|
| 100 |
+
class BlenderTreeMapperTest(parameterized.TestCase):
|
| 101 |
+
|
| 102 |
+
@parameterized.parameters([
|
| 103 |
+
[['obj1']],
|
| 104 |
+
[['obj1', 'obj2']],
|
| 105 |
+
[['obj2', 'obj1']],
|
| 106 |
+
[['obj2', 'obj1', 'obj3']],
|
| 107 |
+
])
|
| 108 |
+
def test_object_without_hierarchy(self, object_names):
|
| 109 |
+
context = mock.MagicMock(spec=bpy.types.Context)
|
| 110 |
+
context.scene.objects = [
|
| 111 |
+
testing.build_mesh_object(name) for name in object_names
|
| 112 |
+
]
|
| 113 |
+
|
| 114 |
+
objects = blender_scene.map_blender_tree(context, lambda x: x)
|
| 115 |
+
self.assertEqual([o.native_obj.name for o in objects], object_names)
|
| 116 |
+
|
| 117 |
+
@parameterized.parameters([
|
| 118 |
+
# A hierarchy with 2 objects
|
| 119 |
+
dict(
|
| 120 |
+
parent_child_tuples=[('obj_1', 'obj_1_1')],
|
| 121 |
+
expected_order=['obj_1', 'obj_1_1'],
|
| 122 |
+
),
|
| 123 |
+
# Shallow hierarchy with 3 objects
|
| 124 |
+
dict(
|
| 125 |
+
parent_child_tuples=[('obj_1', 'obj_1_1'), ('obj_1', 'obj_1_2')],
|
| 126 |
+
expected_order=['obj_1', 'obj_1_1', 'obj_1_2'],
|
| 127 |
+
),
|
| 128 |
+
# Deep hierarchy with 3 objects
|
| 129 |
+
dict(
|
| 130 |
+
parent_child_tuples=[('obj_1', 'obj_1_1'), ('obj_1_1', 'obj_1_2')],
|
| 131 |
+
expected_order=['obj_1', 'obj_1_1', 'obj_1_2'],
|
| 132 |
+
),
|
| 133 |
+
# 2 hierarchies, 2 objects each
|
| 134 |
+
dict(
|
| 135 |
+
parent_child_tuples=[('obj_1', 'obj_1_1'), ('obj_2', 'obj_2_1')],
|
| 136 |
+
expected_order=['obj_1', 'obj_1_1', 'obj_2', 'obj_2_1'],
|
| 137 |
+
),
|
| 138 |
+
])
|
| 139 |
+
def test_object_with_hierarchy(self, parent_child_tuples, expected_order):
|
| 140 |
+
objects = {}
|
| 141 |
+
for parent_name, child_name in parent_child_tuples:
|
| 142 |
+
parent = objects.get(parent_name, None)
|
| 143 |
+
if not parent:
|
| 144 |
+
parent = testing.build_mesh_object(parent_name)
|
| 145 |
+
objects[parent_name] = parent
|
| 146 |
+
|
| 147 |
+
child = testing.build_mesh_object(child_name, parent=parent)
|
| 148 |
+
objects[child_name] = child
|
| 149 |
+
|
| 150 |
+
context = mock.MagicMock(spec=bpy.types.Context)
|
| 151 |
+
context.scene.objects = [o for o in objects.values()]
|
| 152 |
+
|
| 153 |
+
object_names = blender_scene.map_blender_tree(context, lambda x: x.name)
|
| 154 |
+
self.assertEqual(object_names, expected_order)
|
| 155 |
+
|
| 156 |
+
def test_boneless_armature(self):
|
| 157 |
+
armature = testing.build_armature('armature')
|
| 158 |
+
|
| 159 |
+
context = mock.MagicMock(spec=bpy.types.Context)
|
| 160 |
+
context.scene.objects = [armature]
|
| 161 |
+
|
| 162 |
+
objects = blender_scene.map_blender_tree(context, lambda x: x)
|
| 163 |
+
self.assertLen(objects, 1)
|
| 164 |
+
|
| 165 |
+
def test_armature_with_bones(self):
|
| 166 |
+
root = testing.build_bone('root')
|
| 167 |
+
r_arm = testing.build_bone('r_arm', parent=root)
|
| 168 |
+
l_arm = testing.build_bone('l_arm', parent=root)
|
| 169 |
+
r_finger = testing.build_bone('r_finger', parent=r_arm)
|
| 170 |
+
armature = testing.build_armature(
|
| 171 |
+
'armature', bones=[r_finger, l_arm, root, r_arm]
|
| 172 |
+
)
|
| 173 |
+
expected_order = [
|
| 174 |
+
'armature',
|
| 175 |
+
'root_armature',
|
| 176 |
+
'r_arm_armature',
|
| 177 |
+
'r_finger_armature',
|
| 178 |
+
'l_arm_armature',
|
| 179 |
+
]
|
| 180 |
+
|
| 181 |
+
context = mock.MagicMock(spec=bpy.types.Context)
|
| 182 |
+
# Randomize the order of objects to test the sorting mechanism.
|
| 183 |
+
context.scene.objects = [armature]
|
| 184 |
+
|
| 185 |
+
object_names = blender_scene.map_blender_tree(context, lambda x: x.name)
|
| 186 |
+
self.assertEqual(object_names, expected_order)
|
| 187 |
+
|
| 188 |
+
|
| 189 |
+
class DegreesOfFreedomTest(parameterized.TestCase):
|
| 190 |
+
|
| 191 |
+
def test_ik_with_unlimited_dofs_adds_all_dofs(self):
|
| 192 |
+
constraint = testing.build_rotation_constraint(
|
| 193 |
+
use_limit_x=False, use_limit_y=False, use_limit_z=False
|
| 194 |
+
)
|
| 195 |
+
bone = testing.build_bone('bone', constraint=constraint)
|
| 196 |
+
armature = testing.build_armature('bone', bones=[bone])
|
| 197 |
+
bone_ref = blender_scene.ObjectRef.new_bone(armature, bone)
|
| 198 |
+
|
| 199 |
+
dofs = bone_ref.get_rotation_dofs()
|
| 200 |
+
self.assertLen(dofs, 3)
|
| 201 |
+
self.assertEqual(dofs[0].axis, mathutils.Vector((1, 0, 0)))
|
| 202 |
+
self.assertEqual(dofs[1].axis, mathutils.Vector((0, 1, 0)))
|
| 203 |
+
self.assertEqual(dofs[2].axis, mathutils.Vector((0, 0, 1)))
|
| 204 |
+
self.assertFalse(dofs[0].limited)
|
| 205 |
+
self.assertFalse(dofs[1].limited)
|
| 206 |
+
self.assertFalse(dofs[2].limited)
|
| 207 |
+
|
| 208 |
+
def test_ik_with_removed_dofs(self):
|
| 209 |
+
constraint = testing.build_rotation_constraint(
|
| 210 |
+
lock_x=False,
|
| 211 |
+
lock_y=True,
|
| 212 |
+
lock_z=False,
|
| 213 |
+
use_limit_x=True,
|
| 214 |
+
use_limit_z=False,
|
| 215 |
+
)
|
| 216 |
+
bone = testing.build_bone('bone', constraint=constraint)
|
| 217 |
+
armature = testing.build_armature('bone', bones=[bone])
|
| 218 |
+
bone_ref = blender_scene.ObjectRef.new_bone(armature, bone)
|
| 219 |
+
|
| 220 |
+
dofs = bone_ref.get_rotation_dofs()
|
| 221 |
+
self.assertLen(dofs, 2)
|
| 222 |
+
self.assertEqual(dofs[0].axis, mathutils.Vector((1, 0, 0)))
|
| 223 |
+
self.assertEqual(dofs[1].axis, mathutils.Vector((0, 0, 1)))
|
| 224 |
+
self.assertTrue(dofs[0].limited)
|
| 225 |
+
self.assertFalse(dofs[1].limited)
|
| 226 |
+
|
| 227 |
+
def test_limiting_dof(self):
|
| 228 |
+
constraint = testing.build_rotation_constraint(
|
| 229 |
+
use_limit_x=True, min_x=math.radians(-15), max_x=math.radians(30)
|
| 230 |
+
)
|
| 231 |
+
bone = testing.build_bone('bone', constraint=constraint)
|
| 232 |
+
armature = testing.build_armature('bone', bones=[bone])
|
| 233 |
+
bone_ref = blender_scene.ObjectRef.new_bone(armature, bone)
|
| 234 |
+
|
| 235 |
+
dofs = bone_ref.get_rotation_dofs()
|
| 236 |
+
self.assertLen(dofs, 3)
|
| 237 |
+
self.assertTrue(dofs[0].limited)
|
| 238 |
+
self.assertFalse(dofs[1].limited)
|
| 239 |
+
self.assertFalse(dofs[2].limited)
|
| 240 |
+
np.testing.assert_array_almost_equal(dofs[0].limits, (-15, 30), 1e-2)
|
| 241 |
+
|
| 242 |
+
|
| 243 |
+
if __name__ == '__main__':
|
| 244 |
+
absltest.main()
|
data/dm_control/blender/mujoco_exporter/doc/add_ik_constraint.png
ADDED
|
Git LFS Details
|
data/dm_control/blender/mujoco_exporter/doc/convhull_blend.png
ADDED
|
Git LFS Details
|
data/dm_control/blender/mujoco_exporter/doc/convhull_mj_hull.png
ADDED
|
Git LFS Details
|
data/dm_control/blender/mujoco_exporter/doc/convhull_mj_rend.png
ADDED
|
Git LFS Details
|
data/dm_control/blender/mujoco_exporter/doc/enable_plugin.png
ADDED
|
Git LFS Details
|
data/dm_control/blender/mujoco_exporter/doc/end_effector_selection.png
ADDED
|
Git LFS Details
|
data/dm_control/blender/mujoco_exporter/doc/gizmo.png
ADDED
|
Git LFS Details
|
data/dm_control/blender/mujoco_exporter/doc/ik_chain_length.png
ADDED
|
Git LFS Details
|
data/dm_control/blender/mujoco_exporter/doc/ik_target.png
ADDED
|
Git LFS Details
|
data/dm_control/blender/mujoco_exporter/doc/install_plugin.png
ADDED
|
Git LFS Details
|
data/dm_control/blender/mujoco_exporter/doc/limits.png
ADDED
|
Git LFS Details
|
data/dm_control/blender/mujoco_exporter/install.sh
ADDED
|
@@ -0,0 +1,13 @@
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|
| 1 |
+
#!/bin/bash
|
| 2 |
+
|
| 3 |
+
set -euo pipefail
|
| 4 |
+
|
| 5 |
+
export output_dir="./addons/mujoco_model_exporter"
|
| 6 |
+
rm -rf "${output_dir}"
|
| 7 |
+
mkdir -p "${output_dir}"
|
| 8 |
+
|
| 9 |
+
cp ./*.py "${output_dir}"
|
| 10 |
+
find "${output_dir}" -name "*.py" -exec sed -i "s/from dm_control.blender.fake_core //g" "{}" +;
|
| 11 |
+
find "${output_dir}" -name "*.py" -exec sed -i "s/from dm_control.blender.mujoco_exporter/from ./g" "{}" +;
|
| 12 |
+
echo "Add-on exported to ${output_dir}."
