def testMJCFCamera(self):
mjcf_root = mjcf.from_xml_string(_MJCF)
physics = mjcf.Physics.from_mjcf_model(mjcf_root)
camera = mjcf_root.find('camera', 'world')
camera_observable = mjcf_observable.MJCFCamera(
mjcf_element=camera, height=480, width=640, update_interval=7)
self.assertEqual(camera_observable.update_interval, 7)
camera_observation = camera_observable.observation_callable(physics)()
np.testing.assert_array_equal(
camera_observation, physics.render(480, 640, 'world'))
self.assertEqual(camera_observation.shape,
camera_observable.array_spec.shape)
self.assertEqual(camera_observation.dtype,
camera_observable.array_spec.dtype)
camera_observable.height = 300
camera_observable.width = 400
camera_observation = camera_observable.observation_callable(physics)()
self.assertEqual(camera_observable.height, 300)
self.assertEqual(camera_observable.width, 400)
np.testing.assert_array_equal(
camera_observation, physics.render(300, 400, 'world'))
self.assertEqual(camera_observation.shape,
camera_observable.array_spec.shape)
self.assertEqual(camera_observation.dtype,
camera_observable.array_spec.dtype)
with six.assertRaisesRegex(self, ValueError, 'expected an `mjcf.Element`'):
mjcf_observable.MJCFCamera('world')
with six.assertRaisesRegex(self, ValueError, 'expected an `mjcf.Element`'):
mjcf_observable.MJCFCamera([camera])
with six.assertRaisesRegex(self, ValueError, 'expected a <camera>'):
mjcf_observable.MJCFCamera(mjcf_root.find('body', 'body'))
def testErrorIfSegmentationAndDepthBothEnabled(self):
camera = mjcf.from_xml_string(_MJCF).find('camera', 'world')
with self.assertRaisesWithLiteralMatch(
ValueError,
mjcf_observable._BOTH_SEGMENTATION_AND_DEPTH_ENABLED):
mjcf_observable.MJCFCamera(mjcf_element=camera,
segmentation=True,
depth=True)
def testMJCFSegCamera(self):
mjcf_root = mjcf.from_xml_string(_MJCF)
physics = mjcf.Physics.from_mjcf_model(mjcf_root)
camera = mjcf_root.find('camera', 'world')
camera_observable = mjcf_observable.MJCFCamera(
mjcf_element=camera, height=480, width=640, update_interval=7,
segmentation=True)
self.assertEqual(camera_observable.update_interval, 7)
camera_observation = camera_observable.observation_callable(physics)()
np.testing.assert_array_equal(
camera_observation,
physics.render(480, 640, 'world', segmentation=True))
camera_observable.array_spec.validate(camera_observation)
def testMJCFCameraSpecs(self, camera_type, channels, dtype, minimum,
maximum):
width = 640
height = 480
shape = (height, width, channels)
expected_spec = specs.BoundedArray(shape=shape,
dtype=dtype,
minimum=minimum,
maximum=maximum)
mjcf_root = mjcf.from_xml_string(_MJCF)
camera = mjcf_root.find('camera', 'world')
observable_kwargs = {} if camera_type == 'rgb' else {camera_type: True}
camera_observable = mjcf_observable.MJCFCamera(mjcf_element=camera,
height=height,
width=width,
update_interval=7,
**observable_kwargs)
self.assertEqual(camera_observable.array_spec, expected_spec)