Beispiel #1
0
 def __init__(self, env):
     self.env = env
     super(GatherViewer, self).__init__()
     green_ball_model = MjModel(
         osp.abspath(osp.join(MODEL_DIR, 'green_ball.xml')))
     self.green_ball_renderer = EmbeddedViewer()
     self.green_ball_model = green_ball_model
     self.green_ball_renderer.set_model(green_ball_model)
     red_ball_model = MjModel(
         osp.abspath(osp.join(MODEL_DIR, 'red_ball.xml')))
     self.red_ball_renderer = EmbeddedViewer()
     self.red_ball_model = red_ball_model
     self.red_ball_renderer.set_model(red_ball_model)
Beispiel #2
0
 def __init__(self, env):
     self.env = env
     super(GatherViewer, self).__init__()
     green_ball_model = MjModel(osp.abspath(
         osp.join(
             MODEL_DIR, 'green_ball.xml'
         )
     ))
     self.green_ball_renderer = EmbeddedViewer()
     self.green_ball_model = green_ball_model
     self.green_ball_renderer.set_model(green_ball_model)
     red_ball_model = MjModel(osp.abspath(
         osp.join(
             MODEL_DIR, 'red_ball.xml'
         )
     ))
     self.red_ball_renderer = EmbeddedViewer()
     self.red_ball_model = red_ball_model
     self.red_ball_renderer.set_model(red_ball_model)
Beispiel #3
0
class GatherViewer(MjViewer):
    def __init__(self, env):
        self.env = env
        super(GatherViewer, self).__init__()
        green_ball_model = MjModel(
            osp.abspath(osp.join(MODEL_DIR, 'green_ball.xml')))
        self.green_ball_renderer = EmbeddedViewer()
        self.green_ball_model = green_ball_model
        self.green_ball_renderer.set_model(green_ball_model)
        red_ball_model = MjModel(
            osp.abspath(osp.join(MODEL_DIR, 'red_ball.xml')))
        self.red_ball_renderer = EmbeddedViewer()
        self.red_ball_model = red_ball_model
        self.red_ball_renderer.set_model(red_ball_model)

    def start(self):
        super(GatherViewer, self).start()
        self.green_ball_renderer.start(self.window)
        self.red_ball_renderer.start(self.window)

    def handle_mouse_move(self, window, xpos, ypos):
        super(GatherViewer, self).handle_mouse_move(window, xpos, ypos)
        self.green_ball_renderer.handle_mouse_move(window, xpos, ypos)
        self.red_ball_renderer.handle_mouse_move(window, xpos, ypos)

    def handle_scroll(self, window, x_offset, y_offset):
        super(GatherViewer, self).handle_scroll(window, x_offset, y_offset)
        self.green_ball_renderer.handle_scroll(window, x_offset, y_offset)
        self.red_ball_renderer.handle_scroll(window, x_offset, y_offset)

    def render(self):
        super(GatherViewer, self).render()
        tmpobjects = mjcore.MJVOBJECTS()
        mjlib.mjlib.mjv_makeObjects(byref(tmpobjects), 1000)
        for obj in self.env.objects:
            x, y, typ = obj
            # print x, y
            qpos = np.zeros_like(self.green_ball_model.data.qpos)
            qpos[0, 0] = x
            qpos[1, 0] = y
            if typ == APPLE:
                self.green_ball_model.data.qpos = qpos
                self.green_ball_model.forward()
                self.green_ball_renderer.render()
                mjextra.append_objects(tmpobjects,
                                       self.green_ball_renderer.objects)
            else:
                self.red_ball_model.data.qpos = qpos
                self.red_ball_model.forward()
                self.red_ball_renderer.render()
                mjextra.append_objects(tmpobjects,
                                       self.red_ball_renderer.objects)
        mjextra.append_objects(tmpobjects, self.objects)
        mjlib.mjlib.mjv_makeLights(self.model.ptr, self.data.ptr,
                                   byref(tmpobjects))
        mjlib.mjlib.mjr_render(0, self.get_rect(), byref(tmpobjects),
                               byref(self.ropt), byref(self.cam.pose),
                               byref(self.con))

        try:
            import OpenGL.GL as GL
        except:
            return

        def draw_rect(x, y, width, height):
            # start drawing a rectangle
            GL.glBegin(GL.GL_QUADS)
            # bottom left point
            GL.glVertex2f(x, y)
            # bottom right point
            GL.glVertex2f(x + width, y)
            # top right point
            GL.glVertex2f(x + width, y + height)
            # top left point
            GL.glVertex2f(x, y + height)
            GL.glEnd()

        def refresh2d(width, height):
            GL.glViewport(0, 0, width, height)
            GL.glMatrixMode(GL.GL_PROJECTION)
            GL.glLoadIdentity()
            GL.glOrtho(0.0, width, 0.0, height, 0.0, 1.0)
            GL.glMatrixMode(GL.GL_MODELVIEW)
            GL.glLoadIdentity()

        GL.glLoadIdentity()
        width, height = glfw.get_framebuffer_size(self.window)
        refresh2d(width, height)
        GL.glDisable(GL.GL_LIGHTING)
        GL.glEnable(GL.GL_BLEND)