|
| 13 |
+
echo "Copy this to Blender ./scripts/addons - see https://docs.blender.org/manual/en/latest/advanced/blender_directory_layout.html"
|
data/dm_control/blender/mujoco_exporter/mujoco_assets.py
ADDED
|
@@ -0,0 +1,175 @@
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|
| 1 |
+
# Copyright 2023 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""Mujoco asset exporters.
|
| 17 |
+
|
| 18 |
+
Note about Materials.
|
| 19 |
+
Material nodes are not supported, so please use basic Blender materials.
|
| 20 |
+
"""
|
| 21 |
+
|
| 22 |
+
import os
|
| 23 |
+
import struct
|
| 24 |
+
from typing import Sequence
|
| 25 |
+
from xml.dom import minidom
|
| 26 |
+
|
| 27 |
+
from dm_control.blender.fake_core import bpy
|
| 28 |
+
from dm_control.blender.mujoco_exporter import blender_scene
|
| 29 |
+
|
| 30 |
+
_MESH = 'MESH'
|
| 31 |
+
|
| 32 |
+
|
| 33 |
+
class MujocoMesh:
|
| 34 |
+
"""Mujoco representation of a mesh.
|
| 35 |
+
|
| 36 |
+
Mujoco can't handle meshes that reference multiple materials. Therefore
|
| 37 |
+
an instance of this class represents a submesh that uses a specific material.
|
| 38 |
+
"""
|
| 39 |
+
|
| 40 |
+
def __init__(self, mesh: bpy.types.Mesh, material_idx: int, two_sided: bool):
|
| 41 |
+
if mesh.uv_layers.active is None:
|
| 42 |
+
raise ValueError(f'Mesh {mesh.name} does not have an active UV layer.')
|
| 43 |
+
|
| 44 |
+
mesh.calc_loop_triangles()
|
| 45 |
+
|
| 46 |
+
indices = []
|
| 47 |
+
for face in mesh.loop_triangles:
|
| 48 |
+
if face.material_index == material_idx:
|
| 49 |
+
indices.extend([i for i in face.vertices])
|
| 50 |
+
|
| 51 |
+
uv_layer = mesh.uv_layers.active.data
|
| 52 |
+
# pylint: disable=g-complex-comprehension
|
| 53 |
+
self.vertices = [c for i in indices for c in mesh.vertices[i].co]
|
| 54 |
+
self.normals = [c for i in indices for c in mesh.vertices[i].normal]
|
| 55 |
+
self.uvs = [c for i in indices for c in uv_layer[i].uv]
|
| 56 |
+
# pylint: enable=g-complex-comprehension
|
| 57 |
+
self.faces = list(range(len(self.vertices) // 3))
|
| 58 |
+
|
| 59 |
+
if two_sided:
|
| 60 |
+
# For two-sided meshes, duplicate the geometry with flipped normals
|
| 61 |
+
# and reversed triangle winding order.
|
| 62 |
+
base_vertex = len(self.vertices) // 3
|
| 63 |
+
self.vertices += list(self.vertices)
|
| 64 |
+
self.normals += [n * -1.0 for n in self.normals]
|
| 65 |
+
self.uvs += list(self.uvs)
|
| 66 |
+
self.faces += [i + base_vertex for i in reversed(self.faces)]
|
| 67 |
+
|
| 68 |
+
def save(self, filepath: str) -> None:
|
| 69 |
+
"""Save the data in the MSH format."""
|
| 70 |
+
nvertex = len(self.vertices)
|
| 71 |
+
nnormal = len(self.normals)
|
| 72 |
+
ntexcoord = len(self.uvs)
|
| 73 |
+
nface = len(self.faces)
|
| 74 |
+
assert nvertex % 3 == 0
|
| 75 |
+
assert nnormal % 3 == 0
|
| 76 |
+
assert ntexcoord % 2 == 0
|
| 77 |
+
assert nface % 3 == 0
|
| 78 |
+
|
| 79 |
+
fmt_msh = '4i{}f{}f{}f{}i'.format(nvertex, nnormal, ntexcoord, nface)
|
| 80 |
+
with open(filepath, 'wb') as f:
|
| 81 |
+
f.write(
|
| 82 |
+
struct.pack(
|
| 83 |
+
fmt_msh,
|
| 84 |
+
nvertex // 3,
|
| 85 |
+
nnormal // 3,
|
| 86 |
+
ntexcoord // 2,
|
| 87 |
+
nface // 3,
|
| 88 |
+
*self.vertices,
|
| 89 |
+
*self.normals,
|
| 90 |
+
*self.uvs,
|
| 91 |
+
*self.faces,
|
| 92 |
+
)
|
| 93 |
+
)
|
| 94 |
+
|
| 95 |
+
|
| 96 |
+
def mesh_asset_builder(
|
| 97 |
+
doc: minidom.Document,
|
| 98 |
+
mesh: bpy.types.Mesh,
|
| 99 |
+
materials: Sequence[bpy.types.Material],
|
| 100 |
+
folder: str,
|
| 101 |
+
) -> Sequence[minidom.Element]:
|
| 102 |
+
"""Exports a mesh associated with the object and creates an 'asset' node."""
|
| 103 |
+
mat_names = blender_scene.map_materials(lambda m: m.name, materials)
|
| 104 |
+
twosidedness = blender_scene.map_materials(
|
| 105 |
+
lambda m: not m.use_backface_culling, materials
|
| 106 |
+
)
|
| 107 |
+
mat_names = mat_names or ['']
|
| 108 |
+
twosidedness = twosidedness or [False]
|
| 109 |
+
|
| 110 |
+
elements = []
|
| 111 |
+
for mat_idx, (mat_name, twosided) in enumerate(zip(mat_names, twosidedness)):
|
| 112 |
+
el_name = blender_scene.get_material_mesh_pair_name(mesh.name, mat_name)
|
| 113 |
+
filename = '{}.msh'.format(el_name)
|
| 114 |
+
filepath = os.path.join(folder, filename)
|
| 115 |
+
|
| 116 |
+
if blender_scene.is_material_mesh_pair_valid(mesh, mat_idx):
|
| 117 |
+
mesh_to_export = MujocoMesh(mesh, mat_idx, twosided)
|
| 118 |
+
mesh_to_export.save(filepath)
|
| 119 |
+
|
| 120 |
+
el = doc.createElement('mesh')
|
| 121 |
+
el.setAttribute('name', el_name)
|
| 122 |
+
el.setAttribute('file', filename)
|
| 123 |
+
elements.append(el)
|
| 124 |
+
return elements
|
| 125 |
+
|
| 126 |
+
|
| 127 |
+
def clip01(value):
|
| 128 |
+
return min(1.0, max(0.0, value))
|
| 129 |
+
|
| 130 |
+
|
| 131 |
+
def material_asset_builder(
|
| 132 |
+
doc: minidom.Document, mat: bpy.types.Material
|
| 133 |
+
) -> minidom.Element:
|
| 134 |
+
"""Builds a material asset node."""
