def test_mj_sim_pool_basics():
model = load_model_from_xml(BASIC_MODEL_XML)
sims = [MjSim(model) for _ in range(2)]
sim_pool = MjSimPool(sims, nsubsteps=2)
sim_pool.reset()
sim_pool.step()
sim_pool.forward()
def test_mj_sim_pool_basics():
model = load_model_from_xml(BASIC_MODEL_XML)
sims = [MjSim(model) for _ in range(2)]
sim_pool = MjSimPool(sims, nsubsteps=2)
sim_pool.reset()
sim_pool.step()
sim_pool.forward()
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')