Python MjSim.render方法代码示例

# 需要导入模块: from mujoco_py import MjSim [as 别名]
# 或者: from mujoco_py.MjSim import render [as 别名]
def test_rendering():
    model = load_model_from_xml(BASIC_MODEL_XML)
    sim = MjSim(model)
    sim.forward()

    img, depth = sim.render(200, 200, depth=True)
    assert img.shape == (200, 200, 3)
    compare_imgs(img, 'test_rendering.freecam.png')

    depth = (depth - np.min(depth)) / (np.max(depth) - np.min(depth))
    depth = np.asarray(depth * 255, dtype=np.uint8)
    assert depth.shape == (200, 200)

    # Unfortunately mujoco 2.0 renders slightly different depth image on mac and on linux here
    if "darwin" in sys.platform.lower():
        compare_imgs(depth, 'test_rendering.freecam.depth-darwin.png')
    else:
        compare_imgs(depth, 'test_rendering.freecam.depth.png')

    img = sim.render(100, 100, camera_name="camera1")
    assert img.shape == (100, 100, 3)
    compare_imgs(img, 'test_rendering.camera1.png')

    img = sim.render(200, 100, camera_name="camera1")
    assert img.shape == (100, 200, 3)
    compare_imgs(img, 'test_rendering.camera1.narrow.png')

    render_context = sim.render_contexts[0]
    render_context.add_marker(size=np.array([.4, .5, .6]),
                              pos=np.array([.4, .5, .6]),
                              rgba=np.array([.7, .8, .9, 1.0]),
                              label="mark")
    img = sim.render(200, 200, camera_name="camera1")
    assert img.shape == (200, 200, 3)
    compare_imgs(img, 'test_rendering_markers.camera1.png')

# 需要导入模块: from mujoco_py import MjSim [as 别名]
# 或者: from mujoco_py.MjSim import render [as 别名]
def test_concurrent_rendering():
    '''Best-effort testing that concurrent multi-threaded rendering works.
    The test has no guarantees around being deterministic, but if it fails
    you know something is wrong with concurrent rendering. If it passes,
    things are probably working.'''
    err = None
    def func(sim, event):
        event.wait()
        sim.data.qpos[:] = 0.0
        sim.forward()
        img1 = sim.render(width=40, height=40, camera_name="camera1")
        img2 = sim.render(width=40, height=40, camera_name="camera2")
        try:
            assert np.sum(img1[:]) == 23255
            assert np.sum(img2[:]) == 12007
        except Exception as e:
            nonlocal err
            err = e

    model = load_model_from_xml(BASIC_MODEL_XML)
    sim = MjSim(model)
    sim.render(100, 100)
    event = Event()
    threads = []
    for _ in range(100):
        thread = Thread(target=func, args=(sim, event))
        threads.append(thread)
        thread.start()
    event.set()
    for thread in threads:
        thread.join()
    assert err is None, "Exception: %s" % (str(err))

# 需要导入模块: from mujoco_py import MjSim [as 别名]
# 或者: from mujoco_py.MjSim import render [as 别名]
def test_rendering():
    model = load_model_from_xml(BASIC_MODEL_XML)
    sim = MjSim(model)
    sim.forward()

    img, depth = sim.render(200, 200, depth=True)
    assert img.shape == (200, 200, 3)
    compare_imgs(img, 'test_rendering.freecam.png')

    depth = (depth - np.min(depth)) / (np.max(depth) - np.min(depth))
    depth = np.asarray(depth * 255, dtype=np.uint8)
    assert depth.shape == (200, 200)
    compare_imgs(depth, 'test_rendering.freecam.depth.png')

    img = sim.render(100, 100, camera_name="camera1")
    assert img.shape == (100, 100, 3)
    compare_imgs(img, 'test_rendering.camera1.png')

    img = sim.render(200, 100, camera_name="camera1")
    assert img.shape == (100, 200, 3)
    compare_imgs(img, 'test_rendering.camera1.narrow.png')

    render_context = sim.render_contexts[0]
    render_context.add_marker(size=np.array([.4, .5, .6]),
                              pos=np.array([.4, .5, .6]),
                              rgba=np.array([.7, .8, .9, 1.0]),
                              label="mark")
    img = sim.render(200, 200, camera_name="camera1")
    assert img.shape == (200, 200, 3)
    compare_imgs(img, 'test_rendering_markers.camera1.png')

# 需要导入模块: from mujoco_py import MjSim [as 别名]
# 或者: from mujoco_py.MjSim import render [as 别名]
def test_multiple_sims():
    # Ensure that creating new simulators still produces good renderings.
    xml = """
    <mujoco>
        <asset>
            <texture name="t1" width="32" height="32" type="2d" builtin="flat" />
            <material name="m1" texture="t1" />
        </asset>
        <worldbody>
            <light diffuse=".5 .5 .5" pos="0 0 5" dir="0 0 -1" />
            <camera name="topcam" pos="0 0 2.5" zaxis="0 0 1" />
            <geom name="g1" pos="0 0 0" type="box" size="1 1 0.1" rgba="1 1 1 1" material="m1" />
        </worldbody>
    </mujoco>
    """

    model = load_model_from_xml(xml)
    random_state = np.random.RandomState(0)

    for i in range(3):
        sim = MjSim(model)
        sim.forward()
        modder = TextureModder(sim, random_state=random_state)
        for j in range(2):
            modder.rand_checker('g1')
            compare_imgs(
                sim.render(201, 205, camera_name="topcam"),
                'test_multiple_sims.loop%d_%d.png' % (i, j))