|
| 135 |
+
el = doc.createElement('material')
|
| 136 |
+
el.setAttribute('name', mat.name)
|
| 137 |
+
# el.setAttribute('texture', '')
|
| 138 |
+
el.setAttribute('specular', str(clip01(mat.specular_intensity)))
|
| 139 |
+
el.setAttribute('shininess', str(clip01(1.0 - mat.roughness)))
|
| 140 |
+
el.setAttribute('reflectance', str(clip01(mat.metallic)))
|
| 141 |
+
el.setAttribute('rgba', ' '.join([str(c) for c in mat.diffuse_color]))
|
| 142 |
+
return el
|
| 143 |
+
|
| 144 |
+
|
| 145 |
+
def export_to_xml(
|
| 146 |
+
doc: minidom.Document,
|
| 147 |
+
objects: Sequence[blender_scene.ObjectRef],
|
| 148 |
+
folder: str,
|
| 149 |
+
apply_mesh_modifiers: bool,
|
| 150 |
+
) -> minidom.Element:
|
| 151 |
+
"""converts Blender scene objects to Mujoco assets."""
|
| 152 |
+
asset_el = doc.createElement('asset')
|
| 153 |
+
|
| 154 |
+
unique = set()
|
| 155 |
+
for obj in objects:
|
| 156 |
+
if obj.is_mesh and obj.mesh not in unique:
|
| 157 |
+
# Use the base mesh object as a reference, because that's the reference
|
| 158 |
+
# that will be shared between objects.
|
| 159 |
+
unique.add(obj.mesh)
|
| 160 |
+
if apply_mesh_modifiers:
|
| 161 |
+
# Make sure to export the mesh with modifiers applied, and if that's not
|
| 162 |
+
# possible (it may not be possible and None will be returned), default
|
| 163 |
+
# to the base mesh.
|
| 164 |
+
mesh_for_export = obj.get_modified_mesh() or obj.mesh
|
| 165 |
+
else:
|
| 166 |
+
mesh_for_export = obj.mesh
|
| 167 |
+
for el in mesh_asset_builder(doc, mesh_for_export, obj.materials, folder):
|
| 168 |
+
asset_el.appendChild(el)
|
| 169 |
+
|
| 170 |
+
for material in obj.materials:
|
| 171 |
+
if material not in unique:
|
| 172 |
+
unique.add(material)
|
| 173 |
+
asset_el.appendChild(material_asset_builder(doc, material))
|
| 174 |
+
|
| 175 |
+
return asset_el
|
data/dm_control/blender/mujoco_exporter/mujoco_assets_test.py
ADDED
|
@@ -0,0 +1,225 @@
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2023 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""Tests for mujoco_assets.py."""
|
| 17 |
+
|
| 18 |
+
import collections
|
| 19 |
+
from unittest import mock
|
| 20 |
+
from xml.dom import minidom
|
| 21 |
+
|
| 22 |
+
from absl.testing import absltest
|
| 23 |
+
from absl.testing import parameterized
|
| 24 |
+
from dm_control.blender.mujoco_exporter import blender_scene
|
| 25 |
+
from dm_control.blender.mujoco_exporter import mujoco_assets
|
| 26 |
+
from dm_control.blender.mujoco_exporter import testing
|
| 27 |
+
|
| 28 |
+
_DEFAULT_SETTINGS = dict(folder='', apply_mesh_modifiers=False)
|
| 29 |
+
|
| 30 |
+
|
| 31 |
+
class MujocoAssetsTest(parameterized.TestCase):
|
| 32 |
+
|
| 33 |
+
def test_building_mesh_asset(self):
|
| 34 |
+
mesh_object = testing.build_mesh_object('mesh')
|
| 35 |
+
|
| 36 |
+
xml_root = mock.MagicMock(spec=minidom.Document)
|
| 37 |
+
xml_root.createElement = mock.MagicMock(spec=minidom.Element)
|
| 38 |
+
|
| 39 |
+
obj = blender_scene.ObjectRef(mesh_object)
|
| 40 |
+
with mock.patch(mujoco_assets.__name__ + '.open', mock.mock_open()):
|
| 41 |
+
element = mujoco_assets.export_to_xml(
|
| 42 |
+
xml_root, [obj], **_DEFAULT_SETTINGS
|
| 43 |
+
)
|
| 44 |
+
|
| 45 |
+
xml_root.createElement.assert_any_call('mesh')
|
| 46 |
+
element.setAttribute.assert_any_call('name', 'mesh')
|
| 47 |
+
# Note there's no folder in the name.
|
| 48 |
+
# The asset is assumed to be exported into the same folder as the .xml file.
|
| 49 |
+
element.setAttribute.assert_any_call('file', 'mesh.msh')
|
| 50 |
+
|
| 51 |
+
def test_exporting_mesh_asset(self):
|
| 52 |
+
mesh = testing.build_mesh(name='mesh.001')
|
| 53 |
+
mesh_object = testing.build_mesh_object('mesh', mesh=mesh)
|
| 54 |
+
xml_root = mock.MagicMock(spec=minidom.Document)
|
| 55 |
+
|
| 56 |
+
obj = blender_scene.ObjectRef(mesh_object)
|
| 57 |
+
mock_open = mock.mock_open()
|
| 58 |
+
with mock.patch(mujoco_assets.__name__ + '.open', mock_open):
|
| 59 |
+
mujoco_assets.export_to_xml(xml_root, [obj], '/folder', False)
|
| 60 |
+
mock_open.assert_called_once_with('/folder/mesh.001.msh', 'wb')
|
| 61 |
+
|
| 62 |
+
def test_exporting_material_asset(self):
|
| 63 |
+
material = testing.build_material(
|
| 64 |
+
'mat', color=(0.1, 0.2, 0.3, 0.4), specular=0.5, metallic=0.6
|
| 65 |
+
)
|
| 66 |
+
xml_root = mock.MagicMock(spec=minidom.Document)
|
| 67 |
+
|
| 68 |
+
result = mujoco_assets.material_asset_builder(xml_root, material)
|
| 69 |
+
result.setAttribute.assert_any_call('name', 'mat')
|
| 70 |
+
result.setAttribute.assert_any_call('specular', '0.5')
|
| 71 |
+
result.setAttribute.assert_any_call('reflectance', '0.6')
|
| 72 |
+
result.setAttribute.assert_any_call('rgba', '0.1 0.2 0.3 0.4')
|
| 73 |
+
|
| 74 |
+
@parameterized.parameters([
|
| 75 |
+
[0.0, 1.0],
|
| 76 |
+
[0.25, 0.75],
|
| 77 |
+
[0.5, 0.5],
|
| 78 |
+
[1.0, 0.0],
|
| 79 |
+
[5.0, 0.0],
|
| 80 |
+
[-5.0, 1.0],
|
| 81 |
+
])
|
| 82 |
+
def test_shininess_is_inverse_of_blender_mat_roughness(self, blender, mujoco):
|
| 83 |
+
material = testing.build_material('mat', roughness=blender)
|
| 84 |
+
xml_root = mock.MagicMock(spec=minidom.Document)
|
| 85 |
+
|
| 86 |
+
result = mujoco_assets.material_asset_builder(xml_root, material)
|
| 87 |
+
result.setAttribute.assert_any_call('shininess', str(mujoco))
|
| 88 |
+
|
| 89 |
+
def test_export_unique_asset_instances(self):
|
| 90 |
+
num_objects = 10
|
| 91 |
+
shared_material = testing.build_material('mat_1')
|
| 92 |
+
shared_mesh = testing.build_mesh('mesh.001', materials=[shared_material])
|
| 93 |
+
|
| 94 |
+
objects = [
|
| 95 |
+
blender_scene.ObjectRef(
|
| 96 |
+
testing.build_mesh_object('mesh', mesh=shared_mesh)
|
| 97 |
+
)
|
| 98 |
+
for _ in range(num_objects)
|
| 99 |
+
]
|
| 100 |
+
xml_root = mock.MagicMock(spec=minidom.Document)
|
| 101 |
+
with mock.patch(mujoco_assets.__name__ + '.open', mock.mock_open()):
|
| 102 |
+
mujoco_assets.export_to_xml(xml_root, objects, **_DEFAULT_SETTINGS)
|
| 103 |
+
|
| 104 |
+
create_element_call_counts = collections.Counter(
|
| 105 |
+
[m_[0][0] for m_ in xml_root.createElement.call_args_list]
|
| 106 |
+
)
|
| 107 |
+
self.assertEqual(create_element_call_counts['mesh'], 1)
|
| 108 |
+
self.assertEqual(create_element_call_counts['material'], 1)
|
| 109 |
+
|
| 110 |
+
def test_mesh_with_multiple_materials_split(self):
|
| 111 |
+
mat_1 = testing.build_material('mat_1')
|
| 112 |
+
mat_2 = testing.build_material('mat_2')
|
| 113 |
+
mesh = testing.build_mesh(
|
| 114 |
+
'mesh',
|
| 115 |
+
materials=[mat_1, mat_2],
|
| 116 |
+
faces=[[0, 1, 2], [3, 4, 5]],
|
| 117 |
+
vert_co=[
|
| 118 |
+
[0.1, 0.1, 0.1],
|
| 119 |
+
[0.2, 0.2, 0.2],
|
| 120 |
+
[0.3, 0.3, 0.3],
|
| 121 |
+
[0.4, 0.4, 0.4],
|
| 122 |
+
[0.5, 0.5, 0.5],
|
| 123 |
+
[0.6, 0.6, 0.6],
|
| 124 |
+
],
|
| 125 |
+
mat_ids=[0, 1],
|
| 126 |
+
)
|
| 127 |
+
|
| 128 |
+
mesh_obj = blender_scene.ObjectRef(
|
| 129 |
+
testing.build_mesh_object('mesh', mesh=mesh)
|
| 130 |
+
)
|
| 131 |
+
|
| 132 |
+
with mock.patch(mujoco_assets.__name__ + '.open', mock.mock_open()):
|
| 133 |
+
xml_root = mock.MagicMock(spec=minidom.Document)
|
| 134 |
+
xml_elem = mock.MagicMock(spec=minidom.Element)
|
| 135 |
+
xml_root.createElement.return_value = xml_elem
|
| 136 |
+
mujoco_assets.export_to_xml(xml_root, [mesh_obj], **_DEFAULT_SETTINGS)
