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_rendering(): model = load_model_from_xml(BASIC_MODEL_XML) sim = MjSim(model) sim.forward() img, depth = sim.render(200, 200, depth=True) assert img.shape == (200, 200, 3) compare_imgs(img, 'test_rendering.freecam.png') depth = (depth - np.min(depth)) / (np.max(depth) - np.min(depth)) depth = np.asarray(depth * 255, dtype=np.uint8) assert depth.shape == (200, 200) compare_imgs(depth, 'test_rendering.freecam.depth.png') img = sim.render(100, 100, camera_name="camera1") assert img.shape == (100, 100, 3) compare_imgs(img, 'test_rendering.camera1.png') img = sim.render(200, 100, camera_name="camera1") assert img.shape == (100, 200, 3) compare_imgs(img, 'test_rendering.camera1.narrow.png') render_context = sim.render_contexts[0] render_context.add_marker(size=np.array([.4, .5, .6]), pos=np.array([.4, .5, .6]), rgba=np.array([.7, .8, .9, 1.0]), label="mark") img = sim.render(200, 200, camera_name="camera1") assert img.shape == (200, 200, 3) compare_imgs(img, 'test_rendering_markers.camera1.png')
def test_rendering(): model = load_model_from_xml(BASIC_MODEL_XML) sim = MjSim(model) sim.forward() img, depth = sim.render(200, 200, depth=True) assert img.shape == (200, 200, 3) compare_imgs(img, 'test_rendering.freecam.png') depth = (depth - np.min(depth)) / (np.max(depth) - np.min(depth)) depth = np.asarray(depth * 255, dtype=np.uint8) assert depth.shape == (200, 200) compare_imgs(depth, 'test_rendering.freecam.depth.png') img = sim.render(100, 100, camera_name="camera1") assert img.shape == (100, 100, 3) compare_imgs(img, 'test_rendering.camera1.png') img = sim.render(200, 100, camera_name="camera1") assert img.shape == (100, 200, 3) compare_imgs(img, 'test_rendering.camera1.narrow.png') render_context = sim.render_contexts[0] render_context.add_marker(size=np.array([.4, .5, .6]), pos=np.array([.4, .5, .6]), rgba=np.array([.7, .8, .9, 1.0]), label="mark") img = sim.render(200, 200, camera_name="camera1") assert img.shape == (200, 200, 3) compare_imgs(img, 'test_rendering_markers.camera1.png')
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_high_res(): model = load_model_from_xml(BASIC_MODEL_XML) sim = MjSim(model) sim.forward() img = sim.render(1000, 1000) img = np.array(Image.fromarray(img).resize(size=(200, 200))) assert img.shape == (200, 200, 3) compare_imgs(img, 'test_rendering.freecam.png')
def test_high_res(): model = load_model_from_xml(BASIC_MODEL_XML) sim = MjSim(model) sim.forward() img = sim.render(1000, 1000) img = scipy.misc.imresize(img, (200, 200, 3)) assert img.shape == (200, 200, 3) compare_imgs(img, 'test_rendering.freecam.png')
def test_high_res(): model = load_model_from_xml(BASIC_MODEL_XML) sim = MjSim(model) sim.forward() img = sim.render(1000, 1000) img = np.array(Image.fromarray(img).resize(size=(200, 200))) assert img.shape == (200, 200, 3) compare_imgs(img, 'test_rendering.freecam.png')
def test_high_res(): model = load_model_from_xml(BASIC_MODEL_XML) sim = MjSim(model) sim.forward() img = sim.render(1000, 1000) img = scipy.misc.imresize(img, (200, 200, 3)) 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_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 mp_test_cameras(): model = load_model_from_xml(BASIC_MODEL_XML) pool = MjRenderPool(model, n_workers=1) image = pool.render(100, 100) assert image.shape == (1, 100, 100, 3) compare_imgs(image[0], 'test_render_pool.mp_test_cameras.0.png') image = pool.render(100, 100, camera_name='camera1') assert image.shape == (1, 100, 100, 3) compare_imgs(image[0], 'test_render_pool.mp_test_cameras.1.png')
def test_glfw_context(): model = load_model_from_xml(BASIC_MODEL_XML) sim = MjSim(model) sim.forward() render_context = MjRenderContext(sim, offscreen=True, opengl_backend='glfw') assert len(sim.render_contexts) == 1 assert sim.render_contexts[0] is render_context assert isinstance(render_context.opengl_context, GlfwContext) compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_glfw_context.png') assert len(sim.render_contexts) == 1 assert sim.render_contexts[0] is render_context
def test_glfw_context(): model = load_model_from_xml(BASIC_MODEL_XML) sim = MjSim(model) sim.forward() render_context = MjRenderContext(sim, offscreen=True, opengl_backend='glfw') assert len(sim.render_contexts) == 1 assert sim.render_contexts[0] is render_context assert isinstance(render_context.opengl_context, GlfwContext) compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_glfw_context.png') assert len(sim.render_contexts) == 1 assert sim.render_contexts[0] is render_context
def mp_test_rendering(): model = load_model_from_xml(BASIC_MODEL_XML) pool = MjRenderPool(model, n_workers=3) images = pool.render(100, 100) assert images.shape == (3, 100, 100, 3) compare_imgs(images[0], 'test_render_pool.mp_test_rendering.0.png') assert np.all(images[0] == images[1]) images, depth = pool.render(101, 103, depth=True) assert images.shape == (3, 103, 101, 3) assert depth.shape == (3, 103, 101) assert np.all(images[0] == images[1]) assert np.all(images[1] == images[2])