# 需要导入模块: from mujoco_py import MjSim [as 别名]
# 或者: from mujoco_py.MjSim import render [as 别名]
def test_high_res():
    model = load_model_from_xml(BASIC_MODEL_XML)
    sim = MjSim(model)
    sim.forward()
    img = sim.render(1000, 1000)
    img = scipy.misc.imresize(img, (200, 200, 3))
    assert img.shape == (200, 200, 3)
    compare_imgs(img, 'test_rendering.freecam.png')

# 需要导入模块: from mujoco_py import MjSim [as 别名]
# 或者: from mujoco_py.MjSim import render [as 别名]
def test_rendering_failing():
    model = load_model_from_xml(BASIC_MODEL_XML)
    sim = MjSim(model)
    sim.forward()
    sim.render(100, 100)
    render_context = sim.render_contexts[0]
    render_context.add_marker(size=np.array([.4, .5, .6]),
                              pos=np.array([.4, .5, .6]),
                              rgba=np.array([.7, .8, .9, 1.0]),
                              label="blaaaa")
    img = sim.render(200, 200, camera_name="camera1")
    assert img.shape == (200, 200, 3)
    try:
        compare_imgs(img, 'test_rendering_markers.camera1.png')
        assert False
    except Exception as e:
        pass

# 需要导入模块: from mujoco_py import MjSim [as 别名]
# 或者: from mujoco_py.MjSim import render [as 别名]
def test_high_res():
    model = load_model_from_xml(BASIC_MODEL_XML)
    sim = MjSim(model)
    sim.forward()
    img = sim.render(1000, 1000)
    img = np.array(Image.fromarray(img).resize(size=(200, 200)))
    assert img.shape == (200, 200, 3)
    compare_imgs(img, 'test_rendering.freecam.png')

# 需要导入模块: from mujoco_py import MjSim [as 别名]
# 或者: from mujoco_py.MjSim import render [as 别名]
def test_materials():
    model = load_model_from_xml(BASIC_MODEL_XML)
    sim = MjSim(model)
    sim.forward()

    compare_imgs(sim.render(201, 205, camera_name="topcam"),
                 'test_materials.premod.png')

    random_state = np.random.RandomState(0)
    modder = MaterialModder(sim, random_state=random_state)

    modder.set_specularity('g1', 1.0)
    modder.set_reflectance('g2', 1.0)
    modder.set_shininess('g3', 1.0)
    compare_imgs(sim.render(201, 205, camera_name="topcam"),
                 'test_materials.props.png')

    modder.rand_all('g4')
    compare_imgs(sim.render(201, 205, camera_name="topcam"),
                 'test_materials.rand_all.png')

# 需要导入模块: from mujoco_py import MjSim [as 别名]
# 或者: from mujoco_py.MjSim import render [as 别名]
def test_glfw_context():
    model = load_model_from_xml(BASIC_MODEL_XML)
    sim = MjSim(model)
    sim.forward()

    render_context = MjRenderContext(sim, offscreen=True, opengl_backend='glfw')
    assert len(sim.render_contexts) == 1
    assert sim.render_contexts[0] is render_context
    assert isinstance(render_context.opengl_context, GlfwContext)

    compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_glfw_context.png')
    assert len(sim.render_contexts) == 1
    assert sim.render_contexts[0] is render_context

# 需要导入模块: from mujoco_py import MjSim [as 别名]
# 或者: from mujoco_py.MjSim import render [as 别名]
def test_textures():
    model = load_model_from_xml(BASIC_MODEL_XML)
    sim = MjSim(model)
    sim.forward()

    compare_imgs(sim.render(201, 205, camera_name="topcam"),
                 'test_textures.premod.png')

    random_state = np.random.RandomState(0)
    modder = TextureModder(sim, random_state=random_state)
    modder.whiten_materials()
    modder.whiten_materials(['g1', 'g2'])

    modder.set_rgb('g1', (255, 0, 0))
    modder.set_rgb('g2', (0, 255, 0))
    modder.set_rgb('g3', (0, 0, 255))
    modder.set_rgb('g4', (255, 0, 255))
    compare_imgs(sim.render(201, 205, camera_name="topcam"),
                 'test_textures.rgb.png')

    modder.set_checker('g1', (255, 0, 0), (0, 255, 0))
    modder.set_gradient('g2', (0, 255, 0), (0, 0, 255), vertical=True)
    modder.set_gradient('g3', (255, 255, 0), (0, 0, 255), vertical=False)
    modder.set_noise('g4', (0, 0, 255), (255, 0, 0), 0.1)
    compare_imgs(sim.render(201, 205, camera_name="topcam"),
                 'test_textures.variety.png')

