本文整理汇总了Python中mujoco_py.MjRenderContextOffscreen方法的典型用法代码示例。如果您正苦于以下问题:Python mujoco_py.MjRenderContextOffscreen方法的具体用法?Python mujoco_py.MjRenderContextOffscreen怎么用?Python mujoco_py.MjRenderContextOffscreen使用的例子?那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类mujoco_py
的用法示例。
在下文中一共展示了mujoco_py.MjRenderContextOffscreen方法的13个代码示例,这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞,您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: _reset_internal
# 需要导入模块: import mujoco_py [as 别名]
# 或者: from mujoco_py import MjRenderContextOffscreen [as 别名]
def _reset_internal(self):
"""Resets simulation internal configurations."""
# instantiate simulation from MJCF model
self._load_model()
self.mjpy_model = self.model.get_model(mode="mujoco_py")
self.sim = MjSim(self.mjpy_model)
self.initialize_time(self.control_freq)
# create visualization screen or renderer
if self.has_renderer and self.viewer is None:
self.viewer = MujocoPyRenderer(self.sim)
self.viewer.viewer.vopt.geomgroup[0] = (
1 if self.render_collision_mesh else 0
)
self.viewer.viewer.vopt.geomgroup[1] = 1 if self.render_visual_mesh else 0
# hiding the overlay speeds up rendering significantly
self.viewer.viewer._hide_overlay = True
elif self.has_offscreen_renderer:
if self.sim._render_context_offscreen is None:
render_context = MjRenderContextOffscreen(self.sim)
self.sim.add_render_context(render_context)
self.sim._render_context_offscreen.vopt.geomgroup[0] = (
1 if self.render_collision_mesh else 0
)
self.sim._render_context_offscreen.vopt.geomgroup[1] = (
1 if self.render_visual_mesh else 0
)
# additional housekeeping
self.sim_state_initial = self.sim.get_state()
self._get_reference()
self.cur_time = 0
self.timestep = 0
self.done = False
示例2: reset_from_xml_string
# 需要导入模块: import mujoco_py [as 别名]
# 或者: from mujoco_py import MjRenderContextOffscreen [as 别名]
def reset_from_xml_string(self, xml_string):
"""Reloads the environment from an XML description of the environment."""
# if there is an active viewer window, destroy it
self.close()
# load model from xml
self.mjpy_model = load_model_from_xml(xml_string)
self.sim = MjSim(self.mjpy_model)
self.initialize_time(self.control_freq)
if self.has_renderer and self.viewer is None:
self.viewer = MujocoPyRenderer(self.sim)
self.viewer.viewer.vopt.geomgroup[0] = (
1 if self.render_collision_mesh else 0
)
self.viewer.viewer.vopt.geomgroup[1] = 1 if self.render_visual_mesh else 0
# hiding the overlay speeds up rendering significantly
self.viewer.viewer._hide_overlay = True
elif self.has_offscreen_renderer:
render_context = MjRenderContextOffscreen(self.sim)
render_context.vopt.geomgroup[0] = 1 if self.render_collision_mesh else 0
render_context.vopt.geomgroup[1] = 1 if self.render_visual_mesh else 0
self.sim.add_render_context(render_context)
self.sim_state_initial = self.sim.get_state()
self._get_reference()
self.cur_time = 0
self.timestep = 0
self.done = False
# necessary to refresh MjData
self.sim.forward()
示例3: __init__
# 需要导入模块: import mujoco_py [as 别名]
# 或者: from mujoco_py import MjRenderContextOffscreen [as 别名]
def __init__(self,
wrapped_env,
imsize=32,
keep_prev=0,
init_camera=None,
camera_name=None,
transpose=False,
grayscale=False,
normalize=False,
):
self.quick_init(locals())
super().__init__(wrapped_env)
self.imsize = imsize
if grayscale:
self.image_length = self.imsize * self.imsize
else:
self.image_length = 3 * self.imsize * self.imsize
# This is torch format rather than PIL image
self.image_shape = (self.imsize, self.imsize)
# Flattened past image queue
self.history_length = keep_prev + 1
