def test_resetting(): # Ensure that resetting environment and creating new simulators # still produces good renderings. xml = """ <mujoco> <asset> <texture name="t1" width="32" height="32" type="2d" builtin="flat" /> <material name="m1" texture="t1" /> </asset> <worldbody> <light diffuse=".5 .5 .5" pos="0 0 5" dir="0 0 -1" /> <camera name="topcam" pos="0 0 2.5" zaxis="0 0 1" /> <geom name="g1" pos="0 0 0" type="{geom_type}" size="1 1 0.1" rgba="1 1 1 1" material="m1" /> </worldbody> </mujoco> """ def get_sim(seed): geom_type = ["box", "sphere"][seed % 2] model = load_model_from_xml(xml.format(geom_type=geom_type)) return MjSim(model) random_state = np.random.RandomState(0) for i in range(3): sim = get_sim(i - 1) sim.forward() modder = TextureModder(sim, random_state=random_state) for j in range(2): modder.rand_checker('g1') compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_resetting.loop%d_%d.png' % (i, j))
def test_multiple_sims(): # Ensure that creating new simulators still produces good renderings. xml = """ <mujoco> <asset> <texture name="t1" width="32" height="32" type="2d" builtin="flat" /> <material name="m1" texture="t1" /> </asset> <worldbody> <light diffuse=".5 .5 .5" pos="0 0 5" dir="0 0 -1" /> <camera name="topcam" pos="0 0 2.5" zaxis="0 0 1" /> <geom name="g1" pos="0 0 0" type="box" size="1 1 0.1" rgba="1 1 1 1" material="m1" /> </worldbody> </mujoco> """ model = load_model_from_xml(xml) random_state = np.random.RandomState(0) for i in range(3): sim = MjSim(model) sim.forward() modder = TextureModder(sim, random_state=random_state) for j in range(2): modder.rand_checker('g1') compare_imgs( sim.render(201, 205, camera_name="topcam"), 'test_multiple_sims.loop%d_%d.png' % (i, j))
def test_resetting(): # Ensure that resetting environment and creating new simulators # still produces good renderings. xml = """ <mujoco> <asset> <texture name="t1" width="32" height="32" type="2d" builtin="flat" /> <material name="m1" texture="t1" /> </asset> <worldbody> <light diffuse=".5 .5 .5" pos="0 0 5" dir="0 0 -1" /> <camera name="topcam" pos="0 0 2.5" zaxis="0 0 1" /> <geom name="g1" pos="0 0 0" type="{geom_type}" size="1 1 0.1" rgba="1 1 1 1" material="m1" /> </worldbody> </mujoco> """ def get_sim(seed): geom_type = ["box", "sphere"][seed % 2] model = load_model_from_xml(xml.format(geom_type=geom_type)) return MjSim(model) random_state = np.random.RandomState(0) for i in range(3): sim = get_sim(i - 1) sim.forward() modder = TextureModder(sim, random_state=random_state) for j in range(2): modder.rand_checker('g1') compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_resetting.loop%d_%d.png' % (i, j))
def test_multiple_sims(): # Ensure that creating new simulators still produces good renderings. xml = """ <mujoco> <asset> <texture name="t1" width="32" height="32" type="2d" builtin="flat" /> <material name="m1" texture="t1" /> </asset> <worldbody> <light diffuse=".5 .5 .5" pos="0 0 5" dir="0 0 -1" /> <camera name="topcam" pos="0 0 2.5" zaxis="0 0 1" /> <geom name="g1" pos="0 0 0" type="box" size="1 1 0.1" rgba="1 1 1 1" material="m1" /> </worldbody> </mujoco> """ model = load_model_from_xml(xml) random_state = np.random.RandomState(0) for i in range(3): sim = MjSim(model) sim.forward() modder = TextureModder(sim, random_state=random_state) for j in range(2): modder.rand_checker('g1') compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_multiple_sims.loop%d_%d.png' % (i, j))
def test_textures(): model = load_model_from_xml(BASIC_MODEL_XML) sim = MjSim(model) sim.forward() compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_textures.premod.png') random_state = np.random.RandomState(0) modder = TextureModder(sim, random_state=random_state) modder.whiten_materials() modder.whiten_materials(['g1', 'g2']) modder.set_rgb('g1', (255, 0, 0)) modder.set_rgb('g2', (0, 255, 0)) modder.set_rgb('g3', (0, 0, 255)) modder.set_rgb('g4', (255, 0, 255)) compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_textures.rgb.png') modder.set_checker('g1', (255, 0, 0), (0, 255, 0)) modder.set_gradient('g2', (0, 255, 0), (0, 0, 255), vertical=True) modder.set_gradient('g3', (255, 255, 0), (0, 0, 255), vertical=False) modder.set_noise('g4', (0, 0, 255), (255, 0, 0), 0.1) compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_textures.variety.png') modder.rand_checker('g1') modder.rand_gradient('g2') modder.rand_noise('g3') modder.rand_rgb('g4') compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_textures.rand_specific.png') modder.rand_all('g1') modder.rand_all('g2') modder.rand_all('g3') modder.rand_all('g4') compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_textures.rand_all.png') modder.rand_checker('g1') modder.rand_checker('g2') modder.rand_checker('g3') modder.rand_checker('g4') mat_modder = MaterialModder(sim, random_state=random_state) mat_modder.rand_texrepeat('g1') mat_modder.rand_texrepeat('g2') mat_modder.rand_texrepeat('g3') mat_modder.rand_texrepeat('g4') compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_textures.rand_texrepeat.png')
def test_textures(): model = load_model_from_xml(BASIC_MODEL_XML) sim = MjSim(model) sim.forward() compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_textures.premod.png') random_state = np.random.RandomState(0) modder = TextureModder(sim, random_state=random_state) modder.whiten_materials() modder.whiten_materials(['g1', 'g2']) modder.set_rgb('g1', (255, 0, 0)) modder.set_rgb('g2', (0, 255, 0)) modder.set_rgb('g3', (0, 0, 255)) modder.set_rgb('g4', (255, 0, 255)) compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_textures.rgb.png') modder.set_checker('g1', (255, 0, 0), (0, 255, 0)) modder.set_gradient('g2', (0, 255, 0), (0, 0, 255), vertical=True) modder.set_gradient('g3', (255, 255, 0), (0, 0, 255), vertical=False) modder.set_noise('g4', (0, 0, 255), (255, 0, 0), 0.1) compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_textures.variety.png') modder.rand_checker('g1') modder.rand_gradient('g2') modder.rand_noise('g3') modder.rand_rgb('g4') compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_textures.rand_specific.png') modder.rand_all('g1') modder.rand_all('g2') modder.rand_all('g3') modder.rand_all('g4') compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_textures.rand_all.png') modder.rand_checker('g1') modder.rand_checker('g2') modder.rand_checker('g3') modder.rand_checker('g4') mat_modder = MaterialModder(sim, random_state=random_state) mat_modder.rand_texrepeat('g1') mat_modder.rand_texrepeat('g2') mat_modder.rand_texrepeat('g3') mat_modder.rand_texrepeat('g4') compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_textures.rand_texrepeat.png')