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Merge branch 'google-deepmind:main' into musculoskeletal_dog_creation
2 parents 34bf5db + 3adfe8c commit 2d4846f

26 files changed

Lines changed: 2403 additions & 2 deletions

‎dm_control/blender/fake_core/bpy.py‎

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# Copyright 2023 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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"""Fake Blender bpy module."""
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from __future__ import annotations # postponed evaluation of annotations
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from typing import Any, Collection, Sequence
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from dm_control.blender.fake_core import mathutils
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# pylint: disable=invalid-name
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# pylint: disable=missing-class-docstring
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class WindowManager:
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def progress_begin(self, start: int, end: int):
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pass
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def progress_update(self, steps_done: int):
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pass
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def progress_end(self):
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pass
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class context:
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@property
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def window_manager(self) -> WindowManager:
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return WindowManager()
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@staticmethod
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def evaluated_depsgraph_get():
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pass
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class types:
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class Constraint:
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@property
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def name(self):
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pass
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@property
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def owner_space(self):
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pass
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class Scene:
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pass
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class Object:
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@property
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def name(self) -> str:
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raise NotImplementedError()
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@property
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def parent(self) -> types.Object | None:
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pass
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@property
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def parent_bone(self) -> types.Bone | None:
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pass
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@property
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def data(self):
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pass
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@property
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def pose(self):
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pass
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@property
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def matrix_world(self) -> mathutils.Matrix:
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raise NotImplementedError()
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@matrix_world.setter
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def matrix_world(self, _) -> mathutils.Matrix:
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raise NotImplementedError()
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def select_set(self, _):
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pass
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def to_mesh(self):
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pass
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def evaluated_get(self, _) -> types.Object:
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pass
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@property
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def mode(self) -> str:
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return 'OBJECT'
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@property
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def type(self):
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pass
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def update_from_editmode(self):
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pass
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class Bone:
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@property
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def name(self) -> str:
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raise NotImplementedError()
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@property
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def parent(self) -> types.Bone | None:
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pass
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@property
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def matrix_local(self) -> mathutils.Matrix:
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raise NotImplementedError()
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@property
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def matrix(self) -> mathutils.Matrix:
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raise NotImplementedError()
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class bpy_struct:
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pass
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class Context:
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@property
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def scene(self) -> types.Scene:
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pass
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class Light:
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@property
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def type(self):
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pass
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@property
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def use_shadow(self):
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pass
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@property
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def color(self) -> mathutils.Color:
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raise NotImplementedError()
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@property
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def linear_attenuation(self):
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pass
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@property
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def quadratic_attenuation(self):
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pass
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class LimitRotationConstraint(Constraint):
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pass
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class LimitLocationConstraint(Constraint):
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pass
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class Material:
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@property
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def name(self) -> str:
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raise NotImplementedError()
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@property
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def specular_intensity(self):
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pass
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@property
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def metallic(self):
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pass
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@property
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def roughness(self) -> float:
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raise NotImplementedError()
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@property
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def diffuse_color(self) -> Sequence[float]:
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raise NotImplementedError()
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class Mesh:
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@property
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def name(self) -> str:
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raise NotImplementedError()
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def calc_loop_triangles(self):
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pass
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@property
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def uv_layers(self) -> Any:
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raise NotImplementedError()
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@property
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def loop_triangles(self) -> Collection[Any]:
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raise NotImplementedError()
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@property
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def vertices(self) -> Any:
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raise NotImplementedError()
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class ops:
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class object:
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@staticmethod
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def select_all(action):
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pass
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class export_mesh:
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@classmethod
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def stl(
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cls, filepath, use_selection, use_mesh_modifiers, axis_forward, axis_up
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):
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pass

‎dm_control/blender/fake_core/mathutils.py‎

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# Copyright 2023 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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"""Fake Blender mathutils module."""
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# pylint: disable=invalid-name
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import numpy as np
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class Color:
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"""Fake color class."""
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def __init__(self, coords):
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self._coords = coords
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@property
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def r(self) -> float:
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return self._coords[0]
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@property
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def g(self) -> float:
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return self._coords[1]
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@property
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def b(self) -> float:
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return self._coords[2]
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@property
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def a(self) -> float:
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return self._coords[3]
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class Vector:
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"""Fake vector class."""
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def __init__(self, coords):
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self._coords = np.asarray(coords)
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@property
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def x(self) -> float:
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return self._coords[0]
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@property
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def y(self) -> float:
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return self._coords[1]
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@property
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def z(self) -> float:
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return self._coords[2]
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@property
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def w(self) -> float:
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return self._coords[3]
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def __eq__(self, rhs) -> bool:
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if not isinstance(rhs, Vector):
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return False
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return np.linalg.norm(self._coords - rhs._coords) < 1e-6
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def __str__(self) -> str:
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return 'Vector({:.2f}, {:.2f}, {:.2f})'.format(self.x, self.y, self.z)
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def __repr__(self) -> str:
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return 'Vector({:.2f}, {:.2f}, {:.2f})'.format(self.x, self.y, self.z)
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class Quaternion:
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"""Fake quaternion class."""
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def __init__(self, coords):
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self._coords = coords
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@property
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def x(self) -> float:
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return self._coords[1]
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@property
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def y(self) -> float:
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return self._coords[2]
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@property
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def z(self) -> float:
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return self._coords[3]
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@property
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def w(self) -> float:
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return self._coords[0]
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def __matmul__(self, rhs: Vector) -> Vector:
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return Vector((1, 0, 0))
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class Matrix:
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"""Fake matrix class."""
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def __init__(self, coords):
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self._coords = coords
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@classmethod
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def Diagonal(cls, _):
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return cls((1,))
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@property
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def translation(self) -> Vector:
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return Vector((0.0, 0.0, 0.0))
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def to_quaternion(self) -> Quaternion:
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return Quaternion((1.0, 0.0, 0.0, 0.0))
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def to_scale(self) -> Vector:
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return Vector((0.0, 0.0, 0.0))

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