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mjvive.py
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mjvive.py
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'''
EXPERIMENTAL: Displays MuJoCo model in VR.
Based on http://www.mujoco.org/book/source/mjvive.cpp
No controller integration currently
This example is a demonstration of a near-direct translation of an existing
MuJoCo example (mjvive.cpp), showing how to use lower-level functionality
in conjunction with Python.
Known occasional issues with SteamVR (all-black textures seen),
fixed by closing and re-opening.
Requires HTC Vive, Windows, and OpenVR.
Install openvr python module with:
pip install openvr
'''
import math
import os
import glfw
import openvr
import numpy as np
import OpenGL.GL as gl
from mujoco_py import functions
from mujoco_py.builder import mujoco_path
from mujoco_py.cymj import (MjRenderContext, MjSim, load_model_from_xml,
PyMjrRect, PyMjvCamera)
from mujoco_py.generated.const import (CAT_ALL, FB_OFFSCREEN, FONT_BIG,
GRID_BOTTOMLEFT, STEREO_SIDEBYSIDE)
# Normally global variables aren't used like this in python,
# but we want to be as close as possible to the original file.
class HMD(): # anonymous object we can set fields on
pass
window = None
sim = None
ctx = None
hmd = HMD()
def initMuJoCo(filename, width2, height):
''' load model, init simulation and rendering '''
global window, sim, ctx
assert glfw.init(), 'Could not initialize GLFW'
glfw.window_hint(glfw.SAMPLES, 0)
glfw.window_hint(glfw.DOUBLEBUFFER, True)
glfw.window_hint(glfw.RESIZABLE, 0)
window = glfw.create_window(width2 // 4, height // 2, "mjvive.py", None, None)
assert window, "Could not create GLFW window"
glfw.make_context_current(window)
glfw.swap_interval(0)
# GLEW init required in C++, not in Python
sim = MjSim(load_model_from_xml(open(filename).read()))
sim.forward()
sim.model.vis.global_.offwidth = width2
sim.model.vis.global_.offheight = height
sim.model.vis.quality.offsamples = 8
ctx = MjRenderContext(sim)
ctx.scn.enabletransform = 1
ctx.scn.translate[1:3] = -0.5
ctx.scn.rotate[0:2] = math.cos(-0.25 * math.pi), math.sin(-0.25 * math.pi)
ctx.scn.scale = 1
ctx.scn.stereo = STEREO_SIDEBYSIDE
def v_initPre():
''' init vr before MuJoCo init '''
global hmd
hmd.system = openvr.init(openvr.VRApplication_Scene)
hmd.roompos = np.zeros(3)
hmd.roommat = np.eye(3)
hmd.eyeoffset = np.zeros((2, 3))
openvr.VRCompositor().setTrackingSpace(openvr.TrackingUniverseStanding)
hmd.width, hmd.height = hmd.system.getRecommendedRenderTargetSize()
for n in range(2):
hmd.eyeoffset[n] = np.array(hmd.system.getEyeToHeadTransform(n).m)[0:3, 3]
def v_initPost():
''' init vr after MuJoCo init '''
global hmd
for n in range(2):
znear, zfar = 0.05, 50.0
left, right, top, bottom = hmd.system.getProjectionRaw(n)
ctx.scn.camera[n].frustum_bottom = -bottom * znear
ctx.scn.camera[n].frustum_top = -top * znear
ctx.scn.camera[n].frustum_center = 0.5 * (left + right) * znear
ctx.scn.camera[n].frustum_near = znear
ctx.scn.camera[n].frustum_far = zfar
gl.glActiveTexture(gl.GL_TEXTURE2)
hmd.idtex = gl.glGenTextures(1)
gl.glBindTexture(gl.GL_TEXTURE_2D, hmd.idtex)
gl.glTexParameteri(gl.GL_TEXTURE_2D, gl.GL_TEXTURE_MAG_FILTER, gl.GL_NEAREST)
gl.glTexParameteri(gl.GL_TEXTURE_2D, gl.GL_TEXTURE_MIN_FILTER, gl.GL_NEAREST)
gl.glTexParameteri(gl.GL_TEXTURE_2D, gl.GL_TEXTURE_WRAP_S, gl.GL_CLAMP_TO_EDGE)
gl.glTexParameteri(gl.GL_TEXTURE_2D, gl.GL_TEXTURE_WRAP_T, gl.GL_CLAMP_TO_EDGE)
gl.glTexImage2D(gl.GL_TEXTURE_2D, 0, gl.GL_RGBA8, 2 * hmd.width, hmd.height, 0, gl.GL_RGBA, gl.GL_UNSIGNED_BYTE, None)
hmd.poses = (openvr.TrackedDevicePose_t * openvr.k_unMaxTrackedDeviceCount)()
hmd.boundLeft = openvr.VRTextureBounds_t(0., 0., 0.5, 1.)
hmd.boundRight = openvr.VRTextureBounds_t(0.5, 0., 1., 1.)
