Merge pull request #1769 from fanminshi:renderer_context

PiperOrigin-RevId: 648508835
Change-Id: Ice87cd1221723ed44ba0ddca97b6aac245dd8975

python/tutorial.ipynb

@@ -420,7 +420,7 @@
     "data = mujoco.MjData(model)\n",
     "\n",
     "# Make renderer, render and show the pixels\n",
-    "renderer = mujoco.Renderer(model)\n",
+    "with mujoco.Renderer(model) as renderer:\n",
     "  media.show_image(renderer.render())"
    ]
   },
@@ -445,6 +445,7 @@
    },
    "outputs": [],
    "source": [
+    "with mujoco.Renderer(model) as renderer:\n",
     "  mujoco.mj_forward(model, data)\n",
     "  renderer.update_scene(data)\n",
     "\n",
@@ -480,7 +481,7 @@
     "model = mujoco.MjModel.from_xml_string(xml)\n",
     "data = mujoco.MjData(model)\n",
     "\n",
-    "renderer = mujoco.Renderer(model)\n",
+    "with mujoco.Renderer(model) as renderer:\n",
     "  mujoco.mj_forward(model, data)\n",
     "  renderer.update_scene(data)\n",
     "\n",
@@ -508,6 +509,7 @@
    "source": [
     "# Run this cell multiple times for different colors\n",
     "model.geom('red_box').rgba[:3] = np.random.rand(3)\n",
+    "with mujoco.Renderer(model) as renderer:\n",
     "  renderer.update_scene(data)\n",
     "\n",
     "  media.show_image(renderer.render())"
@@ -540,6 +542,7 @@
     "# Simulate and display video.\n",
     "frames = []\n",
     "mujoco.mj_resetData(model, data)  # Reset state and time.\n",
+    "with mujoco.Renderer(model) as renderer:\n",
     "  while data.time < duration:\n",
     "    mujoco.mj_step(model, data)\n",
     "    if len(frames) < data.time * framerate:\n",
@@ -583,7 +586,6 @@
     "\"\"\"\n",
     "model = mujoco.MjModel.from_xml_string(xml)\n",
     "data = mujoco.MjData(model)\n",
-    "renderer = mujoco.Renderer(model)\n",
     "\n",
     "# enable joint visualization option:\n",
     "scene_option = mujoco.MjvOption()\n",
@@ -595,6 +597,7 @@
     "# Simulate and display video.\n",
     "frames = []\n",
     "mujoco.mj_resetData(model, data)\n",
+    "with mujoco.Renderer(model) as renderer:\n",
     "  while data.time < duration:\n",
     "    mujoco.mj_step(model, data)\n",
     "    if len(frames) < data.time * framerate:\n",
@@ -651,6 +654,7 @@
     "# Simulate and display video.\n",
     "frames = []\n",
     "mujoco.mj_resetData(model, data)\n",
+    "with mujoco.Renderer(model) as renderer:\n",
     "  while data.time < duration:\n",
     "    mujoco.mj_step(model, data)\n",
     "    if len(frames) < data.time * framerate:\n",
@@ -760,9 +764,9 @@
     "\"\"\"\n",
     "model = mujoco.MjModel.from_xml_string(tippe_top)\n",
     "data = mujoco.MjData(model)\n",
-    "renderer = mujoco.Renderer(model)\n",
     "\n",
     "mujoco.mj_forward(model, data)\n",
+    "with mujoco.Renderer(model) as renderer:\n",
     "  renderer.update_scene(data, camera=\"closeup\")\n",
     "\n",
     "  media.show_image(renderer.render())"
@@ -821,6 +825,7 @@
     "# Simulate and display video.\n",
     "frames = []\n",
     "mujoco.mj_resetDataKeyframe(model, data, 0)  # Reset the state to keyframe 0\n",
+    "with mujoco.Renderer(model) as renderer:\n",
     "  while data.time < duration:\n",
     "    mujoco.mj_step(model, data)\n",
     "    if len(frames) < data.time * framerate:\n",
@@ -939,8 +944,10 @@
     "\"\"\"\n",
     "model = mujoco.MjModel.from_xml_string(chaotic_pendulum)\n",
     "data = mujoco.MjData(model)\n",
-    "renderer = mujoco.Renderer(model, 480, 640)\n",
+    "height = 480\n",
+    "width = 640\n",
     "\n",
+    "with mujoco.Renderer(model, height, width) as renderer:\n",