|
| 137 |
+
|
| 138 |
+
# Verify that two mesh elements were created...
|
| 139 |
+
create_element_call_counts = collections.Counter(
|
| 140 |
+
[m_[0][0] for m_ in xml_root.createElement.call_args_list]
|
| 141 |
+
)
|
| 142 |
+
self.assertEqual(create_element_call_counts['mesh'], 2)
|
| 143 |
+
|
| 144 |
+
# ...and that their names reflect the mesh-material pairing.
|
| 145 |
+
xml_elem.setAttribute.assert_any_call('file', 'mesh_mat_1.msh')
|
| 146 |
+
xml_elem.setAttribute.assert_any_call('file', 'mesh_mat_2.msh')
|
| 147 |
+
xml_elem.setAttribute.assert_any_call('name', 'mesh_mat_1')
|
| 148 |
+
xml_elem.setAttribute.assert_any_call('name', 'mesh_mat_2')
|
| 149 |
+
|
| 150 |
+
|
| 151 |
+
class MujocoMeshTests(parameterized.TestCase):
|
| 152 |
+
|
| 153 |
+
def test_splitting_mesh_with_multiple_materials_into_submeshes(self):
|
| 154 |
+
mat_0 = testing.build_material('mat_0')
|
| 155 |
+
mat_1 = testing.build_material('mat_1')
|
| 156 |
+
mesh = testing.build_mesh(
|
| 157 |
+
'mesh',
|
| 158 |
+
materials=[mat_0, mat_1],
|
| 159 |
+
faces=[[0, 1, 2], [3, 4, 5]],
|
| 160 |
+
vert_co=[
|
| 161 |
+
[0.1, 0.1, 0.1],
|
| 162 |
+
[0.2, 0.2, 0.2],
|
| 163 |
+
[0.3, 0.3, 0.3],
|
| 164 |
+
[0.4, 0.4, 0.4],
|
| 165 |
+
[0.5, 0.5, 0.5],
|
| 166 |
+
[0.6, 0.6, 0.6],
|
| 167 |
+
],
|
| 168 |
+
mat_ids=[0, 1],
|
| 169 |
+
)
|
| 170 |
+
|
| 171 |
+
mesh_mat_0 = mujoco_assets.MujocoMesh(mesh, material_idx=0, two_sided=False)
|
| 172 |
+
mesh_mat_1 = mujoco_assets.MujocoMesh(mesh, material_idx=1, two_sided=False)
|
| 173 |
+
|
| 174 |
+
self.assertEqual(
|
| 175 |
+
mesh_mat_0.vertices, [0.1, 0.1, 0.1, 0.2, 0.2, 0.2, 0.3, 0.3, 0.3]
|
| 176 |
+
)
|
| 177 |
+
self.assertEqual(
|
| 178 |
+
mesh_mat_1.vertices, [0.4, 0.4, 0.4, 0.5, 0.5, 0.5, 0.6, 0.6, 0.6]
|
| 179 |
+
)
|
| 180 |
+
self.assertEqual(mesh_mat_0.faces, [0, 1, 2])
|
| 181 |
+
self.assertEqual(mesh_mat_1.faces, [0, 1, 2])
|
| 182 |
+
|
| 183 |
+
def test_one_sided_mesh(self):
|
| 184 |
+
mesh = testing.build_mesh(
|
| 185 |
+
'mesh',
|
| 186 |
+
materials=[testing.build_material('mat')],
|
| 187 |
+
faces=[[0, 1, 2]],
|
| 188 |
+
vert_co=[[0.1, 0.1, 0.1], [0.2, 0.2, 0.2], [0.3, 0.3, 0.3]],
|
| 189 |
+
normals=[[0.1, 0.1, 0.1], [0.2, 0.2, 0.2], [0.3, 0.3, 0.3]],
|
| 190 |
+
mat_ids=[0],
|
| 191 |
+
)
|
| 192 |
+
|
| 193 |
+
mesh = mujoco_assets.MujocoMesh(mesh, material_idx=0, two_sided=False)
|
| 194 |
+
self.assertEqual(mesh.faces, [0, 1, 2])
|
| 195 |
+
self.assertEqual(
|
| 196 |
+
mesh.vertices, [0.1, 0.1, 0.1, 0.2, 0.2, 0.2, 0.3, 0.3, 0.3]
|
| 197 |
+
)
|
| 198 |
+
self.assertEqual(
|
| 199 |
+
mesh.normals, [0.1, 0.1, 0.1, 0.2, 0.2, 0.2, 0.3, 0.3, 0.3]
|
| 200 |
+
)
|
| 201 |
+
|
| 202 |
+
def test_two_sided_mesh(self):
|
| 203 |
+
mesh = testing.build_mesh(
|
| 204 |
+
'mesh',
|
| 205 |
+
materials=[testing.build_material('mat')],
|
| 206 |
+
faces=[[0, 1, 2]],
|
| 207 |
+
vert_co=[[0.1, 0.1, 0.1], [0.2, 0.2, 0.2], [0.3, 0.3, 0.3]],
|
| 208 |
+
normals=[[0.1, 0.1, 0.1], [0.2, 0.2, 0.2], [0.3, 0.3, 0.3]],
|
| 209 |
+
mat_ids=[0],
|
| 210 |
+
)
|
| 211 |
+
|
| 212 |
+
mesh = mujoco_assets.MujocoMesh(mesh, material_idx=0, two_sided=True)
|
| 213 |
+
self.assertEqual(mesh.faces, [0, 1, 2, 5, 4, 3])
|
| 214 |
+
self.assertEqual(
|
| 215 |
+
mesh.vertices,
|
| 216 |
+
[.1, .1, .1, .2, .2, .2, .3, .3, .3,
|
| 217 |
+
.1, .1, .1, .2, .2, .2, .3, .3, .3,])
|
| 218 |
+
self.assertEqual(
|
| 219 |
+
mesh.normals,
|
| 220 |
+
[.1, .1, .1, .2, .2, .2, .3, .3, .3,
|
| 221 |
+
-.1, -.1, -.1, -.2, -.2, -.2, -.3, -.3, -.3,])
|
| 222 |
+
|
| 223 |
+
|
| 224 |
+
if __name__ == '__main__':
|
| 225 |
+
absltest.main()
|
data/dm_control/blender/mujoco_exporter/mujoco_scene.py
ADDED
|
@@ -0,0 +1,188 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2023 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""Mujoco scene element builders and utilities."""
|
| 17 |
+
|
| 18 |
+
from typing import Sequence
|
| 19 |
+
from xml.dom import minidom
|
| 20 |
+
|
| 21 |
+
from dm_control.blender.fake_core import mathutils
|
| 22 |
+
from dm_control.blender.mujoco_exporter import blender_scene
|
| 23 |
+
|
| 24 |
+
_ARMATURE = 'ARMATURE'
|
| 25 |
+
_MESH = 'MESH'
|
| 26 |
+
_VEC_ZERO = mathutils.Vector((0, 0, 0))
|
| 27 |
+
_OZ = mathutils.Vector((0, 0, 1))
|
| 28 |
+
|
| 29 |
+
|
| 30 |
+
def color_to_mjcf(color: mathutils.Color) -> str:
|
| 31 |
+
return '{} {} {}'.format(color.r, color.g, color.b)
|
| 32 |
+
|
| 33 |
+
|
| 34 |
+
def vec_to_mjcf(vec: mathutils.Vector) -> str:
|
| 35 |
+
return '{} {} {}'.format(vec.x, vec.y, vec.z)
|
| 36 |
+
|
| 37 |
+
|
| 38 |
+
def quat_to_mjcf(quat: mathutils.Quaternion) -> str:
|
| 39 |
+
return '{} {} {} {}'.format(quat.w, quat.x, quat.y, quat.z)
|
| 40 |
+
|
| 41 |
+
|
| 42 |
+
def bool_to_mjcf(bool_val: bool):
|
| 43 |
+
return 'true' if bool_val else 'false'
|
| 44 |
+
|
| 45 |
+
|
| 46 |
+
def body_builder(
|
| 47 |
+
doc: minidom.Document, blender_obj: blender_scene.ObjectRef
|
| 48 |
+
) -> minidom.Element:
|
| 49 |
+
"""Builds a mujoco body element."""
