| import pytest |
| from mujoco_py import MjSim, load_model_from_xml |
| from mujoco_py.modder import MaterialModder, TextureModder |
| from mujoco_py.tests.utils import compare_imgs |
| import numpy as np |
|
|
| BASIC_MODEL_XML = """ |
| <mujoco> |
| <asset> |
| <texture name="t1" width="33" height="36" type="2d" builtin="flat" /> |
| <texture name="t2" width="34" height="39" type="2d" builtin="flat" /> |
| <texture name="t3" width="31" height="37" type="2d" builtin="flat" /> |
| <texture name="t4" width="38" height="34" type="2d" builtin="flat" /> |
| <material name="m1" texture="t1" /> |
| <material name="m2" texture="t2" /> |
| <material name="m3" texture="t3" /> |
| <material name="m4" texture="t4" /> |
| </asset> |
| <worldbody> |
| <light diffuse=".5 .5 .5" pos="0 0 5" dir="0 0 -1" /> |
| <camera name="topcam" pos="0 0 2.5" zaxis="0 0 1" /> |
| <geom name="g1" pos="-0.5 0.5 0" type="box" size="0.4 0.4 0.1" rgba="1 1 1 1" material="m1" /> |
| <geom name="g2" pos="0.5 0.5 0" type="box" size="0.4 0.4 0.1" rgba="1 1 1 1" material="m2" /> |
| <geom name="g3" pos="0.5 -0.5 0" type="box" size="0.4 0.4 0.1" rgba="1 1 1 1" material="m3" /> |
| <geom name="g4" pos="-0.5 -0.5 0" type="box" size="0.4 0.4 0.1" rgba="1 1 1 1" material="m4" /> |
| <!-- The following boxes will show up in reflections --> |
| <geom pos="0.5 0.5 4" type="box" size="0.4 0.4 0.1" rgba="1 1 1 1" /> |
| <geom pos="0.5 -0.5 4" type="box" size="0.4 0.4 0.1" rgba="1 1 1 1" /> |
| <geom pos="-0.5 -0.5 4" type="box" size="0.4 0.4 0.1" rgba="1 1 1 1" /> |
| <geom pos="-0.5 0.5 4" type="box" size="0.4 0.4 0.1" rgba="1 1 1 1" /> |
| </worldbody> |
| </mujoco> |
| """ |
|
|
| @pytest.mark.requires_rendering |
| def test_textures(): |
| model = load_model_from_xml(BASIC_MODEL_XML) |
| sim = MjSim(model) |
| sim.forward() |
|
|
| compare_imgs(sim.render(201, 205, camera_name="topcam"), |
| 'test_textures.premod.png') |
|
|
| random_state = np.random.RandomState(0) |
| modder = TextureModder(sim, random_state=random_state) |
| modder.whiten_materials() |
| modder.whiten_materials(['g1', 'g2']) |
|
|
| modder.set_rgb('g1', (255, 0, 0)) |
| modder.set_rgb('g2', (0, 255, 0)) |
| modder.set_rgb('g3', (0, 0, 255)) |
| modder.set_rgb('g4', (255, 0, 255)) |
| compare_imgs(sim.render(201, 205, camera_name="topcam"), |
| 'test_textures.rgb.png') |
|
|
| modder.set_checker('g1', (255, 0, 0), (0, 255, 0)) |
| modder.set_gradient('g2', (0, 255, 0), (0, 0, 255), vertical=True) |
| modder.set_gradient('g3', (255, 255, 0), (0, 0, 255), vertical=False) |
| modder.set_noise('g4', (0, 0, 255), (255, 0, 0), 0.1) |
| compare_imgs(sim.render(201, 205, camera_name="topcam"), |
| 'test_textures.variety.png') |
|
|
| modder.rand_checker('g1') |
| modder.rand_gradient('g2') |
| modder.rand_noise('g3') |
| modder.rand_rgb('g4') |
| compare_imgs(sim.render(201, 205, camera_name="topcam"), |
| 'test_textures.rand_specific.png') |
|
|
| modder.rand_all('g1') |
| modder.rand_all('g2') |
| modder.rand_all('g3') |
| modder.rand_all('g4') |
| compare_imgs(sim.render(201, 205, camera_name="topcam"), |
