def _reload_from_data(self, data):
"""Initializes a new or existing `Physics` instance from a `wrapper.MjData`.
Assigns all attributes, sets up named indexing, and creates rendering
contexts if rendering is enabled.
The default constructor as well as the other `reload_from` methods should
delegate to this method.
Args:
data: Instance of `wrapper.MjData`.
"""
self._data = data
self._make_rendering_contexts()
# Call kinematics update to enable rendering.
try:
self.after_reset()
except _control.PhysicsError as e:
logging.warning(e)
# Set up named indexing.
axis_indexers = index.make_axis_indexers(self.model)
self._named = NamedIndexStructs(
model=index.struct_indexer(self.model, 'mjmodel', axis_indexers),
data=index.struct_indexer(self.data, 'mjdata', axis_indexers),
)
def _reload_from_data(self, data):
"""Initializes a new or existing `Physics` instance from a `wrapper.MjData`.
Assigns all attributes, sets up named indexing, and creates rendering
contexts if rendering is enabled.
The default constructor as well as the other `reload_from` methods should
delegate to this method.
Args:
data: Instance of `wrapper.MjData`.
"""
self._data = data
# Performance optimization: pre-allocate numpy arrays used when checking for
# MuJoCo warnings on each step.
self._warnings = self.data.warning.number
self._warnings_before = np.empty_like(self._warnings)
self._new_warnings = np.empty(dtype=bool, shape=self._warnings.shape)
self._make_rendering_contexts()
# Call kinematics update to enable rendering.
try:
self.after_reset()
except _control.PhysicsError as e:
logging.warning(e)
# Set up named indexing.
axis_indexers = index.make_axis_indexers(self.model)
self._named = NamedIndexStructs(
model=index.struct_indexer(self.model, 'mjmodel', axis_indexers),
data=index.struct_indexer(self.data, 'mjdata', axis_indexers),)
def testBuildIndexersForEdgeCases(self, xml_string):
model = wrapper.MjModel.from_xml_string(xml_string)
data = wrapper.MjData(model)
size_to_axis_indexer = index.make_axis_indexers(model)
index.struct_indexer(model, 'mjmodel', size_to_axis_indexer)
index.struct_indexer(data, 'mjdata', size_to_axis_indexer)
def setUp(self):
self._model = wrapper.MjModel.from_xml_string(MODEL)
self._data = wrapper.MjData(self._model)
self._size_to_axis_indexer = index.make_axis_indexers(self._model)
self._model_indexers = index.struct_indexer(self._model, 'mjmodel',
self._size_to_axis_indexer)
self._data_indexers = index.struct_indexer(self._data, 'mjdata',
self._size_to_axis_indexer)
def _iter_indexers(model, data):
size_to_axis_indexer = index.make_axis_indexers(model)
for struct, struct_name in ((model, 'mjmodel'), (data, 'mjdata')):
indexer = index.struct_indexer(struct, struct_name,
size_to_axis_indexer)
for field_name, field_indexer in six.iteritems(indexer._asdict()):
yield field_name, field_indexer
def _reload_from_data(self, data):
"""Initializes a new or existing `Physics` instance from a `wrapper.MjData`.
Assigns all attributes, sets up named indexing, and creates rendering
contexts if rendering is enabled.
The default constructor as well as the other `reload_from` methods should
delegate to this method.
Args:
data: Instance of `wrapper.MjData`.
"""
self._data = data
# Performance optimization: pre-allocate numpy arrays used when checking for
# MuJoCo warnings on each step.
self._warnings = self.data.warning.number
self._warnings_before = np.empty_like(self._warnings)
self._new_warnings = np.empty(dtype=bool, shape=self._warnings.shape)
# Forcibly free any previous GL context in order to avoid problems with GL
# implementations that do not support multiple contexts on a given device.
with self._contexts_lock:
if self._contexts:
self._free_rendering_contexts()
# MJH: Disabled this as it changes physics state.
# Call kinematics update to enable rendering.
# try:
# self.after_reset()
# except _control.PhysicsError as e:
# logging.warning(e)
# Set up named indexing.
axis_indexers = index.make_axis_indexers(self.model)
self._named = NamedIndexStructs(
model=index.struct_indexer(self.model, 'mjmodel', axis_indexers),
data=index.struct_indexer(self.data, 'mjdata', axis_indexers),)
def _reload_from_data(self, data):
"""Initializes a new or existing `Physics` instance from a `wrapper.MjData`.
Assigns all attributes and sets up rendering contexts and named indexing.
The default constructor as well as the other `reload_from` methods should
delegate to this method.
Args:
data: Instance of `wrapper.MjData`.
"""
self._data = data
# Forcibly clear the previous context to avoid problems with GL
# implementations which do not support multiple contexts on a given device.
if hasattr(self, '_contexts'):
self._contexts.gl.free_context()
# Set up rendering context. Need to provide at least one rendering api in
# the BUILD target.
render_context = render.Renderer(_MAX_WIDTH, _MAX_HEIGHT)
mujoco_context = wrapper.MjrContext()
with render_context.make_current(_MAX_WIDTH, _MAX_HEIGHT):
mjlib.mjr_makeContext(self.model.ptr, mujoco_context.ptr,
_FONT_SCALE)
mjlib.mjr_setBuffer(enums.mjtFramebuffer.mjFB_OFFSCREEN,
mujoco_context.ptr)
self._contexts = Contexts(gl=render_context, mujoco=mujoco_context)
# Call kinematics update to enable rendering.
self.after_reset()
# Set up named indexing.
axis_indexers = index.make_axis_indexers(self.model)
self._named = NamedIndexStructs(
model=index.struct_indexer(self.model, 'mjmodel', axis_indexers),
data=index.struct_indexer(self.data, 'mjdata', axis_indexers),
)
def testIndexThirdOrderActuators(self, field_name, key, numeric_key):
model = wrapper.MjModel.from_xml_string(MODEL_3RD_ORDER_ACTUATORS)
data = wrapper.MjData(model)
size_to_axis_indexer = index.make_axis_indexers(model)
data_indexers = index.struct_indexer(data, 'mjdata',
size_to_axis_indexer)
indexer = getattr(data_indexers, field_name)
field = getattr(data, field_name)
# Explicit check that the converted key matches the numeric key.
converted_key = indexer._convert_key(key)
self.assertIndexExpressionEqual(numeric_key, converted_key)
# This writes unique values to the underlying buffer to prevent false
# negatives.
field.flat[:] = np.arange(field.size)
# Check that the result of named indexing matches the result of numeric
# indexing.
np.testing.assert_array_equal(field[numeric_key], indexer[key])