|
| 50 |
+
transform = blender_obj.get_local_transform()
|
| 51 |
+
|
| 52 |
+
el = doc.createElement('body')
|
| 53 |
+
el.setAttribute('name', blender_obj.name)
|
| 54 |
+
el.setAttribute('pos', vec_to_mjcf(transform.pos))
|
| 55 |
+
el.setAttribute('quat', quat_to_mjcf(transform.rot))
|
| 56 |
+
return el
|
| 57 |
+
|
| 58 |
+
|
| 59 |
+
def light_builder(
|
| 60 |
+
doc: minidom.Document, light_obj: blender_scene.ObjectRef
|
| 61 |
+
) -> minidom.Element:
|
| 62 |
+
"""Builds an mjcf element that describes a light."""
|
| 63 |
+
assert light_obj.is_light
|
| 64 |
+
light = light_obj.as_light()
|
| 65 |
+
|
| 66 |
+
directional = bool_to_mjcf(light.type == 'SUN' or light.type == 'SPOT')
|
| 67 |
+
attenuation = '0 {} {}'.format(
|
| 68 |
+
light.linear_attenuation, light.quadratic_attenuation
|
| 69 |
+
)
|
| 70 |
+
transform = light_obj.get_local_transform()
|
| 71 |
+
|
| 72 |
+
el = doc.createElement('light')
|
| 73 |
+
el.setAttribute('name', light_obj.name)
|
| 74 |
+
el.setAttribute('pos', vec_to_mjcf(transform.pos))
|
| 75 |
+
el.setAttribute('dir', vec_to_mjcf(transform.rot @ _OZ))
|
| 76 |
+
el.setAttribute('directional', directional)
|
| 77 |
+
el.setAttribute('castshadow', bool_to_mjcf(light.use_shadow)) # pytype: disable=wrong-arg-types
|
| 78 |
+
el.setAttribute('diffuse', color_to_mjcf(light.color))
|
| 79 |
+
el.setAttribute('attenuation', attenuation)
|
| 80 |
+
return el
|
| 81 |
+
|
| 82 |
+
|
| 83 |
+
def mesh_geom_builder(
|
| 84 |
+
doc: minidom.Document, mesh_obj: blender_scene.ObjectRef
|
| 85 |
+
) -> Sequence[minidom.Element]:
|
| 86 |
+
"""Builds a mujoco node for a mesh geom."""
|
| 87 |
+
mesh = mesh_obj.mesh
|
| 88 |
+
transform = mesh_obj.get_local_transform()
|
| 89 |
+
|
| 90 |
+
elements = []
|
| 91 |
+
mat_names = blender_scene.map_materials(lambda m: m.name, mesh_obj.materials)
|
| 92 |
+
# It might be the case that the mesh doesn't have any materials assigned.
|
| 93 |
+
# We still want to export such geom, but we don't want to make a reference to
|
| 94 |
+
# the material in the node.
|
| 95 |
+
# So in that case we're using a fake material without a name
|
| 96 |
+
mat_names = mat_names or ['']
|
| 97 |
+
for mat_idx, mat_name in enumerate(mat_names):
|
| 98 |
+
if not blender_scene.is_material_mesh_pair_valid(mesh, mat_idx):
|
| 99 |
+
continue
|
| 100 |
+
|
| 101 |
+
obj_name = blender_scene.get_material_mesh_pair_name(
|
| 102 |
+
mesh_obj.name, mat_name
|
| 103 |
+
)
|
| 104 |
+
mesh_name = blender_scene.get_material_mesh_pair_name(mesh.name, mat_name)
|
| 105 |
+
|
| 106 |
+
el = doc.createElement('geom')
|
| 107 |
+
el.setAttribute('name', obj_name)
|
| 108 |
+
el.setAttribute('mesh', mesh_name)
|
| 109 |
+
el.setAttribute('pos', vec_to_mjcf(transform.pos))
|
| 110 |
+
el.setAttribute('quat', quat_to_mjcf(transform.rot))
|
| 111 |
+
el.setAttribute('type', 'mesh')
|
| 112 |
+
if mat_name:
|
| 113 |
+
el.setAttribute('material', mat_name)
|
| 114 |
+
|
| 115 |
+
elements.append(el)
|
| 116 |
+
|
| 117 |
+
return elements
|
| 118 |
+
|
| 119 |
+
|
| 120 |
+
def joint_builder(
|
| 121 |
+
doc: minidom.Document,
|
| 122 |
+
dof: blender_scene.Dof,
|
| 123 |
+
dof_type: str,
|
| 124 |
+
) -> minidom.Element:
|
| 125 |
+
"""Builds a mujoco hinge definition."""
|
| 126 |
+
el = doc.createElement('joint')
|
| 127 |
+
el.setAttribute('name', dof.name)
|
| 128 |
+
el.setAttribute('type', dof_type)
|
| 129 |
+
el.setAttribute('limited', bool_to_mjcf(dof.limited))
|
| 130 |
+
el.setAttribute('pos', vec_to_mjcf(_VEC_ZERO))
|
| 131 |
+
el.setAttribute('axis', vec_to_mjcf(dof.axis))
|
| 132 |
+
el.setAttribute('range', '{} {}'.format(dof.limits[0], dof.limits[1]))
|
| 133 |
+
return el
|
| 134 |
+
|
| 135 |
+
|
| 136 |
+
def export_to_xml(
|
| 137 |
+
doc: minidom.Document,
|
| 138 |
+
objects: Sequence[blender_scene.ObjectRef],
|
| 139 |
+
armature_freejoint: bool,
|
| 140 |
+
) -> minidom.Element:
|
| 141 |
+
"""Converts Blender scene objects to Mujoco scene tree nodes."""
|
| 142 |
+
root = doc.createElement('worldbody')
|
| 143 |
+
parent_elements = {blender_scene.NoneRef: root}
|
| 144 |
+
|
| 145 |
+
for obj in objects:
|
| 146 |
+
# Build a subtree corresponding to this Blender object.
|
| 147 |
+
element = None
|
| 148 |
+
if obj.is_armature:
|
| 149 |
+
element = body_builder(doc, obj)
|
| 150 |
+
if armature_freejoint:
|
| 151 |
+
element.appendChild(doc.createElement('freejoint'))
|
| 152 |
+
elif obj.is_mesh:
|
| 153 |
+
if not obj.parent.is_none and not obj.parent.is_bone:
|
| 154 |
+
raise RuntimeError(
|
| 155 |
+
'Mesh "{}" is parented to an object "{}", which is not a bone. '
|
| 156 |
+
'Only mesh->bone parenting is supported at the moment'.format(
|
| 157 |
+
obj.name, obj.parent.name
|
| 158 |
+
)
|
| 159 |
+
)
|
| 160 |
+
geom_elements = mesh_geom_builder(doc, obj)
|
| 161 |
+
if len(geom_elements) > 1:
|
| 162 |
+
# If there's more than one geom, introduce a body to aggregate them
|
| 163 |
+
# under a single element. That element will then be associated with this
|
| 164 |
+
# blender object should other blender elements be parented to it.
|
| 165 |
+
element = doc.createElement('body')
|
| 166 |
+
for geom_el in geom_elements:
|
| 167 |
+
element.appendChild(geom_el)
|
| 168 |
+
elif len(geom_elements) == 1:
|
| 169 |
+
# Since there's only one geom, consider it the main element
|
| 170 |
+
element = geom_elements[0]
|
| 171 |
+
elif obj.is_light:
|
| 172 |
+
element = light_builder(doc, obj)
|
| 173 |
+
elif obj.is_bone:
|
| 174 |
+
element = body_builder(doc, obj)
|
| 175 |
+
for dof in obj.get_rotation_dofs():
|
| 176 |
+
element.appendChild(joint_builder(doc, dof, 'hinge'))
|
| 177 |
+
|
| 178 |
+
# Inject it into the scene tree.
|
| 179 |
+
if element:
|
| 180 |
+
parent = obj.parent
|
| 181 |
+
if parent:
|
| 182 |
+
parent_el = parent_elements[parent]
|
| 183 |
+
parent_el.appendChild(element)
|
| 184 |
+
parent_elements[obj] = element
|
| 185 |
+
else:
|
| 186 |
+
root.appendChild(element)
|
| 187 |
+
|
| 188 |
+
return root
|
data/dm_control/blender/mujoco_exporter/mujoco_scene_test.py
ADDED
|
@@ -0,0 +1,195 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2023 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""Tests for mujoco_scene.py."""
