{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "/home/avnish/.local/share/virtualenvs/metaworld-7kyDgMie/lib/python3.7/site-packages/dm_control/utils/containers.py:30: DeprecationWarning: Using or importing the ABCs from 'collections' instead of from 'collections.abc' is deprecated since Python 3.3,and in 3.9 it will stop working\n",
      "  class TaggedTasks(collections.Mapping):\n"
     ]
    }
   ],
   "source": [
    "#@title All `dm_control` imports required for this tutorial\n",
    "\n",
    "# The basic mujoco wrapper.\n",
    "from dm_control import mujoco\n",
    "\n",
    "# Access to enums and MuJoCo library functions.\n",
    "from dm_control.mujoco.wrapper.mjbindings import enums\n",
    "from dm_control.mujoco.wrapper.mjbindings import mjlib\n",
    "\n",
    "# PyMJCF\n",
    "from dm_control import mjcf\n",
    "\n",
    "# Composer high level imports\n",
    "from dm_control import composer\n",
    "from dm_control.composer.observation import observable\n",
    "from dm_control.composer import variation\n",
    "\n",
    "# Imports for Composer tutorial example\n",
    "from dm_control.composer.variation import distributions\n",
    "from dm_control.composer.variation import noises\n",
    "from dm_control.locomotion.arenas import floors\n",
    "\n",
    "# Control Suite\n",
    "from dm_control import suite\n",
    "\n",
    "# Run through corridor example\n",
    "from dm_control.locomotion.walkers import cmu_humanoid\n",
    "from dm_control.locomotion.arenas import corridors as corridor_arenas\n",
    "from dm_control.locomotion.tasks import corridors as corridor_tasks\n",
    "\n",
    "# Soccer\n",
    "from dm_control.locomotion import soccer\n",
    "\n",
    "# Manipulation\n",
    "from dm_control import manipulation"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "/home/avnish/.local/share/virtualenvs/metaworld-7kyDgMie/lib/python3.7/site-packages/ipykernel/ipkernel.py:287: DeprecationWarning: `should_run_async` will not call `transform_cell` automatically in the future. Please pass the result to `transformed_cell` argument and any exception that happen during thetransform in `preprocessing_exc_tuple` in IPython 7.17 and above.\n",
      "  and should_run_async(code)\n"
     ]
    }
   ],
   "source": [
    "#@title Other imports and helper functions\n",
    "\n",
    "# General\n",
    "import copy\n",
    "import os\n",
    "from IPython.display import clear_output\n",
    "import numpy as np\n",
    "\n",
    "# Graphics-related\n",
    "import matplotlib\n",
    "import matplotlib.animation as animation\n",
    "import matplotlib.pyplot as plt\n",
    "from IPython.display import HTML\n",
    "import PIL.Image\n",
    "\n",
    "# Use svg backend for figure rendering\n",
    "%config InlineBackend.figure_format = 'svg'\n",
    "\n",
    "# Font sizes\n",
    "SMALL_SIZE = 8\n",
    "MEDIUM_SIZE = 10\n",
    "BIGGER_SIZE = 12\n",
    "plt.rc('font', size=SMALL_SIZE)          # controls default text sizes\n",
    "plt.rc('axes', titlesize=SMALL_SIZE)     # fontsize of the axes title\n",
    "plt.rc('axes', labelsize=MEDIUM_SIZE)    # fontsize of the x and y labels\n",
    "plt.rc('xtick', labelsize=SMALL_SIZE)    # fontsize of the tick labels\n",
    "plt.rc('ytick', labelsize=SMALL_SIZE)    # fontsize of the tick labels\n",
    "plt.rc('legend', fontsize=SMALL_SIZE)    # legend fontsize\n",
    "plt.rc('figure', titlesize=BIGGER_SIZE)  # fontsize of the figure title\n",
    "\n",
    "# Inline video helper function\n",
    "if os.environ.get('COLAB_NOTEBOOK_TEST', False):\n",
    "  # We skip video generation during tests, as it is quite expensive.\n",
    "  display_video = lambda *args, **kwargs: None\n",
    "else:\n",
    "  def display_video(frames, framerate=30):\n",
    "    height, width, _ = frames[0].shape\n",
    "    dpi = 70\n",
    "    orig_backend = matplotlib.get_backend()\n",
