Hana Joo
0aad65868d
Startblock: * // Put other blockers before this line to avoid churning. * has lgtm * is approved * and then * all comments are resolved * and then PiperOrigin-RevId: 961854282 Change-Id: I9d323a8ef9f36ffe69cc62d449849eac82dc6858
84 lines
3.0 KiB
Python
84 lines
3.0 KiB
Python
# Copyright 2026 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ==============================================================================
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"""Render helpers for MJX."""
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from typing import Any
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import jax
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import mujoco.mjx.warp as mjxw
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# pylint: disable=g-importing-member
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from mujoco.mjx._src.types import Data
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from mujoco.mjx._src.types import Impl
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from mujoco.mjx._src.types import Model
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# pylint: enable=g-importing-member
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def _require_segmentation_enabled(warp_rc) -> None:
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"""Raises if the render context has no segmentation-enabled cameras."""
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if not (warp_rc.seg_adr.numpy() >= 0).any():
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raise ValueError(
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'Render context was not configured with segmentation rendering. '
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'Pass render_seg=True or enable it for at least one camera in '
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'create_render_context.'
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)
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def _call_render(
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m: Model,
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d: Data,
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ctx: Any,
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require_seg: bool = False,
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) -> tuple[jax.Array, jax.Array, jax.Array, Data]:
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if m.impl == Impl.WARP and d.impl == Impl.WARP and mjxw.WARP_INSTALLED:
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from mujoco.mjx.warp import render as mjxw_render # pylint: disable=g-import-not-at-top # pytype: disable=import-error
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from mujoco.mjx.warp import render_context # pylint: disable=g-import-not-at-top # pytype: disable=import-error
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warp_rc = render_context.get(ctx)
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if require_seg:
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_require_segmentation_enabled(warp_rc)
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rgb, depth, seg, token_array = mjxw_render.render(m, d, ctx)
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token = token_array.reshape(
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d._impl._jax_token.shape # pytype: disable=attribute-error
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)
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d = d.tree_replace({'_impl._jax_token': token}) # pyrefly: ignore[bad-assignment]
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return rgb, depth, seg, d
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raise NotImplementedError('render only implemented for MuJoCo Warp.')
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def render(m: Model, d: Data, ctx: Any) -> tuple[jax.Array, jax.Array, Data]:
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"""Render packed RGB and depth buffers.
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Returns:
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A tuple ``(rgb, depth, d)`` where ``rgb`` and ``depth`` are packed buffers
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and ``d`` is the updated ``Data`` carrying the post-render execution token.
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"""
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rgb, depth, unused_seg, d = _call_render(m, d, ctx)
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return rgb, depth, d
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def render_with_segmentation(
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m: Model, d: Data, ctx: Any
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) -> tuple[jax.Array, jax.Array, jax.Array, Data]:
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"""Render and return RGB, depth, and packed segmentation outputs.
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Returns:
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A tuple ``(rgb, depth, seg, d)`` where the first three are packed buffers
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and ``d`` is the updated ``Data`` carrying the post-render execution token.
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"""
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rgb, depth, seg, d = _call_render(m, d, ctx, require_seg=True)
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return rgb, depth, seg, d
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