|
| 17 |
+
|
| 18 |
+
import collections
|
| 19 |
+
from unittest import mock
|
| 20 |
+
from xml.dom import minidom
|
| 21 |
+
from absl.testing import absltest
|
| 22 |
+
from absl.testing import parameterized
|
| 23 |
+
from dm_control.blender.mujoco_exporter import blender_scene
|
| 24 |
+
from dm_control.blender.mujoco_exporter import mujoco_scene
|
| 25 |
+
from dm_control.blender.mujoco_exporter import testing
|
| 26 |
+
|
| 27 |
+
_DEFAULT_PARAMS = dict(armature_freejoint=False)
|
| 28 |
+
|
| 29 |
+
|
| 30 |
+
class ConverterTest(parameterized.TestCase):
|
| 31 |
+
|
| 32 |
+
def test_convert_armature(self):
|
| 33 |
+
armature = testing.build_armature('armature')
|
| 34 |
+
xml_root = mock.MagicMock(spec=minidom.Document)
|
| 35 |
+
xml_root.createElement = mock.MagicMock(spec=minidom.Element)
|
| 36 |
+
|
| 37 |
+
obj = blender_scene.ObjectRef(armature)
|
| 38 |
+
created_element = mujoco_scene.export_to_xml(
|
| 39 |
+
xml_root, [obj], **_DEFAULT_PARAMS
|
| 40 |
+
)
|
| 41 |
+
|
| 42 |
+
xml_root.createElement.assert_any_call('body')
|
| 43 |
+
created_element.setAttribute.assert_any_call('name', 'armature')
|
| 44 |
+
|
| 45 |
+
def test_convert_bone_without_constraints_creates_a_body(self):
|
| 46 |
+
bone = testing.build_bone('bone')
|
| 47 |
+
armature = testing.build_armature('armature', bones=[bone])
|
| 48 |
+
|
| 49 |
+
xml_root = mock.MagicMock(spec=minidom.Document)
|
| 50 |
+
xml_root.createElement.side_effect = mock.MagicMock(spec=minidom.Element)
|
| 51 |
+
|
| 52 |
+
bone_obj = blender_scene.ObjectRef(armature, bone)
|
| 53 |
+
armature_obj = blender_scene.ObjectRef(armature)
|
| 54 |
+
created_element = mujoco_scene.export_to_xml(
|
| 55 |
+
xml_root, [armature_obj, bone_obj], **_DEFAULT_PARAMS
|
| 56 |
+
)
|
| 57 |
+
|
| 58 |
+
xml_root.createElement.assert_any_call('body')
|
| 59 |
+
created_element.setAttribute.assert_any_call('name', 'bone_armature')
|
| 60 |
+
|
| 61 |
+
@parameterized.parameters([
|
| 62 |
+
# Point light
|
| 63 |
+
dict(
|
| 64 |
+
args=dict(lin_att=1, quad_att=2, shadow=True, light_type='POINT'),
|
| 65 |
+
out=dict(castshadow='true', attenuation='0 1 2', directional='false'),
|
| 66 |
+
),
|
| 67 |
+
# Spot light
|
| 68 |
+
dict(
|
| 69 |
+
args=dict(lin_att=3, quad_att=4, shadow=True, light_type='SPOT'),
|
| 70 |
+
out=dict(castshadow='true', attenuation='0 3 4', directional='true'),
|
| 71 |
+
),
|
| 72 |
+
# Directional light
|
| 73 |
+
dict(
|
| 74 |
+
args=dict(lin_att=5, quad_att=6, shadow=True, light_type='SUN'),
|
| 75 |
+
out=dict(castshadow='true', attenuation='0 5 6', directional='true'),
|
| 76 |
+
),
|
| 77 |
+
# Shadows off
|
| 78 |
+
dict(
|
| 79 |
+
args=dict(lin_att=7, quad_att=8, shadow=False, light_type='SUN'),
|
| 80 |
+
out=dict(castshadow='false', attenuation='0 7 8', directional='true'),
|
| 81 |
+
),
|
| 82 |
+
])
|
| 83 |
+
def test_convert_light(self, args, out):
|
| 84 |
+
light = testing.build_light('light', **args)
|
| 85 |
+
|
| 86 |
+
xml_root = mock.MagicMock(spec=minidom.Document)
|
| 87 |
+
xml_root.createElement = mock.MagicMock(spec=minidom.Element)
|
| 88 |
+
|
| 89 |
+
obj = blender_scene.ObjectRef(light)
|
| 90 |
+
created_element = mujoco_scene.export_to_xml(
|
| 91 |
+
xml_root, [obj], **_DEFAULT_PARAMS
|
| 92 |
+
)
|
| 93 |
+
|
| 94 |
+
xml_root.createElement.assert_any_call('light')
|
| 95 |
+
created_element.setAttribute.assert_any_call('name', 'light')
|
| 96 |
+
for k, v in out.items():
|
| 97 |
+
created_element.setAttribute.assert_any_call(k, v)
|
| 98 |
+
|
| 99 |
+
def test_exported_mesh_references_mesh_asset_by_name(self):
|
| 100 |
+
mesh = testing.build_mesh('mesh_asset_name')
|
| 101 |
+
mesh_obj = testing.build_mesh_object('mesh_object_name', mesh=mesh)
|
| 102 |
+
|
| 103 |
+
xml_root = mock.MagicMock(spec=minidom.Document)
|
| 104 |
+
xml_root.createElement = mock.MagicMock(spec=minidom.Element)
|
| 105 |
+
|
| 106 |
+
obj = blender_scene.ObjectRef(mesh_obj)
|
| 107 |
+
created_element = mujoco_scene.export_to_xml(
|
| 108 |
+
xml_root, [obj], **_DEFAULT_PARAMS
|
| 109 |
+
)
|
| 110 |
+
|
| 111 |
+
xml_root.createElement.assert_any_call('geom')
|
| 112 |
+
created_element.setAttribute.assert_any_call('name', 'mesh_object_name')
|
| 113 |
+
created_element.setAttribute.assert_any_call('mesh', 'mesh_asset_name')
|
| 114 |
+
|
| 115 |
+
def test_mesh_with_no_material_keeps_its_name(self):
|
| 116 |
+
mesh = testing.build_mesh('mesh')
|
| 117 |
+
mesh_obj = testing.build_mesh_object('mesh_obj', mesh=mesh)
|
| 118 |
+
obj = blender_scene.ObjectRef(mesh_obj)
|
| 119 |
+
|
| 120 |
+
xml_root = mock.MagicMock(spec=minidom.Document)
|
| 121 |
+
xml_elem = mock.MagicMock(spec=minidom.Element)
|
| 122 |
+
xml_root.createElement.return_value = xml_elem
|
| 123 |
+
mujoco_scene.export_to_xml(xml_root, [obj], **_DEFAULT_PARAMS)
|
| 124 |
+
|
| 125 |
+
xml_elem.setAttribute.assert_any_call('name', 'mesh_obj')
|
| 126 |
+
xml_elem.setAttribute.assert_any_call('mesh', 'mesh')
|
| 127 |
+
|
| 128 |
+
def test_mesh_with_materials_builds_multiple_geoms(self):
|
| 129 |
+
mesh = testing.build_mesh(
|
| 130 |
+
'mesh',
|
| 131 |
+
materials=[
|
| 132 |
+
testing.build_material('mat_1'),
|
| 133 |
+
testing.build_material('mat_2'),
|
| 134 |
+
],
|
| 135 |
+
faces=[[0, 1, 2], [3, 4, 5]],
|
| 136 |
+
vert_co=[
|
| 137 |
+
[0.1, 0.1, 0.1],
|
| 138 |
+
[0.2, 0.2, 0.2],
|
| 139 |
+
[0.3, 0.3, 0.3],
|
| 140 |
+
[0.4, 0.4, 0.4],
|
| 141 |
+
[0.5, 0.5, 0.5],
|
| 142 |
+
[0.6, 0.6, 0.6],
|
| 143 |
+
],
|
| 144 |
+
mat_ids=[0, 1],
|
| 145 |
+
)
|
| 146 |
+
mesh_obj = testing.build_mesh_object('mesh_obj', mesh=mesh)
|
| 147 |
+
|
| 148 |
+
xml_root = mock.MagicMock(spec=minidom.Document)
|
| 149 |
+
xml_elem = mock.MagicMock(spec=minidom.Element)
|
| 150 |
+
xml_root.createElement.return_value = xml_elem
|
| 151 |
+
|
| 152 |
+
obj = blender_scene.ObjectRef(mesh_obj)
|
| 153 |
+
mujoco_scene.export_to_xml(xml_root, [obj], **_DEFAULT_PARAMS)
|
| 154 |
+
|
| 155 |
+
xml_elem.setAttribute.assert_any_call('name', 'mesh_obj_mat_1')
|
| 156 |
+
xml_elem.setAttribute.assert_any_call('name', 'mesh_obj_mat_2')
|
| 157 |
+
xml_elem.setAttribute.assert_any_call('mesh', 'mesh_mat_1')