    "    matplotlib.use('Agg')  # Switch to headless 'Agg' to inhibit figure rendering.\n",
    "    fig, ax = plt.subplots(1, 1, figsize=(width / dpi, height / dpi), dpi=dpi)\n",
    "    matplotlib.use(orig_backend)  # Switch back to the original backend.\n",
    "    ax.set_axis_off()\n",
    "    ax.set_aspect('equal')\n",
    "    ax.set_position([0, 0, 1, 1])\n",
    "    im = ax.imshow(frames[0])\n",
    "    def update(frame):\n",
    "      im.set_data(frame)\n",
    "      return [im]\n",
    "    interval = 1000/framerate\n",
    "    anim = animation.FuncAnimation(fig=fig, func=update, frames=frames,\n",
    "                                   interval=interval, blit=True, repeat=False)\n",
    "    return HTML(anim.to_html5_video())\n",
    "\n",
    "# Seed numpy's global RNG so that cell outputs are deterministic. We also try to\n",
    "# use RandomState instances that are local to a single cell wherever possible.\n",
    "np.random.seed(42)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "/home/avnish/.local/share/virtualenvs/metaworld-7kyDgMie/lib/python3.7/site-packages/ipykernel/ipkernel.py:287: DeprecationWarning: `should_run_async` will not call `transform_cell` automatically in the future. Please pass the result to `transformed_cell` argument and any exception that happen during thetransform in `preprocessing_exc_tuple` in IPython 7.17 and above.\n",
      "  and should_run_async(code)\n"
     ]
    },
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=320x240 at 0x7F98C1F6C050>"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "#@title A static model {vertical-output: true}\n",
    "\n",
    "static_model = \"\"\"\n",
    "<mujoco>\n",
    "  <worldbody>\n",
    "    <light name=\"top\" pos=\"0 0 1\"/>\n",
    "    <geom name=\"red_box\" type=\"box\" size=\".2 .2 .2\" rgba=\"1 0 0 1\"/>\n",
    "    <geom name=\"green_sphere\" pos=\".2 .2 .2\" size=\".1\" rgba=\"0 1 0 1\"/>\n",
    "  </worldbody>\n",
    "</mujoco>\n",
    "\"\"\"\n",
    "physics = mujoco.Physics.from_xml_string(static_model)\n",
    "pixels = physics.render()\n",
    "PIL.Image.fromarray(pixels)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "/home/avnish/.local/share/virtualenvs/metaworld-7kyDgMie/lib/python3.7/site-packages/ipykernel/ipkernel.py:287: DeprecationWarning: `should_run_async` will not call `transform_cell` automatically in the future. Please pass the result to `transformed_cell` argument and any exception that happen during thetransform in `preprocessing_exc_tuple` in IPython 7.17 and above.\n",
      "  and should_run_async(code)\n"
     ]
    }
   ],
   "source": [
    "contents = open(\"sawyer_pick_and_place.xml\").read()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "/home/avnish/.local/share/virtualenvs/metaworld-7kyDgMie/lib/python3.7/site-packages/ipykernel/ipkernel.py:287: DeprecationWarning: `should_run_async` will not call `transform_cell` automatically in the future. Please pass the result to `transformed_cell` argument and any exception that happen during thetransform in `preprocessing_exc_tuple` in IPython 7.17 and above.\n",
      "  and should_run_async(code)\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "'<mujoco>\\n    <include file=\"../scene/basic_scene.xml\"/>\\n    <include file=\"../objects/assets/block_dependencies.xml\"/>\\n    <include file=\"../objects/assets/xyz_base_dependencies.xml\"/>\\n\\n    <worldbody>\\n      <include file=\"../objects/assets/xyz_base.xml\"/>\\n\\n      <body name=\"obj\" pos=\"0 0.6 0.02\">\\n        <freejoint/>\\n        <include file=\"../objects/assets/block.xml\"/>\\n      </body>\\n\\n      <site name=\"hand-goal-site\" pos=\"0.3 .9 0.03\" size=\"0.02\"\\n            rgba=\"0 0 1 1\"/>\\n      <site name=\"obj-goal-site\" pos=\"0.3 0.8 0.03\" size=\"0.02\"\\n            rgba=\"1 0 0 1\"/>\\n      <site name=\"goal\" pos=\"0.3 0.8 0.05\" size=\"0.02\"\\n            