hmd.vTex = openvr.Texture_t(hmd.idtex, openvr.TextureType_OpenGL, openvr.ColorSpace_Gamma)
def v_update():
''' update vr poses and controller states '''
global ctx, hmd
openvr.VRCompositor().waitGetPoses(hmd.poses, openvr.k_unMaxTrackedDeviceCount, None, 0)
m = np.array(hmd.poses[openvr.k_unTrackedDeviceIndex_Hmd].mDeviceToAbsoluteTracking.m)
hmd.roompos, hmd.roommat = m[0:3, 3], m[0:3, 0:3]
for n in range(2):
ctx.scn.camera[n].pos[:] = hmd.roompos + np.matmul(hmd.roommat, hmd.eyeoffset[n])
ctx.scn.camera[n].forward[0:3] = -hmd.roommat[:, 2]
ctx.scn.camera[n].up[0:3] = hmd.roommat[:, 1]
def v_render():
''' render to vr and window '''
global hmd, ctx, window
# resolve multi-sample offscreen buffer
gl.glBindFramebuffer(gl.GL_READ_FRAMEBUFFER, ctx.con.offFBO)
gl.glReadBuffer(gl.GL_COLOR_ATTACHMENT0)
gl.glBindFramebuffer(gl.GL_DRAW_FRAMEBUFFER, ctx.con.offFBO_r)
gl.glDrawBuffer(gl.GL_COLOR_ATTACHMENT0)
gl.glBlitFramebuffer(0, 0, 2 * hmd.width, hmd.height,
0, 0, 2 * hmd.width, hmd.height,
gl.GL_COLOR_BUFFER_BIT, gl.GL_NEAREST)
# blit to window, left only, window is half-size
gl.glBindFramebuffer(gl.GL_READ_FRAMEBUFFER, ctx.con.offFBO_r)
gl.glReadBuffer(gl.GL_COLOR_ATTACHMENT0)
gl.glBindFramebuffer(gl.GL_DRAW_FRAMEBUFFER, 0)
gl.glDrawBuffer(gl.GL_BACK if ctx.con.windowDoublebuffer else gl.GL_FRONT)
gl.glBlitFramebuffer(0, 0, hmd.width, hmd.height,
0, 0, hmd.width // 2, hmd.height // 2,
gl.GL_COLOR_BUFFER_BIT, gl.GL_NEAREST)
# blit to vr texture
gl.glActiveTexture(gl.GL_TEXTURE2)
gl.glBindFramebuffer(gl.GL_DRAW_FRAMEBUFFER, ctx.con.offFBO_r)
gl.glFramebufferTexture2D(gl.GL_FRAMEBUFFER, gl.GL_COLOR_ATTACHMENT1, gl.GL_TEXTURE_2D, hmd.idtex, 0)
gl.glDrawBuffer(gl.GL_COLOR_ATTACHMENT1)
gl.glBlitFramebuffer(0, 0, 2 * hmd.width, hmd.height,
0, 0, 2 * hmd.width, hmd.height,
gl.GL_COLOR_BUFFER_BIT, gl.GL_NEAREST)
gl.glFramebufferTexture2D(gl.GL_FRAMEBUFFER, gl.GL_COLOR_ATTACHMENT1, gl.GL_TEXTURE_2D, 0, 0)
gl.glDrawBuffer(gl.GL_COLOR_ATTACHMENT0)
openvr.VRCompositor().submit(openvr.Eye_Left, hmd.vTex, hmd.boundLeft)
openvr.VRCompositor().submit(openvr.Eye_Right, hmd.vTex, hmd.boundRight)
# swap if window is double-buffered, flush just in case
if ctx.con.windowDoublebuffer:
glfw.swap_buffers(window)
gl.glFlush()
if __name__ == '__main__':
filename = os.path.join(mujoco_path, 'model', 'humanoid.xml')
v_initPre()
initMuJoCo(filename, hmd.width * 2, hmd.height)
v_initPost()
FPS = 90.0
lasttm = glfw.get_time()
frametime = sim.data.time
viewFull = PyMjrRect()
viewFull.width, viewFull.height = 2 * hmd.width, hmd.height
nullCam = PyMjvCamera()
while not glfw.window_should_close(window):
if sim.data.time - frametime > 1 / FPS or sim.data.time < frametime:
functions.mjv_updateScene(sim.model, sim.data, ctx.vopt, ctx.pert, nullCam, CAT_ALL, ctx.scn)
v_update()
functions.mjr_setBuffer(FB_OFFSCREEN, ctx.con)
functions.mjr_render(viewFull, ctx.scn, ctx.con)
FPS = .9 * FPS + .1 / (glfw.get_time() - lasttm)
lasttm = glfw.get_time()
functions.mjr_overlay(FONT_BIG, GRID_BOTTOMLEFT, viewFull, 'FPS %.1f' % FPS, '', ctx.con)
v_render()
frametime = sim.data.time
sim.step()
glfw.poll_events()
# close
openvr.shutdown()
gl.glDeleteTextures(1, hmd.idtex)
del sim
del ctx
glfw.terminate()