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mujoco.renderer.render to output copy of pixel array.

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Previously, it returned a view into the internal rgb array, which can be confusing to the user.

PiperOrigin-RevId: 517630186
Change-Id: Ibc1e86b6b6345269523bb4c82c37dd325961a8ec
This commit is contained in:
DeepMind
2023-03-18 05:30:00 -07:00
committed by Copybara-Service
parent d97ff39e86
commit c34826ef1a
4 changed files with 131 additions and 34 deletions
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python/tutorial.ipynb
+9 -9
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@@ -561,7 +561,7 @@
" mujoco.mj_step(model, data)\n",
" if len(frames) \u003c data.time * framerate:\n",
" renderer.update_scene(data)\n",
" pixels = renderer.render().copy()\n",
" pixels = renderer.render()\n",
" frames.append(pixels)\n",
"media.show_video(frames, fps=framerate)"
]
@@ -614,7 +614,7 @@
" mujoco.mj_step(model, data)\n",
" if len(frames) \u003c data.time * framerate:\n",
" renderer.update_scene(data, scene_option=scene_option)\n",
" pixels = renderer.render().copy()\n",
" pixels = renderer.render()\n",
" frames.append(pixels)\n",
"\n",
"# Simulate and display video.\n",
@@ -670,7 +670,7 @@
" mujoco.mj_step(model, data)\n",
" if len(frames) \u003c data.time * framerate:\n",
" renderer.update_scene(data, scene_option=scene_option)\n",
" pixels = renderer.render().copy()\n",
" pixels = renderer.render()\n",
" frames.append(pixels)\n",
"\n",
"media.show_video(frames, fps=60)"
@@ -838,7 +838,7 @@
" mujoco.mj_step(model, data)\n",
" if len(frames) \u003c data.time * framerate:\n",
" renderer.update_scene(data, \"closeup\")\n",
" pixels = renderer.render().copy()\n",
" pixels = renderer.render()\n",
" frames.append(pixels)\n",
"\n",
"media.show_video(frames, fps=framerate)"
@@ -1004,7 +1004,7 @@
" renderer.update_scene(data, \"fixed\")\n",
" frame = renderer.render()\n",
" render_time += time.time() - tic\n",
" frames.append(frame.copy())\n",
" frames.append(frame)\n",
"\n",
"# print timing and play video\n",
"step_time = 1e6*sim_time/n_steps\n",
@@ -1299,7 +1299,7 @@
" mujoco.mj_step(model, data)\n",
" renderer.update_scene(data, \"track\", options)\n",
" frame = renderer.render()\n",
" frames.append(frame.copy())\n",
" frames.append(frame)\n",
"\n",
"# show video\n",
"media.show_video(frames, fps=30)"
@@ -1462,7 +1462,7 @@
" mujoco.mj_step(model, data)\n",
" renderer.update_scene(data, \"y\")\n",
" frame = renderer.render()\n",
" frames.append(frame.copy())\n",
" frames.append(frame)\n",
"media.show_video(frames, fps=30)"
]
},
@@ -1577,7 +1577,7 @@
" sensordata.append(data.sensor('accelerometer').data.copy())\n",
" renderer.update_scene(data, \"fixed\")\n",
" frame = renderer.render()\n",
" frames.append(frame.copy())\n",
" frames.append(frame)\n",
"\n",
"media.show_video(frames, fps=fps)"
]
@@ -1921,7 +1921,7 @@
" if len(frames) \u003c data.time * framerate:\n",
" renderer.update_scene(data)\n",
" modify_scene(renderer.scene)\n",
" pixels = renderer.render().copy()\n",
" pixels = renderer.render()\n",
" frames.append(pixels)\n",
"media.show_video(frames, fps=framerate)"
]