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()