def _render_on_gl_thread(self, viewport, scene):
mjlib.mjr_setBuffer(enums.mjtFramebuffer.mjFB_OFFSCREEN,
self._mujoco_context.ptr)
mjlib.mjr_render(viewport.mujoco_rect, scene.ptr,
self._mujoco_context.ptr)
self._render_components(self._mujoco_context, viewport)
mjlib.mjr_readPixels(self._rgb_buffer, None, viewport.mujoco_rect,
self._mujoco_context.ptr)
def _make_rendering_contexts(self):
"""Creates the OpenGL and MuJoCo rendering contexts."""
# Forcibly clear the previous GL context to avoid problems with GL
# implementations which do not support multiple contexts on a given device.
if self._contexts:
self._contexts.gl.free()
# Create the OpenGL context.
render_context = render.Renderer(_MAX_WIDTH, _MAX_HEIGHT)
# Create the MuJoCo context.
mujoco_context = wrapper.MjrContext()
with render_context.make_current(_MAX_WIDTH, _MAX_HEIGHT):
mjlib.mjr_makeContext(self.model.ptr, mujoco_context.ptr, _FONT_SCALE)
mjlib.mjr_setBuffer(
enums.mjtFramebuffer.mjFB_OFFSCREEN, mujoco_context.ptr)
self._contexts = Contexts(gl=render_context, mujoco=mujoco_context)
def _reload_from_data(self, data):
"""Initializes a new or existing `Physics` instance from a `wrapper.MjData`.
Assigns all attributes and sets up rendering contexts and named indexing.
The default constructor as well as the other `reload_from` methods should
delegate to this method.
Args:
data: Instance of `wrapper.MjData`.
"""
self._data = data
# Forcibly clear the previous context to avoid problems with GL
# implementations which do not support multiple contexts on a given device.
if hasattr(self, '_contexts'):
self._contexts.gl.free_context()
# Set up rendering context. Need to provide at least one rendering api in
# the BUILD target.
render_context = render.Renderer(_MAX_WIDTH, _MAX_HEIGHT)
mujoco_context = wrapper.MjrContext()
with render_context.make_current(_MAX_WIDTH, _MAX_HEIGHT):
mjlib.mjr_makeContext(self.model.ptr, mujoco_context.ptr,
_FONT_SCALE)
mjlib.mjr_setBuffer(enums.mjtFramebuffer.mjFB_OFFSCREEN,
mujoco_context.ptr)
self._contexts = Contexts(gl=render_context, mujoco=mujoco_context)
# Call kinematics update to enable rendering.
self.after_reset()
# Set up named indexing.
axis_indexers = index.make_axis_indexers(self.model)
self._named = NamedIndexStructs(
model=index.struct_indexer(self.model, 'mjmodel', axis_indexers),
data=index.struct_indexer(self.data, 'mjdata', axis_indexers),
)
def __init__(self, physics, height=240, width=320, camera_id=-1):
"""Initializes a new `Camera`.
Args:
physics: Instance of `Physics`.
height: Optional image height. Defaults to 240.
width: Optional image width. Defaults to 320.
camera_id: Optional camera name or index. Defaults to -1, the free
camera, which is always defined. A nonnegative integer or string
corresponds to a fixed camera, which must be defined in the model XML.
If `camera_id` is a string then the camera must also be named.
Raises:
ValueError: If `camera_id` is outside the valid range, or if `width` or
`height` exceed the dimensions of MuJoCo's offscreen framebuffer.
"""
buffer_width = physics.model.vis.global_.offwidth
buffer_height = physics.model.vis.global_.offheight
if width > buffer_width:
raise ValueError('Image width {} > framebuffer width {}. Either reduce '
'the image width or specify a larger offscreen '
'framebuffer in the model XML using the clause\n'
'<visual>\n'
' <global offwidth="my_width"/>\n'
'</visual>'.format(width, buffer_width))
if height > buffer_height:
raise ValueError('Image height {} > framebuffer height {}. Either reduce '
'the image height or specify a larger offscreen '
'framebuffer in the model XML using the clause\n'
'<visual>\n'
' <global offheight="my_height"/>\n'
'</visual>'.format(height, buffer_height))
if isinstance(camera_id, six.string_types):
camera_id = physics.model.name2id(camera_id, 'camera')
if camera_id < -1:
raise ValueError('camera_id cannot be smaller than -1.')
if camera_id >= physics.model.ncam:
raise ValueError('model has {} fixed cameras. camera_id={} is invalid.'.
format(physics.model.ncam, camera_id))
self._width = width
self._height = height
self._physics = physics
# Variables corresponding to structs needed by Mujoco's rendering functions.
self._scene = wrapper.MjvScene()
self._scene_option = wrapper.MjvOption()
self._perturb = wrapper.MjvPerturb()
self._perturb.active = 0
self._perturb.select = 0
self._rect = types.MJRRECT(0, 0, self._width, self._height)
self._render_camera = wrapper.MjvCamera()
self._render_camera.fixedcamid = camera_id
if camera_id == -1:
self._render_camera.type_ = enums.mjtCamera.mjCAMERA_FREE
else:
# As defined in the Mujoco documentation, mjCAMERA_FIXED refers to a
# camera explicitly defined in the model.
self._render_camera.type_ = enums.mjtCamera.mjCAMERA_FIXED
# Internal buffers.
self._rgb_buffer = np.empty((self._height, self._width, 3), dtype=np.uint8)
self._depth_buffer = np.empty((self._height, self._width), dtype=np.float32)
if self._physics.contexts.mujoco is not None:
with self._physics.contexts.gl.make_current(self._width, self._height):
mjlib.mjr_setBuffer(enums.mjtFramebuffer.mjFB_OFFSCREEN,
self._physics.contexts.mujoco.ptr)