| """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) |
|
|
