def _worker_init(mjb_bytes, worker_id, device_ids,
shared_rgbs, shared_depths, modder):
"""
Initializes the global state for the workers.
"""
s = RenderPoolStorage()
with worker_id.get_lock():
proc_worker_id = worker_id.value
worker_id.value += 1
s.device_id = device_ids[proc_worker_id % len(device_ids)]
s.shared_rgbs_array = np.frombuffer(
shared_rgbs.get_obj(), dtype=ctypes.c_uint8)
s.shared_depths_array = np.frombuffer(
shared_depths.get_obj(), dtype=ctypes.c_float)
# avoid a circular import
from mujoco_py import load_model_from_mjb, MjRenderContext, MjSim
s.sim = MjSim(load_model_from_mjb(mjb_bytes))
# attach a render context to the sim (needs to happen before
# modder is called, since it might need to upload textures
# to the GPU).
MjRenderContext(s.sim, device_id=s.device_id)
if modder is not None:
s.modder = modder(s.sim, random_state=proc_worker_id)
s.modder.whiten_materials()
else:
s.modder = None
global _render_pool_storage
_render_pool_storage = s
def _worker_init(mjb_bytes, worker_id, device_ids, shared_rgbs,
shared_depths, modder):
"""
Initializes the global state for the workers.
"""
s = RenderPoolStorage()
with worker_id.get_lock():
proc_worker_id = worker_id.value
worker_id.value += 1
s.device_id = device_ids[proc_worker_id % len(device_ids)]
s.shared_rgbs_array = np.frombuffer(shared_rgbs.get_obj(),
dtype=ctypes.c_uint8)
s.shared_depths_array = np.frombuffer(shared_depths.get_obj(),
dtype=ctypes.c_float)
# avoid a circular import
from mujoco_py import load_model_from_mjb, MjRenderContext, MjSim
s.sim = MjSim(load_model_from_mjb(mjb_bytes))
# attach a render context to the sim (needs to happen before
# modder is called, since it might need to upload textures
# to the GPU).
MjRenderContext(s.sim, device_id=s.device_id)
if modder is not None:
s.modder = modder(s.sim, random_state=proc_worker_id)
s.modder.whiten_materials()
else:
s.modder = None
global _render_pool_storage
_render_pool_storage = s
def test_model_save_load():
model = load_model_from_xml(BASIC_MODEL_XML)
xml_from_model = model.get_xml()
model_from_xml = load_model_from_xml(xml_from_model)
assert(xml_from_model == model_from_xml.get_xml())
mjb_from_model = model.get_mjb()
model_from_mjb = load_model_from_mjb(mjb_from_model)
assert(mjb_from_model == model_from_mjb.get_mjb())
def test_model_save_load():
model = load_model_from_xml(BASIC_MODEL_XML)
xml_from_model = model.get_xml()
model_from_xml = load_model_from_xml(xml_from_model)
assert(xml_from_model == model_from_xml.get_xml())
mjb_from_model = model.get_mjb()
model_from_mjb = load_model_from_mjb(mjb_from_model)
assert(mjb_from_model == model_from_mjb.get_mjb())
def test_sim_save():
model = load_model_from_xml(BASIC_MODEL_XML)
assert model.nkey == 0
sim = MjSim(model)
with StringIO() as f:
sim.save(f)
f.seek(0)
loaded_model = load_model_from_xml(f.read())
assert loaded_model.nkey == 1
with BytesIO() as f:
sim.save(f, format='mjb')
f.seek(0)
loaded_model = load_model_from_mjb(f.read())
assert loaded_model.nkey == 1
def test_sim_save():
model = load_model_from_xml(BASIC_MODEL_XML)
assert model.nkey == 0
sim = MjSim(model)
with StringIO() as f:
sim.save(f)
f.seek(0)
loaded_model = load_model_from_xml(f.read())
assert loaded_model.nkey == 1
with BytesIO() as f:
sim.save(f, format='mjb')
f.seek(0)
loaded_model = load_model_from_mjb(f.read())
assert loaded_model.nkey == 1
def __setstate__(self, state):
self.__dict__ = state['state']
self.model = mujoco_py.load_model_from_mjb(state['mjb'])
self.sim = mujoco_py.MjSim(self.model)
self.data = self.sim.data
self.set_env_state(state['env_state'])
"""
# Serialization/Deserialization of Models
Sometimes its useful to send a mujoco model over the network, or save it
to a file with all assets embedded.
"""
import mujoco_py
# The binary MJB format is preferable, since it includes assets like
# textures and meshes.
model = mujoco_py.load_model_from_path("xmls/claw.xml")
mjb_bytestring = model.get_mjb()
model_from_binary = mujoco_py.load_model_from_mjb(mjb_bytestring)
assert model.nbody == model_from_binary.nbody
# XML is preferable to MJB when readability and backward compatibility are
# important.
xml_string = model.get_xml()
model_from_xml = mujoco_py.load_model_from_xml(xml_string)
assert model.nbody == model_from_xml.nbody
def get_sim(seed):
model = load_model_from_mjb(pattern)
return MjSim(model)
def __init__(self, xml_path):
self.xml_path = xml_path
mjb_bytestring = mujoco_py.load_model_from_path(xml_path).get_mjb()
self.model = mujoco_py.load_model_from_mjb(mjb_bytestring)
self.sim = mujoco_py.MjSim(self.model)
self.viewer = mujoco_py.MjViewer(self.sim)