| 'test_textures.rand_all.png') |
|
|
| modder.rand_checker('g1') |
| modder.rand_checker('g2') |
| modder.rand_checker('g3') |
| modder.rand_checker('g4') |
| mat_modder = MaterialModder(sim, random_state=random_state) |
| mat_modder.rand_texrepeat('g1') |
| mat_modder.rand_texrepeat('g2') |
| mat_modder.rand_texrepeat('g3') |
| mat_modder.rand_texrepeat('g4') |
| compare_imgs(sim.render(201, 205, camera_name="topcam"), |
| 'test_textures.rand_texrepeat.png') |
|
|
| @pytest.mark.requires_rendering |
| def test_materials(): |
| model = load_model_from_xml(BASIC_MODEL_XML) |
| sim = MjSim(model) |
| sim.forward() |
|
|
| compare_imgs(sim.render(201, 205, camera_name="topcam"), |
| 'test_materials.premod.png') |
|
|
| random_state = np.random.RandomState(0) |
| modder = MaterialModder(sim, random_state=random_state) |
|
|
| modder.set_specularity('g1', 1.0) |
| modder.set_reflectance('g2', 1.0) |
| modder.set_shininess('g3', 1.0) |
| compare_imgs(sim.render(201, 205, camera_name="topcam"), |
| 'test_materials.props.png') |
|
|
| modder.rand_all('g4') |
| compare_imgs(sim.render(201, 205, camera_name="topcam"), |
| 'test_materials.rand_all.png') |
|
|
| @pytest.mark.requires_rendering |
| def test_multiple_sims(): |
| |
| xml = """ |
| <mujoco> |
| <asset> |
| <texture name="t1" width="32" height="32" type="2d" builtin="flat" /> |
| <material name="m1" texture="t1" /> |
| </asset> |
| <worldbody> |
| <light diffuse=".5 .5 .5" pos="0 0 5" dir="0 0 -1" /> |
| <camera name="topcam" pos="0 0 2.5" zaxis="0 0 1" /> |
| <geom name="g1" pos="0 0 0" type="box" size="1 1 0.1" rgba="1 1 1 1" material="m1" /> |
| </worldbody> |
| </mujoco> |
| """ |
|
|
| model = load_model_from_xml(xml) |
| random_state = np.random.RandomState(0) |
|
|
| for i in range(3): |
| sim = MjSim(model) |
| sim.forward() |
| modder = TextureModder(sim, random_state=random_state) |
| for j in range(2): |
| modder.rand_checker('g1') |
| compare_imgs( |
| sim.render(201, 205, camera_name="topcam"), |
| 'test_multiple_sims.loop%d_%d.png' % (i, j)) |
|
|
|
|
| @pytest.mark.requires_rendering |
| def test_resetting(): |
| |
| |
| xml = """ |
| <mujoco> |
| <asset> |
| <texture name="t1" width="32" height="32" type="2d" builtin="flat" /> |
| <material name="m1" texture="t1" /> |
| </asset> |
| <worldbody> |
| <light diffuse=".5 .5 .5" pos="0 0 5" dir="0 0 -1" /> |
| <camera name="topcam" pos="0 0 2.5" zaxis="0 0 1" /> |
| <geom name="g1" pos="0 0 0" type="{geom_type}" size="1 1 0.1" rgba="1 1 1 1" material="m1" /> |
| </worldbody> |
| </mujoco> |
| """ |
|
|
| def get_sim(seed): |
| geom_type = ["box", "sphere"][seed % 2] |
| model = load_model_from_xml(xml.format(geom_type=geom_type)) |
| return MjSim(model) |
|
|
| random_state = np.random.RandomState(0) |
|
|
| for i in range(3): |
| sim = get_sim(i - 1) |
| sim.forward() |
| modder = TextureModder(sim, random_state=random_state) |
| for j in range(2): |
| modder.rand_checker('g1') |
| compare_imgs(sim.render(201, 205, camera_name="topcam"), |
| 'test_resetting.loop%d_%d.png' % (i, j)) |
|
|
