def render_to_window(self):
"""Renders the simulation to a window."""
if not self._onscreen_renderer:
self._onscreen_renderer = module.get_mujoco_py().MjViewer(self._sim)
self._update_camera(self._onscreen_renderer.cam)
self._onscreen_renderer.render()
def __init__(self, sim, **kwargs):
assert isinstance(sim, module.get_mujoco_py().MjSim), \
'MjPyRenderer takes a mujoco_py MjSim object.'
super().__init__(**kwargs)
self._sim = sim
self._onscreen_renderer = None
self._offscreen_renderer = None
def __init__(
self,
model_file: str,
use_dm_backend: bool = False,
camera_settings: Optional[Dict] = None,
):
"""Initializes a new simulation.
Args:
model_file: The MuJoCo XML model file to load.
use_dm_backend: If True, uses DM Control's Physics (MuJoCo v2.0) as
the backend for the simulation. Otherwise, uses mujoco_py (MuJoCo
v1.5) as the backend.
camera_settings: Settings to initialize the renderer's camera. This
can contain the keys `distance`, `azimuth`, and `elevation`.
"""
self._use_dm_backend = use_dm_backend
if not os.path.isfile(model_file):
raise ValueError(
"[MujocoSimRobot] Invalid model file path: {}".format(
model_file))
if self._use_dm_backend:
dm_mujoco = module.get_dm_mujoco()
if model_file.endswith(".mjb"):
self.sim = dm_mujoco.Physics.from_binary_path(model_file)
else:
self.sim = dm_mujoco.Physics.from_xml_path(model_file)
self.model = self.sim.model
self._patch_mjlib_accessors(self.model, self.sim.data)
self.renderer = DMRenderer(self.sim,
camera_settings=camera_settings)
else: # Use mujoco_py
mujoco_py = module.get_mujoco_py()
self.model = mujoco_py.load_model_from_path(model_file)
self.sim = mujoco_py.MjSim(self.model)
self.renderer = MjPyRenderer(self.sim,
camera_settings=camera_settings)
self.data = self.sim.data
def render_offscreen(self,
width: int,
height: int,
mode: RenderMode = RenderMode.RGB,
camera_id: int = -1) -> np.ndarray:
"""Renders the camera view as a NumPy array of pixels.
Args:
width: The viewport width (pixels).
height: The viewport height (pixels).
mode: The rendering mode.
camera_id: The ID of the camera to render from. By default, uses
the free camera.
Returns:
A NumPy array of the pixels.
"""
if not self._offscreen_renderer:
self._offscreen_renderer = module.get_mujoco_py() \
.MjRenderContextOffscreen(self._sim)
# Update the camera configuration for the free-camera.
if camera_id == -1:
self._update_camera(self._offscreen_renderer.cam)
self._offscreen_renderer.render(width, height, camera_id)
if mode == RenderMode.RGB:
data = self._offscreen_renderer.read_pixels(width,
height,
depth=False)
# Original image is upside-down, so flip it
return data[::-1, :, :]
elif mode == RenderMode.DEPTH:
data = self._offscreen_renderer.read_pixels(width,
height,
depth=True)[1]
# Original image is upside-down, so flip it
return data[::-1, :]
else:
raise NotImplementedError(mode)
def __init__(self, model_path, frame_skip, rgb_array_res=(640, 480)):
if not path.exists(model_path):
raise IOError("File %s does not exist" % model_path)
if self.control_mode == "vices":
if model_path == (
"/home/mdalal/research/metaworld/metaworld/envs/assets_v2/sawyer_xyz/sawyer_basketball.xml"
):
model_path = "/home/mdalal/research/metaworld/metaworld/envs/assets_v2/sawyer_xyz/sawyer_basketball_torque.xml"
self.reset_qpos = np.array([
0.00000000e00,
6.00000000e-01,
2.98721632e-02,
1.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
1.88500731e00,
-5.88898933e-01,
-2.50919766e-02,
6.95071420e-01,
2.99999993e-02,
1.02969815e00,
2.31183042e00,
-1.71909704e-04,
1.71743732e-04,
])
elif model_path == (
"/home/mdalal/research/metaworld/metaworld/envs/assets_v2/sawyer_xyz/sawyer_drawer.xml"
):
model_path = "/home/mdalal/research/metaworld/metaworld/envs/assets_v2/sawyer_xyz/sawyer_drawer_torque.xml"
self.reset_qpos = [
1.88500731e00,
-5.88898933e-01,
-9.64183847e-01,
1.64749509e00,
9.28632075e-01,
1.02969815e00,
2.31183042e00,