self.history = deque(maxlen=self.history_length)
# init camera
if init_camera is not None:
sim = self._wrapped_env.sim
viewer = mujoco_py.MjRenderContextOffscreen(sim, device_id=-1)
init_camera(viewer.cam)
sim.add_render_context(viewer)
self.camera_name = camera_name # None means default camera
self.transpose = transpose
self.grayscale = grayscale
self.normalize = normalize
self._render_local = False
self.observation_space = Box(low=0.0,
high=1.0,
shape=(self.image_length * self.history_length,))
示例4: _setup_render_rgb
# 需要导入模块: import mujoco_py [as 别名]
# 或者: from mujoco_py import MjRenderContextOffscreen [as 别名]
def _setup_render_rgb(sim: mujoco_py.MjSim) -> mujoco_py.MjSim:
# create copy of simulation to customize rendering context
# flags defined in mjvisualize.h
render_sim = mujoco_py.MjSim(sim.model)
render_sim.set_state(sim.get_state())
render_ctx = mujoco_py.MjRenderContextOffscreen(render_sim)
render_ctx.scn.stereo = 2 # side-by-side rendering
return render_sim
示例5: _setup_render_seg
# 需要导入模块: import mujoco_py [as 别名]
# 或者: from mujoco_py import MjRenderContextOffscreen [as 别名]
def _setup_render_seg(sim: mujoco_py.MjSim) -> mujoco_py.MjSim:
# create copy of simulation to customize rendering context
# flags defined in mjvisualize.h
render_sim = mujoco_py.MjSim(sim.model)
render_sim.set_state(sim.get_state())
render_ctx = mujoco_py.MjRenderContextOffscreen(render_sim)
render_ctx.vopt.flags[1] = 0 # textures off
render_ctx.vopt.flags[17] = 0 # static body off
render_ctx.scn.flags[0] = 0 # shadow off
render_ctx.scn.flags[2] = 0 # reflection off
render_ctx.scn.flags[4] = 0 # skybox off
render_ctx.scn.stereo = 2 # side-by-side rendering
return render_sim
示例6: _setup_render_depth
# 需要导入模块: import mujoco_py [as 别名]
# 或者: from mujoco_py import MjRenderContextOffscreen [as 别名]
def _setup_render_depth(sim: mujoco_py.MjSim) -> mujoco_py.MjSim:
# create copy of simulation to customize rendering context
# flags defined in mjvisualize.h
render_sim = mujoco_py.MjSim(sim.model)
render_sim.set_state(sim.get_state())
render_ctx = mujoco_py.MjRenderContextOffscreen(render_sim)
render_ctx.vopt.flags[1] = 0 # textures off
render_ctx.scn.flags[0] = 0 # shadow off
render_ctx.scn.flags[2] = 0 # reflection off
render_ctx.scn.flags[4] = 0 # skybox off
render_ctx.scn.stereo = 2 # side-by-side rendering
return render_sim
示例7: _get_viewer
# 需要导入模块: import mujoco_py [as 别名]
# 或者: from mujoco_py import MjRenderContextOffscreen [as 别名]
def _get_viewer(self, mode):
self.viewer = self._viewers.get(mode)
if self.viewer is None:
if mode == 'human':
self.viewer = mujoco_py.MjViewer(self.sim)
elif mode == 'rgb_array' or mode == 'depth_array':
self.viewer = mujoco_py.MjRenderContextOffscreen(self.sim, -1)
self.viewer_setup()
self._viewers[mode] = self.viewer
return self.viewer
示例8: get_current_image_obs
# 需要导入模块: import mujoco_py [as 别名]
# 或者: from mujoco_py import MjRenderContextOffscreen [as 别名]
def get_current_image_obs(self):
# print(self._get_viewer)
# print(self._get_viewer())
# self.viewer = mujoco_py.MjRenderContextOffscreen(self.sim, -1)
# self.viewer = mujoco_py.MjViewer()
# self.viewer.start()
# self.viewer.set_model(self.model)
# self.viewer_setup()
# self._get_viewer()
# image = self.viewer.get_image()
# pil_image = Image.frombytes('RGB', (image[1], image[2]), image[0])
# pil_image = pil_image.resize((125,125), Image.ANTIALIAS)
# image = np.flipud(np.array(pil_image))
# image = self.render(mode='rgb_array', width=125, height=125)
# transpose to make it have correct ordering of dimensions for pytorch
# image = image.transpose((2,0,1))
# image = np.array(image).astype(np.float32)
# image /= 255.0
image = self.render(mode='rgb_array', width=500, height=500)
