def test_viewer():
model = load_model_from_path("mujoco_py/tests/test.xml")
sim = MjSim(model)
viewer = MjViewer(sim)
for _ in range(100):
sim.step()
viewer.render()
def mujoco_viewer(self):
"""
Get a nicely-interactive version of the mujoco viewer
"""
if self._mujoco_viewer is None:
# Inline import since this is only relevant on platforms
# which have GLFW support.
from mujoco_py.mjviewer import MjViewer # noqa
self._mujoco_viewer = MjViewer(self.sim)
return self._mujoco_viewer
def render(self, width=None, height=None, *, camera_name=None, depth=False,
mode='offscreen', device_id=-1):
"""
Renders view from a camera and returns image as an `numpy.ndarray`.
Args:
- width (int): desired image width.
- height (int): desired image height.
- camera_name (str): name of camera in model. If None, the free
camera will be used.
- depth (bool): if True, also return depth buffer
- device (int): device to use for rendering (only for GPU-backed
rendering).
Returns:
- rgb (uint8 array): image buffer from camera
- depth (float array): depth buffer from camera (only returned
if depth=True)
"""
if camera_name is None:
camera_id = None
else:
camera_id = self.model.camera_name2id(camera_name)
if mode == 'offscreen':
with _MjSim_render_lock:
if self._render_context_offscreen is None:
render_context = MjRenderContextOffscreen(
self, device_id=device_id)
else:
render_context = self._render_context_offscreen
render_context.render(
width=width, height=height, camera_id=camera_id)
return render_context.read_pixels(
width, height, depth=depth)
elif mode == 'window':
if self._render_context_window is None:
from mujoco_py.mjviewer import MjViewer
render_context = MjViewer(self)
else:
render_context = self._render_context_window
render_context.render()
else:
raise ValueError("Mode must be either 'window' or 'offscreen'.")
def render(self, mode='human', close=False):
if close:
# TODO: actually close the inspection viewer
return
assert self.sim is not None, \
"Please reset environment before render()."
if mode == 'human':
# Use a nicely-interactive version of the mujoco viewer
if self.viewer is None:
# Inline import since this is only relevant on platforms
# which have GLFW support.
from mujoco_py.mjviewer import MjViewer # noqa
self.viewer = MjViewer(self.sim)
self.viewer.render()
elif mode == 'rgb_array':
return self.sim.render(500, 500)
else:
raise ValueError("Unsupported mode %s" % mode)