     "  mujoco.mj_forward(model, data)\n",
     "  renderer.update_scene(data, camera=\"fixed\")\n",
     "\n",
@@ -970,7 +977,8 @@
     "framerate = 30  # Hz\n",
     "n_frames = int(n_seconds * framerate)\n",
     "frames = []\n",
-    "renderer = mujoco.Renderer(model, 240, 320)\n",
+    "height = 240\n",
+    "width = 320\n",
     "\n",
     "# set initial state\n",
     "mujoco.mj_resetData(model, data)\n",
@@ -981,6 +989,7 @@
     "sim_time = 0\n",
     "render_time = 0\n",
     "n_steps = 0\n",
+    "with mujoco.Renderer(model, height, width) as renderer:\n",
     "  for i in range(n_frames):\n",
     "    while data.time * framerate < i:\n",
     "      tic = time.time()\n",
@@ -1233,8 +1242,10 @@
     "\"\"\"\n",
     "model = mujoco.MjModel.from_xml_string(free_body_MJCF)\n",
     "data = mujoco.MjData(model)\n",
-    "renderer = mujoco.Renderer(model, 400, 600)\n",
+    "height = 400\n",
+    "width = 600\n",
     "\n",
+    "with mujoco.Renderer(model, height, width) as renderer:\n",
     "  mujoco.mj_forward(model, data)\n",
     "  renderer.update_scene(data, \"fixed\")\n",
     "\n",
@@ -1262,7 +1273,6 @@
     "height = 240\n",
     "width = 320\n",
     "frames = []\n",
-    "renderer = mujoco.Renderer(model, height, width)\n",
     "\n",
     "# visualize contact frames and forces, make body transparent\n",
     "options = mujoco.MjvOption()\n",
@@ -1282,6 +1292,7 @@
     "data.qvel[3:6] = 5*np.random.randn(3)\n",
     "\n",
     "# Simulate and display video.\n",
+    "with mujoco.Renderer(model, height, width) as renderer:\n",
     "  for i in range(n_frames):\n",
     "    while data.time < i/120.0: #1/4x real time\n",
     "      mujoco.mj_step(model, data)\n",
@@ -1440,9 +1451,9 @@
     "# load\n",
     "model = mujoco.MjModel.from_xml_string(MJCF)\n",
     "data = mujoco.MjData(model)\n",
-    "renderer = mujoco.Renderer(model, height, width)\n",
     "\n",
     "# Simulate and display video.\n",
+    "with mujoco.Renderer(model, height, width) as renderer:\n",
     "  mujoco.mj_resetData(model, data)\n",
     "  for i in range(n_frames):\n",
     "    while data.time < i/30.0:\n",
@@ -1520,12 +1531,14 @@
     "\"\"\"\n",
     "model = mujoco.MjModel.from_xml_string(MJCF)\n",
     "data = mujoco.MjData(model)\n",
-    "renderer = mujoco.Renderer(model, 480, 480)\n",
+    "height = 480\n",
+    "width = 480\n",
     "\n",
+    "with mujoco.Renderer(model, height, width) as renderer:\n",
     "  mujoco.mj_forward(model, data)\n",
     "  renderer.update_scene(data, \"fixed\")\n",
     "\n",
-    "media.show_image(renderer.render())\n"
+    "  media.show_image(renderer.render())"
    ]
   },
   {
@@ -1553,13 +1566,12 @@
     "times = []\n",
     "sensordata = []\n",
     "\n",
-    "renderer = mujoco.Renderer(model, height, width)\n",
-    "\n",
     "# constant actuator signal\n",
     "mujoco.mj_resetData(model, data)\n",
     "data.ctrl = 20\n",
     "\n",
     "# Simulate and display video.\n",
+    "with mujoco.Renderer(model, height, width) as renderer:\n",
     "  for i in range(n_frames):\n",
     "    while data.time < i/fps:\n",
     "      mujoco.mj_step(model, data)\n",
@@ -1644,9 +1656,9 @@
     "</mujoco>\n",
     "\"\"\"\n",
     "model = mujoco.MjModel.from_xml_string(xml)\n",
-    "renderer = mujoco.Renderer(model)\n",
     "data = mujoco.MjData(model)\n",
     "\n",
+    "with mujoco.Renderer(model) as renderer:\n",
     "  mujoco.mj_forward(model, data)\n",
     "  renderer.update_scene(data)\n",
     "  media.show_image(renderer.render())"
@@ -1664,6 +1676,7 @@
