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# Copyright 2023 DeepMind Technologies Limited. | ||
# | ||
# 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. | ||
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"""Data writer for Stanford Bunny experiments and other objects.""" | ||
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# pylint: disable=unused-import | ||
import copy | ||
import io | ||
import os | ||
import time | ||
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from absl import app | ||
from absl import flags | ||
from absl import logging | ||
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from dm_control import mujoco | ||
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import numpy as np | ||
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_SHARD = flags.DEFINE_integer('shard', 0, 'Shard index') | ||
_SIZE = flags.DEFINE_integer('size', 1000, | ||
'Number of images to save to a shard') | ||
_OBJECT = flags.DEFINE_string('object', 'dragon', 'Which object to render') | ||
_PATH = flags.DEFINE_string('path', '', 'Path to folder with .stl files') | ||
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render_height = 1024 | ||
render_width = 1024 | ||
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height = 256 | ||
width = 256 | ||
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def get_normal(x): | ||
"""Get vectors normal to a unit vector.""" | ||
_, _, v = np.linalg.svd(x[None, :]) | ||
return v[:, 1:] | ||
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def render(quat, light, mesh='bunny', meshdir='data'): | ||
"""Script to render an image.""" | ||
scale, pos = None, None | ||
if mesh == 'bunny': | ||
scale = 0.03 | ||
pos = -1.0 | ||
elif mesh == 'dragon': | ||
scale = 0.06 | ||
pos = -0.3 | ||
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simple_world_mjcf_template = """ | ||
<mujoco> | ||
<visual> | ||
<headlight active="0"/> | ||
<global offwidth="%s" offheight="%s"/> | ||
</visual> | ||
<compiler meshdir="%s"/> | ||
<asset> | ||
<mesh name="%s" file="%s.stl" scale="%g %g %g"/> | ||
</asset> | ||
<worldbody> | ||
<camera name="main" pos="0 0 5" xyaxes="1 0 0 0 1 0"/> | ||
<body name="obj" quat="{} {} {} {}"> | ||
<geom name="%s" type="mesh" mesh="%s" pos="0 0 %g"/> | ||
</body> | ||
<light pos="{} {} {}" directional="true" dir="{} {} {}"/> | ||
<light pos="{} {} {}" directional="true" dir="{} {} {}"/> | ||
</worldbody> | ||
</mujoco> | ||
""" % (render_width, render_height, meshdir, mesh, mesh, | ||
scale, scale, scale, mesh, mesh, pos) | ||
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light /= np.linalg.norm(light) | ||
quat /= np.linalg.norm(quat) | ||
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simple_world_mjcf = simple_world_mjcf_template.format( | ||
*(np.concatenate((quat, | ||
5*light, -5*light, | ||
-5*light, 5*light)).tolist())) | ||
physics = mujoco.Physics.from_xml_string(simple_world_mjcf) | ||
data = physics.render(camera_id='main', | ||
height=render_height, | ||
width=render_width).astype(np.float32) | ||
data = data.reshape((width, int(render_width/width), | ||
height, int(render_height/height), 3)) | ||
return np.mean(np.mean(data, axis=1), axis=2) | ||
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def get_tangent(quat, light, mesh='bunny', meshdir='data', | ||
eps=0.03, use_light=True, use_quat=True): | ||
"""Render image along with its tangent vectors by finite differences.""" | ||
assert use_light or use_quat | ||
n = 0 | ||
light_tangent = None | ||
quat_tangent = None | ||
if use_light: | ||
light_tangent = get_normal(light) | ||
n += 2 | ||
if use_quat: | ||
quat_tangent = get_normal(quat) | ||
n += 3 | ||
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# a triple-wide pixel buffer | ||
try: | ||
data = render(quat, light, mesh=mesh, meshdir=meshdir) | ||
image_tangent = np.zeros((n, height, width, 3), dtype=np.float32) | ||
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if use_quat: | ||
for i in range(3): | ||
perturbed = render(quat + eps * quat_tangent[:, i], | ||
light, mesh=mesh, meshdir=meshdir) | ||
image_tangent[i] = (perturbed - data).astype(np.float32) / eps | ||
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if use_light: | ||
j = 3 if use_quat else 0 | ||
for i in range(2): | ||
perturbed = render(quat, light + eps * light_tangent[:, i], | ||
mesh=mesh, meshdir=meshdir) | ||
image_tangent[i+j] = (perturbed - data) / eps | ||
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image_tangent -= np.mean(image_tangent, axis=0)[None, ...] | ||
latent_tangent = np.block( | ||
[[quat_tangent, np.zeros((4, 2), dtype=np.float32)], | ||
[np.zeros((3, 3), dtype=np.float32), light_tangent]]) | ||
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return (np.mean(data, axis=-1), | ||
np.mean(image_tangent, axis=-1), | ||
latent_tangent) | ||
except: # pylint: disable=bare-except | ||
logging.info('Failed with latents (quat: %s, light: %s)', quat, light) | ||
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def main(_): | ||
images = np.zeros((_SIZE.value, height, width), dtype=np.float32) | ||
latents = np.zeros((_SIZE.value, 7), dtype=np.float32) | ||
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image_tangents = np.zeros((_SIZE.value, 5, height, width), dtype=np.float32) | ||
latent_tangents = np.zeros((_SIZE.value, 7, 5), dtype=np.float32) | ||
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for i in range(_SIZE.value): | ||
light = np.random.randn(3) | ||
light /= np.linalg.norm(light) | ||
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quat = np.random.randn(4) # rotation represented as quaternion | ||
quat /= np.linalg.norm(quat) | ||
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latents[i] = np.concatenate((light, quat)) | ||
images[i], image_tangents[i], latent_tangents[i] = ( | ||
get_tangent(quat, light, mesh=_OBJECT.value, meshdir=_PATH.value)) | ||
logging.info('Rendered image %d of %d', i, _SIZE.value) | ||
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os.makedirs(os.path.join(_PATH.value, _OBJECT.value), exist_ok=True) | ||
with open(os.path.join( | ||
_PATH.value, _OBJECT.value, 'shard_%03d.npz' % _SHARD.value), 'wb') as f: | ||
io_buffer = io.BytesIO() | ||
np.savez(io_buffer, images, latents, image_tangents, latent_tangents) | ||
f.write(io_buffer.getvalue()) | ||
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if __name__ == '__main__': | ||
app.run(main) |