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1603fe5 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 | import multiprocessing as mp
import os
import subprocess
import sys
from os.path import abspath, dirname, join
import numpy as np
import pytest
from mujoco_py import MjSim, MjRenderPool, load_model_from_xml
from mujoco_py.modder import TextureModder
from mujoco_py.tests.utils import compare_imgs
BASIC_MODEL_XML = """
<mujoco>
<worldbody>
<light name="light1" diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
<camera name="camera1" pos="3 0 0" zaxis="1 0 0" />
<geom name="g1" pos="0.5 0.4 0.3" type="plane" size="1 1 0.1" rgba="1 1 1 1" material="m1" />
<body pos="0 0 1" name="body1">
<joint name="joint1" type="free"/>
<geom name="g2" pos="0 1 0" type="box" size=".1 .2 .3" rgba="1 1 1 1" material="m2" />
<site name="site1" pos="1 0 0" size="0.1" type="sphere"/>
<site name="sensorsurf" pos="0 0.045 0" size=".03 .03 .03" type="ellipsoid" rgba="0.3 0.2 0.1 0.3"/>
</body>
<body pos="1 0 0" name="mocap1" mocap="true">
<geom name="g3" conaffinity="0" contype="0" pos="0 0 0" size="0.01 0.01 0.01" type="box" material="m3" rgba="1 1 1 1"/>
</body>
</worldbody>
<sensor>
<touch name="touchsensor" site="sensorsurf" />
</sensor>
<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" />
<material name="m1" texture="t1" />
<material name="m2" texture="t2" />
<material name="m3" texture="t3" />
</asset>
</mujoco>
"""
@pytest.mark.requires_rendering
def test_spawn():
# pytest and nose both use 'fork' by default, so we
# expect a runtime error
model = load_model_from_xml(BASIC_MODEL_XML)
with pytest.raises(RuntimeError):
MjRenderPool(model, n_workers=3)
@pytest.mark.requires_rendering
def test_multiprocessing():
# pytest doesn't work well with multiprocessing, so just
# run the multiprocessing tests manually by running this
# script as a subprocess
env = os.environ
env['MUJOCO_PY_TEST_ASSET_DIR_PATH'] = abspath(
join(dirname(__file__), '..', 'test_imgs'))
subprocess.check_call([sys.executable, __file__], env=env, shell=True)
def mp_test_create_destroy():
model = load_model_from_xml(BASIC_MODEL_XML)
pool = MjRenderPool(model, n_workers=2)
del pool
# closing before deleting should be fine too
pool = MjRenderPool(model, n_workers=2)
pool.close()
del pool
def mp_test_rendering():
model = load_model_from_xml(BASIC_MODEL_XML)
pool = MjRenderPool(model, n_workers=3)
images = pool.render(100, 100)
assert images.shape == (3, 100, 100, 3)
compare_imgs(images[0], 'test_render_pool.mp_test_rendering.0.png')
assert np.all(images[0] == images[1])
images, depth = pool.render(101, 103, depth=True)
assert images.shape == (3, 103, 101, 3)
assert depth.shape == (3, 103, 101)
assert np.all(images[0] == images[1])
assert np.all(images[1] == images[2])
def mp_test_cameras():
model = load_model_from_xml(BASIC_MODEL_XML)
pool = MjRenderPool(model, n_workers=1)
image = pool.render(100, 100)
assert image.shape == (1, 100, 100, 3)
compare_imgs(image[0], 'test_render_pool.mp_test_cameras.0.png')
image = pool.render(100, 100, camera_name='camera1')
assert image.shape == (1, 100, 100, 3)
compare_imgs(image[0], 'test_render_pool.mp_test_cameras.1.png')
def mp_test_modder():
model = load_model_from_xml(BASIC_MODEL_XML)
pool = MjRenderPool(model, n_workers=2, modder=TextureModder)
images = pool.render(100, 100, randomize=True)
assert images.shape == (2, 100, 100, 3)
# the order of the images aren't guaranteed to be consistent
# between the render runs
images1 = pool.render(100, 100, randomize=False)
assert images1.shape == (2, 100, 100, 3)
if np.all(images[0] == images1[0]) and np.all(images[1] == images1[1]):
images_same = True
elif np.all(images[0] == images1[1]) and np.all(images[1] == images1[0]):
images_same = True
else:
images_same = False
assert images_same
images2 = pool.render(100, 100, randomize=True)
assert images2.shape == (2, 100, 100, 3)
if np.all(images[0] == images2[0]) and np.all(images[1] == images2[1]):
images_same = True
elif np.all(images[0] == images2[1]) and np.all(images[1] == images2[0]):
images_same = True
else:
images_same = False
assert not images_same
def mp_test_states():
sim = MjSim(load_model_from_xml(BASIC_MODEL_XML))
states = []
for val in range(3):
sim.data.qpos[:3] = val * 0.1
states.append(sim.get_state())
pool = MjRenderPool(sim.model, n_workers=3)
images = pool.render(100, 100, states=states[:2])
assert images.shape == (2, 100, 100, 3)
compare_imgs(images[0], 'test_render_pool.mp_test_states.1.png')
compare_imgs(images[1], 'test_render_pool.mp_test_states.2.png')
states = list(reversed(states))
images = pool.render(100, 100, states=states)
assert images.shape == (3, 100, 100, 3)
compare_imgs(images[0], 'test_render_pool.mp_test_states.3.png')
compare_imgs(images[1], 'test_render_pool.mp_test_states.4.png')
compare_imgs(images[2], 'test_render_pool.mp_test_states.5.png')
if __name__ == '__main__':
mp.freeze_support()
mp.set_start_method('spawn')
mp_test_create_destroy()
mp_test_rendering()
mp_test_states()
mp_test_cameras()
mp_test_modder()
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