|
| 158 |
+
xml_elem.setAttribute.assert_any_call('mesh', 'mesh_mat_2')
|
| 159 |
+
|
| 160 |
+
def test_empty_submeshes_are_not_exported(self):
|
| 161 |
+
mesh = testing.build_mesh(
|
| 162 |
+
'mesh',
|
| 163 |
+
materials=[
|
| 164 |
+
testing.build_material('mat_1'),
|
| 165 |
+
testing.build_material('mat_2'),
|
| 166 |
+
],
|
| 167 |
+
faces=[[0, 1, 2], [3, 4, 5]],
|
| 168 |
+
vert_co=[
|
| 169 |
+
[0.1, 0.1, 0.1],
|
| 170 |
+
[0.2, 0.2, 0.2],
|
| 171 |
+
[0.3, 0.3, 0.3],
|
| 172 |
+
[0.4, 0.4, 0.4],
|
| 173 |
+
[0.5, 0.5, 0.5],
|
| 174 |
+
[0.6, 0.6, 0.6],
|
| 175 |
+
],
|
| 176 |
+
mat_ids=[0, 0],
|
| 177 |
+
) # All faces reference material 0
|
| 178 |
+
mesh_obj = testing.build_mesh_object('mesh_obj', mesh=mesh)
|
| 179 |
+
|
| 180 |
+
xml_root = mock.MagicMock(spec=minidom.Document)
|
| 181 |
+
xml_elem = mock.MagicMock(spec=minidom.Element)
|
| 182 |
+
xml_root.createElement.return_value = xml_elem
|
| 183 |
+
|
| 184 |
+
obj = blender_scene.ObjectRef(mesh_obj)
|
| 185 |
+
mujoco_scene.export_to_xml(xml_root, [obj], **_DEFAULT_PARAMS)
|
| 186 |
+
|
| 187 |
+
create_element_call_counts = collections.Counter(
|
| 188 |
+
[m_[0][0] for m_ in xml_root.createElement.call_args_list]
|
| 189 |
+
)
|
| 190 |
+
self.assertEqual(create_element_call_counts['geom'], 1)
|
| 191 |
+
xml_elem.setAttribute.assert_any_call('name', 'mesh_obj_mat_1')
|
| 192 |
+
|
| 193 |
+
|
| 194 |
+
if __name__ == '__main__':
|
| 195 |
+
absltest.main()
|
data/dm_control/blender/mujoco_exporter/testing.py
ADDED
|
@@ -0,0 +1,198 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2023 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""Testing utilities."""
|
| 17 |
+
from typing import Any, Optional, Sequence
|
| 18 |
+
from unittest import mock
|
| 19 |
+
|
| 20 |
+
from dm_control.blender.fake_core import bpy
|
| 21 |
+
|
| 22 |
+
|
| 23 |
+
class FakePropCollection:
|
| 24 |
+
"""Collection that simulates bpy_prop_collection.
|
| 25 |
+
|
| 26 |
+
Armature's bone collection is modeled using it, and the tested code depends
|
| 27 |
+
on some of its features - namely the conversion to list produces dict
|
| 28 |
+
values instead of its keys, as well as the collection behaving like a dict
|
| 29 |
+
otherwise.
|
| 30 |
+
|
| 31 |
+
@see
|
| 32 |
+
blender_scene.py : map_blender_tree - iterating over armature.data.bones
|
| 33 |
+
blender_scene.py : ObjectRef.parent.object_parent - dereferencing bone
|
| 34 |
+
by its name armature.data.bones[obj.parent_bone]
|
| 35 |
+
"""
|
| 36 |
+
|
| 37 |
+
def __init__(self, objects_with_name):
|
| 38 |
+
if objects_with_name:
|
| 39 |
+
self._keys = [i.name for i in objects_with_name]
|
| 40 |
+
else:
|
| 41 |
+
self._keys = []
|
| 42 |
+
self._values = objects_with_name or []
|
| 43 |
+
|
| 44 |
+
def __len__(self):
|
| 45 |
+
return len(self._values)
|
| 46 |
+
|
| 47 |
+
def __getitem__(self, idx):
|
| 48 |
+
if isinstance(idx, str):
|
| 49 |
+
idx = self._keys.index(idx)
|
| 50 |
+
return self._values[idx]
|
| 51 |
+
|
| 52 |
+
def __iter__(self):
|
| 53 |
+
return iter(self._values)
|
| 54 |
+
|
| 55 |
+
def __contains__(self, key):
|
| 56 |
+
return key in self._keys
|
| 57 |
+
|
| 58 |
+
def keys(self):
|
| 59 |
+
return self._keys
|
| 60 |
+
|
| 61 |
+
def values(self):
|
| 62 |
+
return self._values
|
| 63 |
+
|
| 64 |
+
def items(self):
|
| 65 |
+
return list(zip(self._keys, self._values))
|
| 66 |
+
|
| 67 |
+
|
| 68 |
+
def build_armature(
|
| 69 |
+
name: str,
|
| 70 |
+
parent: Optional[Any] = None,
|
| 71 |
+
parent_bone: Optional[str] = None,
|
| 72 |
+
bones: Optional[Any] = None,
|
| 73 |
+
):
|
| 74 |
+
"""TBD."""
|
| 75 |
+
obj = mock.MagicMock(spec=bpy.types.Object, type='ARMATURE')
|
| 76 |
+
obj.name = name
|
| 77 |
+
obj.parent = parent
|
| 78 |
+
obj.parent_bone = parent_bone
|
| 79 |
+
obj.data = mock.MagicMock()
|
| 80 |
+
obj.data.bones = FakePropCollection(bones)
|
| 81 |
+
obj.pose = mock.MagicMock()
|
| 82 |
+
obj.pose.bones = FakePropCollection(bones)
|
| 83 |
+
return obj
|
| 84 |
+
|
| 85 |
+
|
| 86 |
+
def build_bone(name, parent=None, constraint=None):
|
| 87 |
+
"""Builds a mock bone."""
|
| 88 |
+
bone = mock.MagicMock(spec=bpy.types.Bone)
|
| 89 |
+
bone.name = name
|
| 90 |
+
bone.parent = parent
|
| 91 |
+
bone.is_in_ik_chain = constraint is not None
|
| 92 |
+
bone.lock_ik_x = constraint.lock_x if constraint else False
|
| 93 |
+
bone.use_ik_limit_x = constraint.use_limit_x if constraint else False
|
| 94 |
+
bone.ik_min_x = constraint.min_x if constraint else 0.0
|
| 95 |
+
bone.ik_max_x = constraint.max_x if constraint else 0.0
|
| 96 |
+
bone.lock_ik_y = constraint.lock_y if constraint else False
|
| 97 |
+
bone.use_ik_limit_y = constraint.use_limit_y if constraint else False
|
| 98 |
+
bone.ik_min_y = constraint.min_y if constraint else 0.0
|
| 99 |
+
bone.ik_max_y = constraint.max_y if constraint else 0.0
|
| 100 |
+
bone.lock_ik_z = constraint.lock_z if constraint else False
|
| 101 |
+
bone.use_ik_limit_z = constraint.use_limit_z if constraint else False
|
| 102 |
+
bone.ik_min_z = constraint.min_z if constraint else 0.0
|
| 103 |
+
bone.ik_max_z = constraint.max_z if constraint else 0.0
|
| 104 |
+
return bone
|
| 105 |
+
|
| 106 |
+
|
| 107 |
+
def build_rotation_constraint(
|
| 108 |
+
lock_x=False, use_limit_x=False, min_x=0, max_x=1,
|
| 109 |
+
lock_y=False, use_limit_y=False, min_y=0, max_y=1,
|
| 110 |
+
lock_z=False, use_limit_z=False, min_z=0, max_z=1):
|
| 111 |
+
"""Builds a mock rotation constraint."""
|
| 112 |
+
c = mock.MagicMock()
|
| 113 |
+
c.lock_x = lock_x
|
| 114 |
+
c.use_limit_x = use_limit_x
|
| 115 |
+
c.min_x = min_x
|
| 116 |
+
c.max_x = max_x
|
| 117 |
+
c.lock_y = lock_y
|
| 118 |
+
c.use_limit_y = use_limit_y
|
| 119 |
+
c.min_y = min_y
|
| 120 |
+
c.max_y = max_y
|
| 121 |
+
c.lock_z = lock_z
|
| 122 |
+
c.use_limit_z = use_limit_z
|
| 123 |
+
c.min_z = min_z
|
| 124 |
+
c.max_z = max_z
|
| 125 |
+
return c
|
| 126 |
+
|
| 127 |
+
|
| 128 |
+
def build_mesh(
|
| 129 |
+
name, materials=None, faces=None, vert_co=None, normals=None, mat_ids=None
|
| 130 |
+
):
|
| 131 |
+
"""Builds a mock triangle mesh."""
