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 = """ """ @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()