rgba=\"0 0.8 0 1\"/>\\n    </worldbody>\\n\\n    <actuator>\\n        <position ctrllimited=\"true\" ctrlrange=\"-1 1\" joint=\"r_close\" kp=\"400\"  user=\"1\"/>\\n        <position ctrllimited=\"true\" ctrlrange=\"-1 1\" joint=\"l_close\" kp=\"400\"  user=\"1\"/>\\n    </actuator>\\n    <equality>\\n        <weld body1=\"mocap\" body2=\"hand\" solref=\"0.02 1\"></weld>\\n    </equality>\\n</mujoco>\\n'"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "contents"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "/home/avnish/.local/share/virtualenvs/metaworld-7kyDgMie/lib/python3.7/site-packages/ipykernel/ipkernel.py:287: DeprecationWarning: `should_run_async` will not call `transform_cell` automatically in the future. Please pass the result to `transformed_cell` argument and any exception that happen during thetransform in `preprocessing_exc_tuple` in IPython 7.17 and above.\n",
      "  and should_run_async(code)\n"
     ]
    },
    {
     "data": {
      "image/png": "[encoded data, 99304 characters]\n",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=320x240 at 0x7F990A09B490>"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "physics = mujoco.Physics.from_xml_string(contents)\n",
    "pixels = physics.render()\n",
    "PIL.Image.fromarray(pixels)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "/home/avnish/.local/share/virtualenvs/metaworld-7kyDgMie/lib/python3.7/site-packages/ipykernel/ipkernel.py:287: DeprecationWarning: `should_run_async` will not call `transform_cell` automatically in the future. Please pass the result to `transformed_cell` argument and any exception that happen during thetransform in `preprocessing_exc_tuple` in IPython 7.17 and above.\n",
      "  and should_run_async(code)\n"
     ]
    },
    {
     "data": {
      "image/png": "[encoded data, 99392 characters]\n",
      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=320x240 at 0x7F98C19969D0>"
      ]
     },
     "execution_count": 7,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "physics = mujoco.Physics.from_xml_string(contents)\n",
    "# Visualize the joint axis.\n",
    "scene_option = mujoco.wrapper.core.MjvOption()\n",
    "scene_option.flags[enums.mjtVisFlag.mjVIS_JOINT] = True\n",
    "pixels = physics.render(scene_option=scene_option)\n",
    "PIL.Image.fromarray(pixels)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "/home/avnish/.local/share/virtualenvs/metaworld-7kyDgMie/lib/python3.7/site-packages/ipykernel/ipkernel.py:287: DeprecationWarning: `should_run_async` will not call `transform_cell` automatically in the future. Please pass the result to `transformed_cell` argument and any exception that happen during thetransform in `preprocessing_exc_tuple` in IPython 7.17 and above.\n",
      "  and should_run_async(code)\n"
     ]
    },
    {
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       "AAAAAAAAAAAtaWxzdAAAACWpdG9vAAAAHWRhdGEAAAABAAAAAExhdmY1Ny44My4xMDA=\n",
       "\">\n",
       "  Your browser does not support the video tag.\n",
       "</video>"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "execution_count": 9,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "duration = 20   # (seconds)\n",
    "framerate = 30  # (Hz)\n",
    "\n",
    "# Visualize the joint axis\n",
    "scene_option = mujoco.wrapper.core.MjvOption()\n",
    "scene_option.flags[enums.mjtVisFlag.mjVIS_JOINT] = True\n",
    "\n",
    "# Simulate and display video.\n",
    "frames = []\n",
    "physics.reset()  # Reset state and time\n",
    "while physics.data.time < duration:\n",
    "  physics.step()\n",
    "  if len(frames) < physics.data.time * framerate:\n",
    "    pixels = physics.render(scene_option=scene_option)\n",
    "    frames.append(pixels)\n",
    "display_video(frames, framerate)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.7.5"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 4
}