     "\n",
     "scene_option.frame = mujoco.mjtFrame.mjFRAME_GEOM\n",
     "scene_option.flags[mujoco.mjtVisFlag.mjVIS_TRANSPARENT] = True\n",
+    "with mujoco.Renderer(model) as renderer:\n",
     "  renderer.update_scene(data, scene_option=scene_option)\n",
     "  frame = renderer.render()\n",
     "  media.show_image(frame)"
@@ -1679,6 +1692,7 @@
    "source": [
     "#@title Depth rendering {vertical-output: true}\n",
     "\n",
+    "with mujoco.Renderer(model) as renderer:\n",
     "  # update renderer to render depth\n",
     "  renderer.enable_depth_rendering()\n",
     "\n",
@@ -1695,9 +1709,7 @@
     "  # Scale to [0, 255]\n",
     "  pixels = 255*np.clip(depth, 0, 1)\n",
     "\n",
-    "media.show_image(pixels.astype(np.uint8))\n",
+    "  media.show_image(pixels.astype(np.uint8))"
-    "\n",
-    "renderer.disable_depth_rendering()"
    ]
   },
   {
@@ -1710,6 +1722,9 @@
    "source": [
     "#@title Segmentation rendering {vertical-output: true}\n",
     "\n",
+    "with mujoco.Renderer(model) as renderer:\n",
+    "  renderer.disable_depth_rendering()\n",
+    "\n",
     "  # update renderer to render segmentation\n",
     "  renderer.enable_segmentation_rendering()\n",
     "\n",
@@ -1726,9 +1741,7 @@
     "  # Scale to [0, 1]\n",
     "  geom_ids = geom_ids / geom_ids.max()\n",
     "  pixels = 255*geom_ids\n",
-    "media.show_image(pixels.astype(np.uint8))\n",
+    "  media.show_image(pixels.astype(np.uint8))"
-    "\n",
-    "renderer.disable_segmentation_rendering()"
    ]
   },
   {
@@ -1792,6 +1805,8 @@
    "source": [
     "#@title Project from world to camera coordinates {vertical-output: true}\n",
     "\n",
+    "with mujoco.Renderer(model) as renderer:\n",
+    "  renderer.disable_segmentation_rendering()\n",
     "  # reset the scene\n",
     "  renderer.update_scene(data)\n",
     "\n",
@@ -1894,6 +1909,7 @@
     "mujoco.mj_resetData(model, data)\n",
     "mujoco.mj_forward(model, data)\n",
     "\n",
+    "with mujoco.Renderer(model) as renderer:\n",
     "  while data.time < duration:\n",
     "    # append data to the traces\n",
     "    positions.append(data.geom_xpos[data.geom(\"green_sphere\").id].copy())\n",
@@ -2018,8 +2034,7 @@
     "</mujoco>\n",
     "\"\"\"\n",
     "model = mujoco.MjModel.from_xml_string(dominos_xml)\n",
-    "data = mujoco.MjData(model)\n",
+    "data = mujoco.MjData(model)\n"
-    "renderer = mujoco.Renderer(model, height=1024, width=1440)"
    ]
   },
   {
@@ -2035,10 +2050,13 @@
     "\n",
     "duration = 2.5  # (seconds)\n",
     "framerate = 60  # (Hz)\n",
+    "height = 1024\n",
+    "width = 1440\n",
     "\n",
     "# Simulate and display video.\n",
     "frames = []\n",
     "mujoco.mj_resetData(model, data)  # Reset state and time.\n",
+    "with mujoco.Renderer(model, height, width) as renderer:\n",
     "  while data.time < duration:\n",
     "    mujoco.mj_step(model, data)\n",
     "    if len(frames) < data.time * framerate:\n",
@@ -2061,6 +2079,8 @@
     "#@title Render from moving camera\n",
     "\n",
     "duration = 3  # (seconds)\n",
+    "height = 1024\n",
+    "width = 1440\n",
     "\n",
     "# find time when box is thrown (speed > 2cm/s)\n",
     "throw_time = 0.0\n",
@@ -2115,6 +2135,7 @@
     "slowdown = 4    # 4x slow-down\n",
     "mujoco.mj_resetData(model, data)\n",
     "frames = []\n",
+    "with mujoco.Renderer(model, height, width) as renderer:\n",
     "  while data.time < duration:\n",
     "    mujoco.mj_step(model, data)\n",
     "    if len(frames) < data.time * framerate * slowdown:\n",