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')