-1.71909704e-04,
1.71743732e-04,
-1.50000000e-01,
]
elif model_path == (
"/home/mdalal/research/metaworld/metaworld/envs/assets_v2/sawyer_xyz/sawyer_soccer.xml"
):
model_path = "/home/mdalal/research/metaworld/metaworld/envs/assets_v2/sawyer_xyz/sawyer_soccer_torque.xml"
self.reset_qpos = [
1.88500734e00,
-5.88898932e-01,
-9.64183883e-01,
1.64749516e00,
9.28632122e-01,
1.02969813e00,
2.31183036e00,
-1.71909704e-04,
1.71743732e-04,
-8.83832789e-02,
6.86617607e-01,
3.00000000e-02,
1.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
]
elif model_path == (
"/home/mdalal/research/metaworld/metaworld/envs/assets_v2/sawyer_xyz/sawyer_table_with_hole.xml"
):
model_path = "/home/mdalal/research/metaworld/metaworld/envs/assets_v2/sawyer_xyz/sawyer_table_with_hole_torque.xml"
self.reset_qpos = [
1.88500734e00,
-5.88898932e-01,
-9.64183883e-01,
1.64749516e00,
9.28632122e-01,
1.02969813e00,
2.31183036e00,
-1.71909704e-04,
1.71743732e-04,
-8.83832789e-02,
6.86617607e-01,
6.99354863e-02,
1.00000000e00,
0.00000000e00,
0.00000000e00,
0.00000000e00,
]
elif model_path == (
"/home/mdalal/research/metaworld/metaworld/envs/assets_v2/sawyer_xyz/sawyer_assembly_peg.xml"
):
model_path = "/home/mdalal/research/metaworld/metaworld/envs/assets_v2/sawyer_xyz/sawyer_assembly_peg_torque.xml"
if type(self) == SawyerNutAssemblyEnvV2:
self.reset_qpos = [
1.88500731e00,
-5.88898933e-01,
-9.64183847e-01,
1.64749509e00,
9.28632075e-01,
1.02969815e00,
2.31183042e00,
-1.71909704e-04,
1.71743732e-04,
0.00000000e00,
6.00000024e-01,
1.99999996e-02,
7.07106763e-01,
1.36367940e-04,
1.60057621e-04,
7.07106768e-01,
]
else:
self.reset_qpos = [
2.16526293e00,
-5.57054189e-01,
-1.22832464e00,
2.17377367e00,
1.24233511e00,
1.00706272e00,
1.91061865e00,
-1.71855687e-04,
1.71795647e-04,
6.25459890e-02,
7.42607147e-01,
2.50073207e-02,
7.07106763e-01,
1.36367940e-04,
1.60057621e-04,
7.07106768e-01,
]
else:
raise ValueError("no model found")
self.frame_skip = frame_skip
self._use_dm_backend = True
# old zoomed out view
# camera_settings = {
# "distance": 1.878359835328275,
# "lookat": [0.16854934, 0.27084485, 0.23161897],
# "azimuth": 141.328125,
# "elevation": -53.203125160653144,
# }
# intermediate view
# camera_settings = {
# "distance":0.8304056576521722,
# "lookat":[0.21052547, 0.32329237, 0.587819 ],
# "azimuth": 141.328125,
# "elevation": -53.203125160653144,
# }
# super zoomed in - working
# camera_settings = {
# "distance": 0.38227044687537043,
# "lookat": [0.21052547, 0.32329237, 0.587819],
# "azimuth": 141.328125,
# "elevation": -53.203125160653144,
# }
# side view - semi-close up
# camera_settings = {
# "distance":0.513599996134662,
# "lookat":[0.28850459, 0.56757972, 0.54530015],
# "azimuth": 178.9453125,
# "elevation": -60.00000040512532,
# }
# side view super zoomed in
camera_settings = {
"distance": 0.31785821791481395,
"lookat": [0.28850459, 0.56757972, 0.54530015],
"azimuth": 178.59375,
"elevation": -60.46875041909516,
}
if self._use_dm_backend:
dm_mujoco = module.get_dm_mujoco()
if model_path.endswith(".mjb"):
self.sim = dm_mujoco.Physics.from_binary_path(model_path)
else:
self.sim = dm_mujoco.Physics.from_xml_path(model_path)
self.model = self.sim.model
patch_mjlib_accessors(self.get_mjlib(), self.model, self.sim.data)
self.renderer = DMRenderer(self.sim,
camera_settings=camera_settings)
else: # Use mujoco_py
mujoco_py = module.get_mujoco_py()
self.model = mujoco_py.load_model_from_path(model_path)
self.sim = mujoco_py.MjSim(self.model)
self.renderer = MjPyRenderer(self.sim,
camera_settings=camera_settings)
self.data = self.sim.data
self.viewer = None
self._viewers = {}
self._rgb_array_res = rgb_array_res
self.metadata = {
"render.modes": ["human"],
"video.frames_per_second": int(np.round(1.0 / self.dt)),
}
self.init_qpos = self.sim.data.qpos.ravel().copy()
self.init_qvel = self.sim.data.qvel.ravel().copy()
self._did_see_sim_exception = False
self.seed()