|
| 132 |
+
materials = materials or []
|
| 133 |
+
faces = faces or [[0, 1, 2]]
|
| 134 |
+
vert_co = vert_co or [[0.1, 0.1, 0.1], [0.2, 0.2, 0.2], [0.3, 0.3, 0.3]]
|
| 135 |
+
normals = normals or vert_co
|
| 136 |
+
mat_ids = mat_ids or [0] * len(faces)
|
| 137 |
+
|
| 138 |
+
obj = mock.MagicMock(spec=bpy.types.Mesh)
|
| 139 |
+
obj.name = name
|
| 140 |
+
obj.materials = materials
|
| 141 |
+
obj.uv_layers = mock.MagicMock()
|
| 142 |
+
obj.loop_triangles = [
|
| 143 |
+
mock.MagicMock(vertices=f, material_index=i)
|
| 144 |
+
for f, i in zip(faces, mat_ids)
|
| 145 |
+
]
|
| 146 |
+
obj.vertices = [
|
| 147 |
+
mock.MagicMock(co=c, normal=n) for c, n in zip(vert_co, normals)
|
| 148 |
+
]
|
| 149 |
+
|
| 150 |
+
return obj
|
| 151 |
+
|
| 152 |
+
|
| 153 |
+
def build_mesh_object(
|
| 154 |
+
name: str,
|
| 155 |
+
mesh: Optional[Any] = None,
|
| 156 |
+
parent: Optional[Any] = None,
|
| 157 |
+
parent_bone: Optional[str] = None,
|
| 158 |
+
):
|
| 159 |
+
"""Builds a mock object with a mesh assigned to it."""
|
| 160 |
+
obj = mock.MagicMock(spec=bpy.types.Object, type='MESH')
|
| 161 |
+
obj.name = name
|
| 162 |
+
obj.parent = parent
|
| 163 |
+
obj.parent_bone = parent_bone
|
| 164 |
+
obj.data = mesh or build_mesh(name)
|
| 165 |
+
return obj
|
| 166 |
+
|
| 167 |
+
|
| 168 |
+
def build_light(name, light_type, lin_att, quad_att, shadow):
|
| 169 |
+
"""Builds a mock light."""
|
| 170 |
+
obj = mock.MagicMock(spec=bpy.types.Object, type='LIGHT')
|
| 171 |
+
obj.name = name
|
| 172 |
+
obj.parent = None
|
| 173 |
+
obj.parent_bone = None
|
| 174 |
+
obj.data = mock.MagicMock(spec=bpy.types.Light)
|
| 175 |
+
obj.data.type = light_type
|
| 176 |
+
obj.data.linear_attenuation = lin_att
|
| 177 |
+
obj.data.quadratic_attenuation = quad_att
|
| 178 |
+
obj.data.use_shadow = shadow
|
| 179 |
+
return obj
|
| 180 |
+
|
| 181 |
+
|
| 182 |
+
def build_material(
|
| 183 |
+
name: str,
|
| 184 |
+
color: Sequence[int] = (1, 1, 1, 1),
|
| 185 |
+
specular: float = 0.5,
|
| 186 |
+
metallic: float = 0.0,
|
| 187 |
+
roughness: float = 0.5,
|
| 188 |
+
use_backface_culling: bool = False,
|
| 189 |
+
):
|
| 190 |
+
"""Builds a mock material definition."""
|
| 191 |
+
obj = mock.MagicMock(spec=bpy.types.Material)
|
| 192 |
+
obj.name = name
|
| 193 |
+
obj.diffuse_color = color
|
| 194 |
+
obj.specular_intensity = specular
|
| 195 |
+
obj.metallic = metallic
|
| 196 |
+
obj.roughness = roughness
|
| 197 |
+
obj.use_backface_culling = use_backface_culling
|
| 198 |
+
return obj
|
data/dm_control/composer/__init__.py
ADDED
|
@@ -0,0 +1,33 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Copyright 2018-2019 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""Module containing abstract base classes for Composer environments."""
|
| 17 |
+
|
| 18 |
+
from dm_control.composer.arena import Arena
|
| 19 |
+
from dm_control.composer.constants import * # pylint: disable=wildcard-import
|
| 20 |
+
from dm_control.composer.define import cached_property
|
| 21 |
+
from dm_control.composer.define import observable
|
| 22 |
+
from dm_control.composer.entity import Entity
|
| 23 |
+
from dm_control.composer.entity import FreePropObservableMixin
|
| 24 |
+
from dm_control.composer.entity import ModelWrapperEntity
|
| 25 |
+
from dm_control.composer.entity import Observables
|
| 26 |
+
from dm_control.composer.environment import Environment
|
| 27 |
+
from dm_control.composer.environment import EpisodeInitializationError
|
| 28 |
+
from dm_control.composer.environment import HOOK_NAMES
|
| 29 |
+
from dm_control.composer.environment import ObservationPadding
|
| 30 |
+
from dm_control.composer.initializer import Initializer
|
| 31 |
+
from dm_control.composer.robot import Robot
|
| 32 |
+
from dm_control.composer.task import NullTask
|
| 33 |
+
from dm_control.composer.task import Task
|
data/dm_control/composer/arena.py
ADDED
|
@@ -0,0 +1,70 @@
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|
|
|
|
| 1 |
+
# Copyright 2018 The dm_control Authors.
|
| 2 |
+
#
|
| 3 |
+
# Licensed under the Apache License, Version 2.0 (the "License");
|
| 4 |
+
# you may not use this file except in compliance with the License.
|
| 5 |
+
# You may obtain a copy of the License at
|
| 6 |
+
#
|
| 7 |
+
# http://www.apache.org/licenses/LICENSE-2.0
|
| 8 |
+
#
|
| 9 |
+
# Unless required by applicable law or agreed to in writing, software
|
| 10 |
+
# distributed under the License is distributed on an "AS IS" BASIS,
|
| 11 |
+
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 12 |
+
# See the License for the specific language governing permissions and
|
| 13 |
+
# limitations under the License.
|
| 14 |
+
# ============================================================================
|
| 15 |
+
|
| 16 |
+
"""The base empty arena that defines global settings for Composer."""
|
| 17 |
+
|
| 18 |
+
import os
|
| 19 |
+
|
| 20 |
+
from dm_control import mjcf
|
| 21 |
+
from dm_control.composer import entity as entity_module
|
| 22 |
+
|
| 23 |
+
_ARENA_XML_PATH = os.path.join(os.path.dirname(__file__), 'arena.xml')
|
| 24 |
+
|
| 25 |
+
|
| 26 |
+
class Arena(entity_module.Entity):
|
| 27 |
+
"""The base empty arena that defines global settings for Composer."""
|
| 28 |
+
|
| 29 |
+
def __init__(self, *args, **kwargs):
|
| 30 |
+
self._mjcf_root = None # Declare that _mjcf_root exists to allay pytype.
|
| 31 |
+
super().__init__(*args, **kwargs)
|
| 32 |
+
|
| 33 |
+
# _build uses *args and **kwargs rather than named arguments, to get
|
| 34 |
+
# around a signature-mismatch error from pytype in derived classes.
|
| 35 |
+
|
| 36 |
+
def _build(self, *args, **kwargs) -> None:
|
| 37 |
+
"""Initializes this arena.
|
| 38 |
+
|
| 39 |
+
The function takes two arguments through args, kwargs:
|
| 40 |
+
name: A string, the name of this arena. If `None`, use the model name
|
| 41 |
+
defined in the MJCF file.
|
| 42 |
+
xml_path: An optional path to an XML file that will override the default
|
| 43 |
+
composer arena MJCF.
|
| 44 |
+
|
| 45 |
+
Args:
|
| 46 |
+
*args: See above.
|
| 47 |
+
**kwargs: See above.
|
| 48 |
+
"""
|
| 49 |
+
if args:
|
| 50 |
+
name = args[0]
|
| 51 |
+
else:
|
| 52 |
+
name = kwargs.get('name', None)
|
| 53 |
+
if len(args) > 1:
|
| 54 |
+
xml_path = args[1]
|
| 55 |
+
else:
|
| 56 |
+
xml_path = kwargs.get('xml_path', None)
|
| 57 |
+
|
| 58 |
+
self._mjcf_root = mjcf.from_path(xml_path or _ARENA_XML_PATH)
|
| 59 |
+
if name:
|
| 60 |
+
self._mjcf_root.model = name
|
| 61 |
+
|
| 62 |
+
def add_free_entity(self, entity):
|
| 63 |
+
"""Includes an entity in the arena as a free-moving body."""
|
| 64 |
+
frame = self.attach(entity)
|
| 65 |
+
frame.add('freejoint')
|
| 66 |
+
return frame
|
| 67 |
+
|
| 68 |
+
@property
|
| 69 |
+
def mjcf_model(self):
|
| 70 |
+
return self._mjcf_root
|