Baruch Tabanpour
f3b3024291
PiperOrigin-RevId: 704533915 Change-Id: I37e9fd51261bd166b725c7460fc65d02fed2b391
116 lines
3.8 KiB
Python
116 lines
3.8 KiB
Python
# Copyright 2022 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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"""Tests for MuJoCo Python rendering."""
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from absl.testing import absltest
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import mujoco
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import numpy as np
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@absltest.skipUnless(
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hasattr(mujoco, 'GLContext'), 'MuJoCo rendering is disabled'
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)
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class MuJoCoRenderTest(absltest.TestCase):
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def setUp(self):
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super().setUp()
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self.gl = mujoco.GLContext(640, 480)
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self.gl.make_current()
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def tearDown(self):
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super().tearDown()
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del self.gl
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def test_can_render(self):
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"""Test that the bindings can successfully render a simple image.
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This test sets up a basic MuJoCo rendering context similar to the example in
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https://mujoco.readthedocs.io/en/latest/programming#visualization
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It calls `mjr_rectangle` rather than `mjr_render` so that we can assert an
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exact rendered image without needing golden data. The purpose of this test
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is to ensure that the bindings can correctly return pixels in Python, rather
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than to test MuJoCo's rendering pipeline itself.
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"""
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self.model = mujoco.MjModel.from_xml_string('<mujoco><worldbody/></mujoco>')
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self.data = mujoco.MjData(self.model)
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scene = mujoco.MjvScene(self.model, maxgeom=0)
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mujoco.mjv_updateScene(
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self.model,
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self.data,
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mujoco.MjvOption(),
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mujoco.MjvPerturb(),
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mujoco.MjvCamera(),
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mujoco.mjtCatBit.mjCAT_ALL,
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scene,
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)
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context = mujoco.MjrContext(self.model, mujoco.mjtFontScale.mjFONTSCALE_150)
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mujoco.mjr_setBuffer(mujoco.mjtFramebuffer.mjFB_OFFSCREEN, context)
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# MuJoCo's default render buffer size is 640x480.
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full_rect = mujoco.MjrRect(0, 0, 640, 480)
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mujoco.mjr_rectangle(full_rect, 0, 0, 0, 1)
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blue_rect = mujoco.MjrRect(56, 67, 234, 123)
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mujoco.mjr_rectangle(blue_rect, 0, 0, 1, 1)
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expected_upside_down_image = np.zeros((480, 640, 3), dtype=np.uint8)
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expected_upside_down_image[67 : 67 + 123, 56 : 56 + 234, 2] = 255
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upside_down_image = np.empty((480, 640, 3), dtype=np.uint8)
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mujoco.mjr_readPixels(upside_down_image, None, full_rect, context)
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np.testing.assert_array_equal(upside_down_image, expected_upside_down_image)
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# Check that mjr_readPixels can accept a flattened array.
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upside_down_image[:] = 0
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mujoco.mjr_readPixels(
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np.reshape(upside_down_image, -1), None, full_rect, context
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)
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np.testing.assert_array_equal(upside_down_image, expected_upside_down_image)
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context.free()
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def test_safe_to_free_context_twice(self):
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self.model = mujoco.MjModel.from_xml_string('<mujoco><worldbody/></mujoco>')
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self.data = mujoco.MjData(self.model)
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scene = mujoco.MjvScene(self.model, maxgeom=0)
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mujoco.mjv_updateScene(
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self.model,
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self.data,
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mujoco.MjvOption(),
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None,
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mujoco.MjvCamera(),
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mujoco.mjtCatBit.mjCAT_ALL,
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scene,
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)
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context = mujoco.MjrContext(self.model, mujoco.mjtFontScale.mjFONTSCALE_150)
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mujoco.mjr_setBuffer(mujoco.mjtFramebuffer.mjFB_OFFSCREEN, context)
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context.free()
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context.free()
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def test_mjrrect_repr(self):
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rect = mujoco.MjrRect(1, 2, 3, 4)
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rect_repr = repr(rect)
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self.assertIn('MjrRect', rect_repr)
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self.assertIn('left: 1', rect_repr)
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if __name__ == '__main__':
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absltest.main()
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