image = Image.fromarray(image)
image = image.resize((125,125), PIL.Image.LANCZOS)
image = np.array(image)
image = image.transpose((2,0,1))
image = np.array(image).astype(np.float32)
image /= 255.0
X = np.concatenate([
self.sim.data.qpos.flat[:7],
self.sim.data.qvel.flat[:7],
self.get_body_com('tips_arm'),
self.get_body_com('goal'),
]).copy()
X = (X - self.state_mean) / self.state_std
return image, X
示例9: _get_viewer
# 需要导入模块: import mujoco_py [as 别名]
# 或者: from mujoco_py import MjRenderContextOffscreen [as 别名]
def _get_viewer(self, mode):
self.viewer = self._viewers.get(mode)
if self.viewer is None:
if mode == 'human':
self.viewer = mujoco_py.MjViewer(self.sim)
elif mode == 'rgb_array':
self.viewer = mujoco_py.MjRenderContextOffscreen(self.sim, device_id=-1)
self._viewer_setup()
self._viewers[mode] = self.viewer
return self.viewer
# Extension methods
# ----------------------------
示例10: _get_viewer
# 需要导入模块: import mujoco_py [as 别名]
# 或者: from mujoco_py import MjRenderContextOffscreen [as 别名]
def _get_viewer(self, mode):
self.viewer = self._viewers.get(mode)
if self.viewer is None:
if mode == 'human':
self.viewer = mujoco_py.MjViewer(self.sim)
elif mode == 'rgb_array' or mode == 'depth_array':
self.viewer = mujoco_py.MjRenderContextOffscreen(self.sim, -1)
self.viewer_setup()
self._viewers[mode] = self.viewer
return self.viewer
示例11: initialize_camera
# 需要导入模块: import mujoco_py [as 别名]
# 或者: from mujoco_py import MjRenderContextOffscreen [as 别名]
def initialize_camera(self):
# set camera parameters for viewing
sim = self.sim
viewer = mujoco_py.MjRenderContextOffscreen(sim)
camera = viewer.cam
camera.type = 1
camera.trackbodyid = 0
camera.elevation = -20
sim.add_render_context(viewer)
示例12: render
# 需要导入模块: import mujoco_py [as 别名]
# 或者: from mujoco_py import MjRenderContextOffscreen [as 别名]
def render(self, mode='human', close=False):
if mode == 'human':
if self.viewer is None:
self.viewer = MjViewer(self.sim)
self.viewer.render()
elif mode == 'rgb_array':
if self.rgb_viewer is None:
self.rgb_viewer = MjRenderContextOffscreen(self.sim, 0)
self.rgb_viewer.render(500, 500)
# window size used for old mujoco-py:
data = self.rgb_viewer.read_pixels(500, 500, depth=False)
# original image is upside-down, so flip it
return data[::-1, :, :]
示例13: __init__
# 需要导入模块: import mujoco_py [as 别名]
# 或者: from mujoco_py import MjRenderContextOffscreen [as 别名]
def __init__(self,
wrapped_env,
imsize=32,
keep_prev=0,
init_camera=None,
camera_name=None,
transpose=False,
grayscale=False,
normalize=False,
):
import mujoco_py
super().__init__(wrapped_env)
self.imsize = imsize
if grayscale:
self.image_length = self.imsize * self.imsize
else:
self.image_length = 3 * self.imsize * self.imsize
# This is torch format rather than PIL image
self.image_shape = (self.imsize, self.imsize)
# Flattened past image queue
self.history_length = keep_prev + 1
self.history = deque(maxlen=self.history_length)
# init camera
if init_camera is not None:
sim = self._wrapped_env.sim
viewer = mujoco_py.MjRenderContextOffscreen(sim, device_id=-1)
init_camera(viewer.cam)
sim.add_render_context(viewer)
self.camera_name = camera_name # None means default camera
self.transpose = transpose
self.grayscale = grayscale
self.normalize = normalize
self._render_local = False
self.observation_space = Box(low=0.0,
high=1.0,
shape=(
self.image_length * self.history_length,))