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Add easier rendering options, modify near plane, add better camera angles #348

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Jul 23, 2021
Merged

Add easier rendering options, modify near plane, add better camera angles #348

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3 changes: 2 additions & 1 deletion metaworld/envs/assets_v2/objects/assets/xyz_base.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,8 @@

<camera pos="0 0.5 1.5" name="topview" />
<camera name="corner" mode="fixed" pos="-1.1 -0.4 0.6" xyaxes="-1 1 0 -0.2 -0.2 -1"/>
<camera name="corner2" mode="fixed" pos="1.1 -0.4 0.6" euler="3.9 2.3 3.7"/>
<camera name="corner2" fovy="60" mode="fixed" pos="1.3 -0.2 1.1" euler="3.9 2.3 0.6"/>
<camera name="corner3" fovy="45" mode="fixed" pos="0.9 0 1.5" euler="3.5 2.7 1"/>
<!--<geom name="floor" type="plane" pos="0 0 -.9" size="10 10 10"-->
<!--rgba="0 0 0 1" contype="15" conaffinity="15" />-->
<!--<geom name="tableTop" type="box" pos="0 0.6 -0.45" size="0.4 0.2 0.45"
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2 changes: 1 addition & 1 deletion metaworld/envs/assets_v2/scene/basic_scene.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@
</asset>

<visual>
<map fogstart="1.5" fogend="5" force="0.1" znear="0.1"/>
<map fogstart="1.5" fogend="5" force="0.1" znear="0.01"/>
<quality shadowsize="4096" offsamples="4"/>

<headlight ambient="0.4 0.4 0.4"/>
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2 changes: 1 addition & 1 deletion metaworld/envs/assets_v2/scene/basic_scene_b.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
</asset>

<visual>
<map fogstart="1.5" fogend="5" force="0.1" znear="0.1"/>
<map fogstart="1.5" fogend="5" force="0.1" znear="0.01"/>
<quality shadowsize ="4096" offsamples="4"/>

<headlight ambient="0.4 0.4 0.4"/>
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2 changes: 1 addition & 1 deletion metaworld/envs/assets_v2/scene/basic_scene_c.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
</asset>

<visual>
<map fogstart="1.5" fogend="5" force="0.1" znear="0.1"/>
<map fogstart="1.5" fogend="5" force="0.1" znear="0.01"/>
<quality shadowsize ="4096" offsamples="4"/>

<headlight ambient="0.4 0.4 0.4"/>
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25 changes: 13 additions & 12 deletions metaworld/envs/mujoco/mujoco_env.py
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Expand Up @@ -36,9 +36,9 @@ class MujocoEnv(gym.Env, abc.ABC):
- Do not automatically set the observation/action space.
"""

max_path_length = 150
max_path_length = 500

def __init__(self, model_path, frame_skip, rgb_array_res=(640, 480)):
def __init__(self, model_path, frame_skip):
if not path.exists(model_path):
raise IOError("File %s does not exist" % model_path)

Expand All @@ -48,7 +48,6 @@ def __init__(self, model_path, frame_skip, rgb_array_res=(640, 480)):
self.data = self.sim.data
self.viewer = None
self._viewers = {}
self._rgb_array_res = rgb_array_res

self.metadata = {
'render.modes': ['human'],
Expand Down Expand Up @@ -119,17 +118,19 @@ def do_simulation(self, ctrl, n_frames=None):
warnings.warn(str(err), category=RuntimeWarning)
self._did_see_sim_exception = True

def render(self, mode='human'):
if mode == 'human':
self._get_viewer(mode).render()
elif mode == 'rgb_array':
def render(self, offscreen=False, camera_name="corner2", resolution=(640, 480)):
assert_string = ("camera_name should be one of ",
"corner3, corner, corner2, topview, gripperPOV, behindGripper")
assert camera_name in {"corner3", "corner", "corner2",
"topview", "gripperPOV", "behindGripper"}, assert_string
if not offscreen:
self._get_viewer('human').render()
else:
return self.sim.render(
*self._rgb_array_res,
*resolution,
mode='offscreen',
camera_name='topview'
)[:, :, ::-1]
else:
raise ValueError("mode can only be either 'human' or 'rgb_array'")
camera_name=camera_name
)

def close(self):
if self.viewer is not None:
Expand Down