def test_many_sims_rendering():
model = load_model_from_xml(BASIC_MODEL_XML)
sims = [MjSim(model) for _ in range(5)]
pool = MjSimPool(sims)
pool.forward()
for sim in sims:
img, depth = sim.render(200, 200, depth=True)
assert img.shape == (200, 200, 3)
compare_imgs(img, 'test_rendering.freecam.png')
def test_many_sims_rendering():
model = load_model_from_xml(BASIC_MODEL_XML)
sims = [MjSim(model) for _ in range(5)]
pool = MjSimPool(sims)
pool.forward()
for sim in sims:
img, depth = sim.render(200, 200, depth=True)
assert img.shape == (200, 200, 3)
compare_imgs(img, 'test_rendering.freecam.png')
def test_mj_sim_pool_basics():
model = load_model_from_xml(BASIC_MODEL_XML)
sims = [MjSim(model) for _ in range(2)]
sim_pool = MjSimPool(sims, nsubsteps=2)
sim_pool.reset()
sim_pool.step()
sim_pool.forward()
def test_mj_sim_pool_basics():
model = load_model_from_xml(BASIC_MODEL_XML)
sims = [MjSim(model) for _ in range(2)]
sim_pool = MjSimPool(sims, nsubsteps=2)
sim_pool.reset()
sim_pool.step()
sim_pool.forward()
def test_mj_sim_pool_buffers():
model = load_model_from_xml(BASIC_MODEL_XML)
foo = 10
def udd_callback(sim):
return {"foo": foo}
sims = [MjSim(model, udd_callback=udd_callback) for _ in range(2)]
sim_pool = MjSimPool(sims, nsubsteps=2)
for i in range(len(sim_pool.sims)):
assert(sim_pool.sims[i].udd_state is not None)
assert(sim_pool.sims[i].udd_state["foo"] == 10)
foo = 11
sim_pool.step()
for i in range(len(sim_pool.sims)):
assert(sim_pool.sims[i].udd_state is not None)
assert(sim_pool.sims[i].udd_state["foo"] == 11)
def test_mj_sim_pool_buffers():
model = load_model_from_xml(BASIC_MODEL_XML)
foo = 10
def udd_callback(sim):
return {"foo": foo}
sims = [MjSim(model, udd_callback=udd_callback) for _ in range(2)]
sim_pool = MjSimPool(sims, nsubsteps=2)
for i in range(len(sim_pool.sims)):
assert(sim_pool.sims[i].udd_state is not None)
assert(sim_pool.sims[i].udd_state["foo"] == 10)
foo = 11
sim_pool.step()
for i in range(len(sim_pool.sims)):
assert(sim_pool.sims[i].udd_state is not None)
assert(sim_pool.sims[i].udd_state["foo"] == 11)
<worldbody>
<body name="box" pos="0 0 0.2">
<geom size="0.15 0.15 0.15" type="box"/>
<joint axis="1 0 0" name="box:x" type="slide"/>
<joint axis="0 1 0" name="box:y" type="slide"/>
</body>
<body name="floor" pos="0 0 0.025">
<geom size="1.0 1.0 0.02" rgba="0 1 0 1" type="box"/>
</body>
</worldbody>
<actuator>
<motor gear="2000.0" joint="box:x"/>
<motor gear="2000.0" joint="box:y"/>
</actuator>
</mujoco>
"""
model = load_model_from_xml(MODEL_XML)
pool = MjSimPool([MjSim(model) for _ in range(20)])
for i, sim in enumerate(pool.sims):
sim.data.qpos[:] = 0.0
sim.data.qvel[:] = 0.0
sim.data.ctrl[:] = i
# Advance all 20 simulations 100 times.
for _ in range(100):
pool.step()
for i, sim in enumerate(pool.sims):
print("%d-th sim qpos=%s" % (i, str(sim.data.qpos)))