    modder.rand_checker('g1')
    modder.rand_gradient('g2')
    modder.rand_noise('g3')
    modder.rand_rgb('g4')
    compare_imgs(sim.render(201, 205, camera_name="topcam"),
                 'test_textures.rand_specific.png')

    modder.rand_all('g1')
    modder.rand_all('g2')
    modder.rand_all('g3')
    modder.rand_all('g4')
    compare_imgs(sim.render(201, 205, camera_name="topcam"),
                 'test_textures.rand_all.png')

    modder.rand_checker('g1')
    modder.rand_checker('g2')
    modder.rand_checker('g3')
    modder.rand_checker('g4')
    mat_modder = MaterialModder(sim, random_state=random_state)
    mat_modder.rand_texrepeat('g1')
    mat_modder.rand_texrepeat('g2')
    mat_modder.rand_texrepeat('g3')
    mat_modder.rand_texrepeat('g4')
    compare_imgs(sim.render(201, 205, camera_name="topcam"),
                 'test_textures.rand_texrepeat.png')

# 需要导入模块: from mujoco_py import MjSim [as 别名]
# 或者: from mujoco_py.MjSim import render [as 别名]
class MujocoEnv(gym.Env):
    """Superclass for all MuJoCo environments.
    """

    def __init__(self, model_path, frame_skip):

        if model_path.startswith("/"):
            fullpath = model_path
        else:
            fullpath = os.path.join(os.path.dirname(__file__), "assets", model_path)
        if not path.exists(fullpath):
            raise IOError("File %s does not exist" % fullpath)
        self.frame_skip = frame_skip
        self.model = load_model_from_path(fullpath)
        self.sim = MjSim(self.model)
        self.data = self.sim.data

        self.metadata = {
            'render.modes': ['human', 'rgb_array'],
            'video.frames_per_second': int(np.round(1.0 / self.dt))
        }
        self.mujoco_render_frames = False

        self.init_qpos = self.data.qpos.ravel().copy()
        self.init_qvel = self.data.qvel.ravel().copy()
        observation, _reward, done, _info = self._step(np.zeros(self.model.nu))
        assert not done
        self.obs_dim = np.sum([o.size for o in observation]) if type(observation) is tuple else observation.size

        bounds = self.model.actuator_ctrlrange.copy()
        low = bounds[:, 0]
        high = bounds[:, 1]
        self.action_space = spaces.Box(low, high)

        high = np.inf*np.ones(self.obs_dim)
        low = -high
        self.observation_space = spaces.Box(low, high)

        self._seed()

    def _seed(self, seed=None):
        self.np_random, seed = seeding.np_random(seed)
        return [seed]

    # methods to override:
    # ----------------------------

    def reset_model(self):
        """
        Reset the robot degrees of freedom (qpos and qvel).
        Implement this in each subclass.
        """
        raise NotImplementedError

    def mj_viewer_setup(self):
        """
        Due to specifics of new mujoco rendering, the standard viewer cannot be used
        with this set-up. Instead we use this mujoco specific function.
        """
        pass

    def viewer_setup(self):
        """
        Does not work. Use mj_viewer_setup() instead
        """
        pass

    # -----------------------------

    def _reset(self):
        self.sim.reset()
        self.sim.forward()
        ob = self.reset_model()
        return ob

    def set_state(self, qpos, qvel):
        assert qpos.shape == (self.model.nq,) and qvel.shape == (self.model.nv,)
        state = self.sim.get_state()
        for i in range(self.model.nq):
            state.qpos[i] = qpos[i]
        for i in range(self.model.nv):
            state.qvel[i] = qvel[i]
        self.sim.set_state(state)
        self.sim.forward()

    @property
    def dt(self):
        return self.model.opt.timestep * self.frame_skip

    def do_simulation(self, ctrl, n_frames):
        for i in range(self.model.nu):
            self.sim.data.ctrl[i] = ctrl[i]
        for _ in range(n_frames):
            self.sim.step()
            if self.mujoco_render_frames is True:
                self.mj_render()

    def mj_render(self):
        try:
            self.viewer.render()
#.........这里部分代码省略.........

# 需要导入模块: from mujoco_py import MjSim [as 别名]
# 或者: from mujoco_py.MjSim import render [as 别名]
</mujoco>
"""

model = load_model_from_xml(MODEL_XML)
sim = MjSim(model)

print("Nicely exposed function:\n")
print(sim.model.get_xml())

print("\nversus MuJoCo internals:\n\n")

functions.mj_saveLastXML("/tmp/saved.xml", model, "", 0)
with open("/tmp/saved.xml", "r") as f:
    print(f.read())

sim.render(100, 100)

modelpos = np.zeros(3)
modelquat = np.zeros(4)
roompos = np.ones(3)
roomquat = np.array([1., 0., 1., 0.])

functions.mjv_room2model(modelpos, modelquat, roompos,
                         roomquat, sim.render_contexts[0].scn)

print("\n\nAnother internal function, mjv_room2model:")
print("modelpos = %s, modelquat = %s" % (str(modelpos), str(modelquat)))


res = np.zeros(9)
functions.mju_quat2Mat(res, roomquat)