def main():
# Image size for rendering
IMAGE_WIDTH = 255
IMAGE_HEIGHT = 255
# Number of frames to render per sim
N_FRAMES = 100
# Number of sims to run in parallel (assumes one per GPU),
# so N_SIMS=2 assumes there are 2 GPUs available.
N_SIMS = 2
pool = MjRenderPool(load_model_from_path("xmls/tosser.xml"),
device_ids=N_SIMS)
print("main(): start benchmarking", flush=True)
start_t = perf_counter()
for _ in range(N_FRAMES):
pool.render(IMAGE_WIDTH, IMAGE_HEIGHT)
t = perf_counter() - start_t
print("Completed in %.1fs: %.3fms, %.1f FPS" %
(t, t / (N_FRAMES * N_SIMS) * 1000, (N_FRAMES * N_SIMS) / t),
flush=True)
print("main(): finished", flush=True)
def __init__(self,
filepath,
blender_path=None,
visualize=False,
num_sims=1):
self.filepath = filepath
self.blender_path = blender_path
self.visualize = visualize
self.num_sims = num_sims
self.base_model = load_model_from_path(filepath)
if self.num_sims > 1:
self.pool = MjRenderPool(self.base_model,
n_workers=num_sims,
modder=ArenaModder)
else:
self.sim = MjSim(self.base_model)
self.arena_modder = ArenaModder(self.sim)
if self.visualize:
self.arena_modder.visualize = True
self.viewer = MjViewer(self.sim)
self.arena_modder.viewer = self.viewer
else:
self.viewer = None
def main():
# Image size for rendering
IMAGE_WIDTH = 255
IMAGE_HEIGHT = 255
# Number of frames to render per sim
N_FRAMES = 100
# Number of sims to run in parallel (assumes one per GPU),
# so N_SIMS=2 assumes there are 2 GPUs available.
N_SIMS = 2
pool = MjRenderPool(load_model_from_path("xmls/tosser.xml"), device_ids=N_SIMS)
print("main(): start benchmarking", flush=True)
start_t = perf_counter()
for _ in range(N_FRAMES):
pool.render(IMAGE_WIDTH, IMAGE_HEIGHT)
t = perf_counter() - start_t
print("Completed in %.1fs: %.3fms, %.1f FPS" % (
t, t / (N_FRAMES * N_SIMS) * 1000, (N_FRAMES * N_SIMS) / t),
flush=True)
print("main(): finished", flush=True)
class SimManager():
""""""
def __init__(self,
filepath,
blender_path=None,
visualize=False,
num_sims=1):
self.filepath = filepath
self.blender_path = blender_path
self.visualize = visualize
self.num_sims = num_sims
self.base_model = load_model_from_path(filepath)
if self.num_sims > 1:
self.pool = MjRenderPool(self.base_model,
n_workers=num_sims,
modder=ArenaModder)
else:
self.sim = MjSim(self.base_model)
self.arena_modder = ArenaModder(self.sim)
if self.visualize:
self.arena_modder.visualize = True
self.viewer = MjViewer(self.sim)
self.arena_modder.viewer = self.viewer
else:
self.viewer = None
def forward(self):
"""
Advances simulator a step (NECESSARY TO MAKE CAMERA AND LIGHT MODDING WORK)
"""
if self.num_sims <= 1:
self.sim.forward()
if self.visualize:
# Get angle of camera and display it
quat = np.quaternion(*self.base_model.cam_quat[0])
ypr = quaternion.as_euler_angles(quat) * 180 / np.pi
cam_pos = self.base_model.cam_pos[0]
#self.viewer.add_marker(pos=cam_pos, label="CAM: {}{}".format(cam_pos, ypr))
self.viewer.add_marker(pos=cam_pos,
label="CAM: {}".format(ypr))
self.viewer.render()
def _get_pool_data(self):
IMAGE_NOISE_RVARIANCE = Range(0.0, 0.0001)
cam_imgs, ground_truths = self.pool.render(640,
360,
camera_name='camera1',
randomize=True)
ground_truths = list(ground_truths)
cam_imgs = list(
cam_imgs[:, ::-1, :, :]) # Rendered images are upside-down.
for i in range(len(cam_imgs)):
image_noise_variance = sample(IMAGE_NOISE_RVARIANCE)
cam_imgs[i] = (skimage.util.random_noise(
cam_imgs[i], mode='gaussian', var=image_noise_variance) *
255).astype(np.uint8)
cam_imgs[i] = preproc_image(cam_imgs[i])
return cam_imgs, ground_truths
def _get_cam_frame(self, display=False, ground_truth=None):
"""Grab an image from the camera (224, 244, 3) to feed into CNN"""
IMAGE_NOISE_RVARIANCE = Range(0.0, 0.0001)
cam_img = self.sim.render(
640, 360, camera_name='camera1'
)[::-1, :, :] # Rendered images are upside-down.
image_noise_variance = sample(IMAGE_NOISE_RVARIANCE)
cam_img = (skimage.util.random_noise(
cam_img, mode='gaussian', var=image_noise_variance) * 255).astype(
np.uint8)
cam_img = preproc_image(cam_img)
if display:
label = str(ground_truth[3:6])
display_image(cam_img, label)
return cam_img
def _get_ground_truth(self):
return self.arena_modder.get_ground_truth()
def get_data(self):
if self.num_sims > 1:
return self._get_pool_data()
else:
self.arena_modder.randomize()
gt = self._get_ground_truth()
self.sim.forward()
cam = self._get_cam_frame()
return cam, gt
def randrocks(self):
"""Generate a new set of 3 random rock meshes using a Blender script"""
if self.blender_path is None:
raise Exception(
'You must install Blender and include the path to its exectubale in the constructor to use this method'
)
import subprocess
subprocess.call(
[self.blender_path, "--background", "--python", "randrock.py"])