def __init__(self, model, data, options, settings=None):
"""Instance initializer.
Args:
model: MjModel instance.
data: MjData instance.
options: RenderSettings instance.
settings: Optional, internal camera settings obtained from another
SceneCamera instance using 'settings' property.
"""
# Design notes:
# We need to recreate the camera for each new model, because each model
# defines different fixed cameras and objects to track, and therefore
# severely the parameters of this class.
self._scene = wrapper.MjvScene(model)
self._data = data
self._model = model
self._options = options
self._camera = wrapper.MjvCamera()
self._camera.trackbodyid = _NO_BODY_TRACKED_INDEX
self._camera.fixedcamid = _FREE_CAMERA_INDEX
self._camera.type_ = enums.mjtCamera.mjCAMERA_FREE
if settings is not None:
self.settings = settings
def __init__(self, physics):
super(Visualizer, self).__init__()
# initialize rendering engine
enginewrapper.init()
# save a reference to the physics
self._physics = physics
# create the scene for the abstract visualization stage
self._scene = wrapper.MjvScene()
self._scene_option = wrapper.MjvOption()
# a perturbation object, just for completion
self._perturb = wrapper.MjvPerturb()
self._perturb.active = 0
self._perturb.select = 0
# create a mjvcamera, as it seems is needed for this stage
self._render_camera = wrapper.MjvCamera()
self._render_camera.fixedcamid = -1
self._render_camera.type_ = enums.mjtCamera.mjCAMERA_FREE
# a list to store the geometries from the abstract visualization stage
self._geometries = {}
# the meshes wrapped by the bindings
self._meshes = {}
# keys
self._single_keys = [False for i in range(1024)]
# make a first update to initialize objects
mjlib.mjv_updateScene(self._physics.model.ptr, self._physics.data.ptr,
self._scene_option.ptr, self._perturb.ptr,
self._render_camera.ptr,
enums.mjtCatBit.mjCAT_ALL, self._scene.ptr)
self._collect_geometries()
self._update_geometries_meshes()
def __init__(self,
physics,
height=240,
width=320,
camera_id=-1,
max_geom=None):
"""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.
max_geom: Optional integer specifying the maximum number of geoms that can
be rendered in the same scene. If None this will be chosen automatically
based on the estimated maximum number of renderable geoms in the model.
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(model=physics.model, max_geom=max_geom)
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() as ctx:
ctx.call(mjlib.mjr_setBuffer,
enums.mjtFramebuffer.mjFB_OFFSCREEN,
self._physics.contexts.mujoco.ptr)
def setUp(self):
super(RenderSettingsTest, self).setUp()
self.settings = renderer.RenderSettings()
self.scene = wrapper.MjvScene()
def setUp(self): self.settings = renderer.RenderSettings() self.scene = wrapper.MjvScene()
