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35f4d03 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 | """Restore recorded non-robot scene while retaining target embodiment and actuators."""
import copy,xml.etree.ElementTree as ET
import numpy as np
PREFIXES=('robot0_','gripper0_','mount0_')
def robot_element(element):
return any(e.get('name','').startswith(PREFIXES) for e in element.iter())
def merge_scene(target_xml,source_xml):
target=ET.fromstring(target_xml);source=ET.fromstring(source_xml)
tw=target.find('worldbody');sw=source.find('worldbody')
assert tw is not None and sw is not None
for el in list(tw):
if not robot_element(el):tw.remove(el)
for el in sw:
if not robot_element(el):tw.append(copy.deepcopy(el))
ta=target.find('asset');sa=source.find('asset')
if ta is not None and sa is not None:
for el in sa:
if el.get('name','').startswith(PREFIXES):continue
for old in list(ta):
if old.tag==el.tag and old.get('name')==el.get('name'):ta.remove(old)
ta.append(copy.deepcopy(el))
for tag in ['contact','equality']:
ts=target.find(tag);ss=source.find(tag)
if ss is None:continue
if ts is None:ts=ET.SubElement(target,tag)
def has_robot_ref(el):return any(v.startswith(PREFIXES) for v in el.attrib.values())
for el in list(ts):
if not has_robot_ref(el):ts.remove(el)
for el in ss:
if not has_robot_ref(el):ts.append(copy.deepcopy(el))
return ET.tostring(target,encoding='unicode')
def nonrobot_joint_state(env):
return {env.sim.model.joint_id2name(i):np.array(env.sim.data.get_joint_qpos(env.sim.model.joint_id2name(i))).copy()
for i in range(env.sim.model.njnt) if not env.sim.model.joint_id2name(i).startswith(PREFIXES)}
def bind_scene(env,demo):
env.reset()
if getattr(demo,'scene_xml',None):
xml=merge_scene(env.sim.model.get_xml(),demo.scene_xml)
env.reset_from_xml_string(xml);env.sim.reset()
for name,value in demo.object_init.items():
env.sim.data.set_joint_qpos(name,value)
velocity=np.asarray(env.sim.data.get_joint_qvel(name))
env.sim.data.set_joint_qvel(name,np.zeros_like(velocity))
env.sim.forward();env._get_observations(force_update=True)
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