Saran Tunyasuvunakool
90dea1bdfb
PiperOrigin-RevId: 439277749 Change-Id: I741d1c499ae88753338fcc6d141a65e92e13023e
95 lines
3.6 KiB
Python
95 lines
3.6 KiB
Python
# Copyright 2022 DeepMind Technologies Limited
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
# ==============================================================================
|
|
"""Tests for MuJoCo Python rendering."""
|
|
|
|
from absl.testing import absltest
|
|
import mujoco
|
|
import numpy as np
|
|
|
|
|
|
@absltest.skipUnless(hasattr(mujoco, 'GLContext'),
|
|
'MuJoCo rendering is disabled')
|
|
class MuJoCoRenderTest(absltest.TestCase):
|
|
|
|
def setUp(self):
|
|
super().setUp()
|
|
self.gl = mujoco.GLContext(640, 480)
|
|
self.gl.make_current()
|
|
|
|
def tearDown(self):
|
|
super().tearDown()
|
|
del self.gl
|
|
|
|
def test_can_render(self):
|
|
"""Test that the bindings can successfully render a simple image.
|
|
|
|
This test sets up a basic MuJoCo rendering context similar to the example in
|
|
https://mujoco.readthedocs.io/en/latest/programming.html#visualization
|
|
It calls `mjr_rectangle` rather than `mjr_render` so that we can assert an
|
|
exact rendered image without needing golden data. The purpose of this test
|
|
is to ensure that the bindings can correctly return pixels in Python, rather
|
|
than to test MuJoCo's rendering pipeline itself.
|
|
"""
|
|
|
|
self.model = mujoco.MjModel.from_xml_string('<mujoco><worldbody/></mujoco>')
|
|
self.data = mujoco.MjData(self.model)
|
|
|
|
scene = mujoco.MjvScene(self.model, maxgeom=0)
|
|
mujoco.mjv_updateScene(
|
|
self.model, self.data, mujoco.MjvOption(), mujoco.MjvPerturb(),
|
|
mujoco.MjvCamera(), mujoco.mjtCatBit.mjCAT_ALL, scene)
|
|
|
|
context = mujoco.MjrContext(self.model, mujoco.mjtFontScale.mjFONTSCALE_150)
|
|
mujoco.mjr_setBuffer(mujoco.mjtFramebuffer.mjFB_OFFSCREEN, context)
|
|
|
|
# MuJoCo's default render buffer size is 640x480.
|
|
full_rect = mujoco.MjrRect(0, 0, 640, 480)
|
|
mujoco.mjr_rectangle(full_rect, 0, 0, 0, 1)
|
|
|
|
blue_rect = mujoco.MjrRect(56, 67, 234, 123)
|
|
mujoco.mjr_rectangle(blue_rect, 0, 0, 1, 1)
|
|
|
|
expected_upside_down_image = np.zeros((480, 640, 3), dtype=np.uint8)
|
|
expected_upside_down_image[67:67+123, 56:56+234, 2] = 255
|
|
|
|
upside_down_image = np.empty((480, 640, 3), dtype=np.uint8)
|
|
mujoco.mjr_readPixels(upside_down_image, None, full_rect, context)
|
|
np.testing.assert_array_equal(upside_down_image, expected_upside_down_image)
|
|
|
|
# Check that mjr_readPixels can accept a flattened array.
|
|
upside_down_image[:] = 0
|
|
mujoco.mjr_readPixels(
|
|
np.reshape(upside_down_image, -1), None, full_rect, context)
|
|
np.testing.assert_array_equal(upside_down_image, expected_upside_down_image)
|
|
context.free()
|
|
|
|
def test_safe_to_free_context_twice(self):
|
|
self.model = mujoco.MjModel.from_xml_string('<mujoco><worldbody/></mujoco>')
|
|
self.data = mujoco.MjData(self.model)
|
|
|
|
scene = mujoco.MjvScene(self.model, maxgeom=0)
|
|
mujoco.mjv_updateScene(
|
|
self.model, self.data, mujoco.MjvOption(), None,
|
|
mujoco.MjvCamera(), mujoco.mjtCatBit.mjCAT_ALL, scene)
|
|
|
|
context = mujoco.MjrContext(self.model, mujoco.mjtFontScale.mjFONTSCALE_150)
|
|
mujoco.mjr_setBuffer(mujoco.mjtFramebuffer.mjFB_OFFSCREEN, context)
|
|
|
|
context.free()
|
|
context.free()
|
|
|
|
if __name__ == '__main__':
|
|
absltest.main()
|