        GL.glColor4f(0.0, 0.0, 0.0, 0.8)
        draw_rect(10, 10, 300, 100)

        apple_readings, bomb_readings = self.env.get_readings()
        for idx, reading in enumerate(apple_readings):
            if reading > 0:
                GL.glColor4f(0.0, 1.0, 0.0, reading)
                draw_rect(20 * (idx + 1), 10, 5, 50)
        for idx, reading in enumerate(bomb_readings):
            if reading > 0:
                GL.glColor4f(1.0, 0.0, 0.0, reading)
                draw_rect(20 * (idx + 1), 60, 5, 50)
Beispiel #4
0
class GatherViewer(MjViewer):
    def __init__(self, env):
        self.env = env
        super(GatherViewer, self).__init__()
        green_ball_model = MjModel(osp.abspath(
            osp.join(
                MODEL_DIR, 'green_ball.xml'
            )
        ))
        self.green_ball_renderer = EmbeddedViewer()
        self.green_ball_model = green_ball_model
        self.green_ball_renderer.set_model(green_ball_model)
        red_ball_model = MjModel(osp.abspath(
            osp.join(
                MODEL_DIR, 'red_ball.xml'
            )
        ))
        self.red_ball_renderer = EmbeddedViewer()
        self.red_ball_model = red_ball_model
        self.red_ball_renderer.set_model(red_ball_model)

    def start(self):
        super(GatherViewer, self).start()
        self.green_ball_renderer.start(self.window)
        self.red_ball_renderer.start(self.window)

    def handle_mouse_move(self, window, xpos, ypos):
        super(GatherViewer, self).handle_mouse_move(window, xpos, ypos)
        self.green_ball_renderer.handle_mouse_move(window, xpos, ypos)
        self.red_ball_renderer.handle_mouse_move(window, xpos, ypos)

    def handle_scroll(self, window, x_offset, y_offset):
        super(GatherViewer, self).handle_scroll(window, x_offset, y_offset)
        self.green_ball_renderer.handle_scroll(window, x_offset, y_offset)
        self.red_ball_renderer.handle_scroll(window, x_offset, y_offset)

    def render(self):
        super(GatherViewer, self).render()
        tmpobjects = mjcore.MJVOBJECTS()
        mjlib.mjlib.mjv_makeObjects(byref(tmpobjects), 1000)
        for obj in self.env.objects:
            x, y, typ = obj
            # print x, y
            qpos = np.zeros_like(self.green_ball_model.data.qpos)
            qpos[0, 0] = x
            qpos[1, 0] = y
            if typ == APPLE:
                self.green_ball_model.data.qpos = qpos
                self.green_ball_model.forward()
                self.green_ball_renderer.render()
                mjextra.append_objects(
                    tmpobjects, self.green_ball_renderer.objects)
            else:
                self.red_ball_model.data.qpos = qpos
                self.red_ball_model.forward()
                self.red_ball_renderer.render()
                mjextra.append_objects(
                    tmpobjects, self.red_ball_renderer.objects)
        mjextra.append_objects(tmpobjects, self.objects)
        mjlib.mjlib.mjv_makeLights(
            self.model.ptr, self.data.ptr, byref(tmpobjects))
        mjlib.mjlib.mjr_render(0, self.get_rect(), byref(tmpobjects), byref(
            self.ropt), byref(self.cam.pose), byref(self.con))

        try:
            import OpenGL.GL as GL
        except:
            return

        def draw_rect(x, y, width, height):
            # start drawing a rectangle
            GL.glBegin(GL.GL_QUADS)
            # bottom left point
            GL.glVertex2f(x, y)
            # bottom right point
            GL.glVertex2f(x + width, y)
            # top right point
            GL.glVertex2f(x + width, y + height)
            # top left point
            GL.glVertex2f(x, y + height)
            GL.glEnd()

        def refresh2d(width, height):
            GL.glViewport(0, 0, width, height)
            GL.glMatrixMode(GL.GL_PROJECTION)
            GL.glLoadIdentity()
            GL.glOrtho(0.0, width, 0.0, height, 0.0, 1.0)
            GL.glMatrixMode(GL.GL_MODELVIEW)
            GL.glLoadIdentity()

        GL.glLoadIdentity()
        width, height = glfw.get_framebuffer_size(self.window)
        refresh2d(width, height)
        GL.glDisable(GL.GL_LIGHTING)
        GL.glEnable(GL.GL_BLEND)

        GL.glColor4f(0.0, 0.0, 0.0, 0.8)
        draw_rect(10, 10, 300, 100)

        apple_readings, bomb_readings = self.env.get_readings()
        for idx, reading in enumerate(apple_readings):
            if reading > 0:
                GL.glColor4f(0.0, 1.0, 0.0, reading)
                draw_rect(20 * (idx + 1), 10, 5, 50)
        for idx, reading in enumerate(bomb_readings):
            if reading > 0:
                GL.glColor4f(1.0, 0.0, 0.0, reading)
                draw_rect(20 * (idx + 1), 60, 5, 50)