pre-release 0.10.0

rl_coach/environments/mujoco/common/__init__.py

@@ -0,0 +1,38 @@
+# Copyright 2017 The dm_control Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#    http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or  implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ============================================================================
+
+"""Functions to manage the common assets for domains."""
+
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import os
+from dm_control.utils import resources
+
+_SUITE_DIR = os.path.dirname(os.path.dirname(__file__))
+_FILENAMES = [
+    "common/materials.xml",
+    "common/skybox.xml",
+    "common/visual.xml",
+]
+
+ASSETS = {filename: resources.GetResource(os.path.join(_SUITE_DIR, filename))
+          for filename in _FILENAMES}
+
+
+def read_model(model_filename):
+  """Reads a model XML file and returns its contents as a string."""
+  return resources.GetResource(os.path.join(_SUITE_DIR, model_filename))

rl_coach/environments/mujoco/common/materials.xml

@@ -0,0 +1,22 @@
+<!--
+Common textures, colors and materials to be used throughout this suite. Some
+materials such as xxx_highlight are activated on occurence of certain events,
+for example receiving a positive reward.
+-->
+<mujoco>
+  <asset>
+    <texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300" mark="edge" markrgb=".2 .3 .4"/>
+    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
+    <material name="self" rgba=".7 .5 .3 1"/>
+    <material name="self_default" rgba=".7 .5 .3 1"/>
+    <material name="self_highlight" rgba="0 .5 .3 1"/>
+    <material name="effector" rgba=".7 .4 .2 1"/>
+    <material name="effector_default" rgba=".7 .4 .2 1"/>
+    <material name="effector_highlight" rgba="0 .5 .3 1"/>
+    <material name="decoration" rgba=".3 .5 .7 1"/>
+    <material name="eye" rgba="0 .2 1 1"/>
+    <material name="target" rgba=".6 .3 .3 1"/>
+    <material name="target_default" rgba=".6 .3 .3 1"/>
+    <material name="target_highlight" rgba=".6 .3 .3 .4"/>
+  </asset>
+</mujoco>

rl_coach/environments/mujoco/common/skybox.xml

@@ -0,0 +1,6 @@
+<mujoco>
+  <asset>
+      <texture name="skybox" type="skybox" builtin="gradient" rgb1=".4 .6 .8" rgb2="0 0 0"
+               width="800" height="800" mark="random" markrgb="1 1 1"/>
+  </asset>
+</mujoco>

rl_coach/environments/mujoco/common/visual.xml

@@ -0,0 +1,7 @@
+<mujoco>
+  <visual>
+    <headlight ambient=".4 .4 .4" diffuse=".8 .8 .8" specular="0.1 0.1 0.1"/>
+    <map znear=".01"/>
+    <quality shadowsize="2048"/>
+  </visual>
+</mujoco>