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Add dm_control.composer, a Python framework for constructing MuJoCo-based RL environments
Note: this is a dummy revision ID that is sufficiently new to include all the changes here. This change doesn't correspond to any single revision in Piper. PiperOrigin-RevId: 216541434
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‎dm_control/composer/__init__.py‎

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# Copyright 2018 The dm_control Authors.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ============================================================================
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"""Module containing abstract base classes for Composer environments."""
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from dm_control.composer.arena import Arena
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from dm_control.composer.constants import * # pylint: disable=wildcard-import
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from dm_control.composer.define import cached_property
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from dm_control.composer.define import observable
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from dm_control.composer.entity import Entity
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from dm_control.composer.entity import FreePropObservableMixin
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from dm_control.composer.entity import ModelWrapperEntity
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from dm_control.composer.entity import Observables
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from dm_control.composer.environment import Environment
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from dm_control.composer.environment import HOOK_NAMES
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from dm_control.composer.initializer import Initializer
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from dm_control.composer.robot import Robot
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from dm_control.composer.task import NullTask
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from dm_control.composer.task import Task

‎dm_control/composer/arena.py‎

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# Copyright 2018 The dm_control Authors.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ============================================================================
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"""The base empty arena that defines global settings for Composer."""
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from __future__ import absolute_import
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from __future__ import division
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from __future__ import print_function
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import os
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from dm_control import mjcf
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from dm_control.composer import entity as entity_module
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_ARENA_XML_PATH = os.path.join(os.path.dirname(__file__), 'arena.xml')
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class Arena(entity_module.Entity):
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"""The base empty arena that defines global settings for Composer."""
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def _build(self, name=None):
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"""Initializes this arena.
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Args:
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name: (optional) A string, the name of this arena. If `None`, use the
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model name defined in the MJCF file.
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"""
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self._mjcf_root = mjcf.from_path(_ARENA_XML_PATH)
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if name:
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self._mjcf_root.model = name
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def add_free_entity(self, entity):
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"""Includes an entity in the arena as a free-moving body."""
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frame = self.attach(entity)
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frame.add('freejoint')
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return frame
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@property
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def mjcf_model(self):
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return self._mjcf_root

‎dm_control/composer/arena.xml‎

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<mujoco model="base">
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<compiler coordinate='local' angle='radian' eulerseq='xyz' boundmass='1e-5' boundinertia='1e-11'/>
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<option cone='elliptic' noslip_iterations='5' noslip_tolerance='0' timestep='0.002'/>
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<visual>
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<map znear='0.01'/>
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<headlight diffuse='.6 .6 .6' ambient='.3 .3 .3' specular='0 0 0'/>
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<scale forcewidth='0.01' contactwidth='0.06' contactheight='0.01' jointwidth='.01' framewidth='.01' framelength='.3'/>
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</visual>
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</mujoco>

‎dm_control/composer/constants.py‎

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# Copyright 2018 The dm_control Authors.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ============================================================================
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"""Module defining constant values for Composer."""
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from __future__ import absolute_import
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from __future__ import division
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from __future__ import print_function
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SENSOR_SITES_GROUP = 4

‎dm_control/composer/define.py‎

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# Copyright 2018 The dm_control Authors.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ============================================================================
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"""Decorators for Entity methods returning elements and observables."""
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from __future__ import absolute_import
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from __future__ import division
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from __future__ import print_function
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import abc
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import threading
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class cached_property(property): # pylint: disable=invalid-name
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"""A property that is evaluated only once per object instance."""
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def __init__(self, func, doc=None):
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super(cached_property, self).__init__(fget=func, doc=doc)
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self.lock = threading.RLock()
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def __get__(self, obj, cls):
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if obj is None:
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return self
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name = self.fget.__name__
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obj_dict = obj.__dict__
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try:
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# Try returning a precomputed value without locking first.
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# Profiling shows that the lock takes up a non-trivial amount of time.
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return obj_dict[name]
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except KeyError:
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# The value hasn't been computed, now we have to lock.
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with self.lock:
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try:
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# Check again whether another thread has already computed the value.
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return obj_dict[name]
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except KeyError:
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# Otherwise call the function, cache the result, and return it
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return obj_dict.setdefault(name, self.fget(obj))
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# A decorator for base.Observables methods returning an observable. This
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# decorator should be used by abstract base classes to indicate sub-classes need
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# to implement a corresponding @observavble annotated method.
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abstract_observable = abc.abstractproperty # pylint: disable=invalid-name
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class observable(cached_property): # pylint: disable=invalid-name
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"""A decorator for base.Observables methods returning an observable.
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The body of the decorated function is evaluated at Entity construction time
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and the observable is cached.
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"""
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pass

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