def test_rendering_failing(): model = load_model_from_xml(BASIC_MODEL_XML) sim = MjSim(model) sim.forward() sim.render(100, 100) render_context = sim.render_contexts[0] render_context.add_marker(size=np.array([.4, .5, .6]), pos=np.array([.4, .5, .6]), rgba=np.array([.7, .8, .9, 1.0]), label="blaaaa") img = sim.render(200, 200, camera_name="camera1") assert img.shape == (200, 200, 3) try: compare_imgs(img, 'test_rendering_markers.camera1.png') assert False except Exception as e: pass
def test_rendering_failing(): model = load_model_from_xml(BASIC_MODEL_XML) sim = MjSim(model) sim.forward() sim.render(100, 100) render_context = sim.render_contexts[0] render_context.add_marker(size=np.array([.4, .5, .6]), pos=np.array([.4, .5, .6]), rgba=np.array([.7, .8, .9, 1.0]), label="blaaaa") img = sim.render(200, 200, camera_name="camera1") assert img.shape == (200, 200, 3) try: compare_imgs(img, 'test_rendering_markers.camera1.png') assert False except Exception as e: pass
def mp_test_states(): sim = MjSim(load_model_from_xml(BASIC_MODEL_XML)) states = [] for val in range(3): sim.data.qpos[:3] = val * 0.1 states.append(sim.get_state()) pool = MjRenderPool(sim.model, n_workers=3) images = pool.render(100, 100, states=states[:2]) assert images.shape == (2, 100, 100, 3) compare_imgs(images[0], 'test_render_pool.mp_test_states.1.png') compare_imgs(images[1], 'test_render_pool.mp_test_states.2.png') states = list(reversed(states)) images = pool.render(100, 100, states=states) assert images.shape == (3, 100, 100, 3) compare_imgs(images[0], 'test_render_pool.mp_test_states.3.png') compare_imgs(images[1], 'test_render_pool.mp_test_states.4.png') compare_imgs(images[2], 'test_render_pool.mp_test_states.5.png')
def test_materials(): model = load_model_from_xml(BASIC_MODEL_XML) sim = MjSim(model) sim.forward() compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_materials.premod.png') random_state = np.random.RandomState(0) modder = MaterialModder(sim, random_state=random_state) modder.set_specularity('g1', 1.0) modder.set_reflectance('g2', 1.0) modder.set_shininess('g3', 1.0) compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_materials.props.png') modder.rand_all('g4') compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_materials.rand_all.png')
def test_materials(): model = load_model_from_xml(BASIC_MODEL_XML) sim = MjSim(model) sim.forward() compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_materials.premod.png') random_state = np.random.RandomState(0) modder = MaterialModder(sim, random_state=random_state) modder.set_specularity('g1', 1.0) modder.set_reflectance('g2', 1.0) modder.set_shininess('g3', 1.0) compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_materials.props.png') modder.rand_all('g4') compare_imgs(sim.render(201, 205, camera_name="topcam"), 'test_materials.rand_all.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')
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_rendering(): model = load_model_from_xml(BASIC_MODEL_XML) sim = MjSim(model) sim.forward() img, depth = sim.render(200, 200, depth=True) assert img.shape == (200, 200, 3) compare_imgs(img, 'test_rendering.freecam.png') depth = (depth - np.min(depth)) / (np.max(depth) - np.min(depth)) depth = np.asarray(depth * 255, dtype=np.uint8) assert depth.shape == (200, 200) # Unfortunately mujoco 2.0 renders slightly different depth image on mac and on linux here if "darwin" in sys.platform.lower(): compare_imgs(depth, 'test_rendering.freecam.depth-darwin.png') else: compare_imgs(depth, 'test_rendering.freecam.depth.png') img = sim.render(100, 100, camera_name="camera1") assert img.shape == (100, 100, 3) compare_imgs(img, 'test_rendering.camera1.png') img = sim.render(200, 100, camera_name="camera1") assert img.shape == (100, 200, 3) compare_imgs(img, 'test_rendering.camera1.narrow.png') render_context = sim.render_contexts[0] render_context.add_marker(size=np.array([.4, .5, .6]), pos=np.array([.4, .5, .6]), rgba=np.array([.7, .8, .9, 1.0]), label="mark") img = sim.render(200, 200, camera_name="camera1") assert img.shape == (200, 200, 3) compare_imgs(img, 'test_rendering_markers.camera1.png')
def test_rendering(): model = load_model_from_xml(BASIC_MODEL_XML) sim = MjSim(model) sim.forward() img, depth = sim.render(200, 200, depth=True) assert img.shape == (200, 200, 3) compare_imgs(img, 'test_rendering.freecam.png') depth = (depth - np.min(depth)) / (np.max(depth) - np.min(depth)) depth = np.asarray(depth * 255, dtype=np.uint8) assert depth.shape == (200, 200) # Unfortunately mujoco 2.0 renders slightly different depth image on mac and on linux here if "darwin" in sys.platform.lower(): compare_imgs(depth, 'test_rendering.freecam.depth-darwin.png') else: compare_imgs(depth, 'test_rendering.freecam.depth.png') img = sim.render(100, 100, camera_name="camera1") assert img.shape == (100, 100, 3) compare_imgs(img, 'test_rendering.camera1.png') img = sim.render(200, 100, camera_name="camera1") assert img.shape == (100, 200, 3) compare_imgs(img, 'test_rendering.camera1.narrow.png') render_context = sim.render_contexts[0] render_context.add_marker(size=np.array([.4, .5, .6]), pos=np.array([.4, .5, .6]), rgba=np.array([.7, .8, .9, 1.0]), label="mark") img = sim.render(200, 200, camera_name="camera1") assert img.shape == (200, 200, 3) compare_imgs(img, 'test_rendering_markers.camera1.png')