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mujoco_viewer.py
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mujoco_viewer.py
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import mujoco
import glfw
import sys
from threading import Lock
import numpy as np
import time
import imageio
class MujocoViewer:
def __init__(self, model, data):
self.model = model
self.data = data
self._gui_lock = Lock()
self._button_left_pressed = False
self._button_right_pressed = False
self._left_double_click_pressed = False
self._right_double_click_pressed = False
self._last_mouse_x = 0
self._last_mouse_y = 0
self._paused = False
self._transparent = False
self._contacts = False
self._joints = False
self._wire_frame = False
self._inertias = False
self._com = False
self._render_every_frame = True
self._image_idx = 0
self._image_path = "/tmp/frame_%07d.png"
self._time_per_render = 1 / 60.0
self._run_speed = 1.0
self._loop_count = 0
self._advance_by_one_step = False
self._hide_menu = False
# glfw init
glfw.init()
width, height = glfw.get_video_mode(glfw.get_primary_monitor()).size
self.window = glfw.create_window(
width // 2, height // 2, "mujoco", None, None)
glfw.make_context_current(self.window)
glfw.swap_interval(1)
framebuffer_width, framebuffer_height = glfw.get_framebuffer_size(
self.window)
window_width, _ = glfw.get_window_size(self.window)
self._scale = framebuffer_width * 1.0 / window_width
# set callbacks
glfw.set_cursor_pos_callback(self.window, self._cursor_pos_callback)
glfw.set_mouse_button_callback(
self.window, self._mouse_button_callback)
glfw.set_scroll_callback(self.window, self._scroll_callback)
glfw.set_key_callback(self.window, self._key_callback)
self._last_left_click_time = None
self._last_right_click_time = None
# create options, camera, scene, context
self.vopt = mujoco.MjvOption()
self.cam = mujoco.MjvCamera()
self.scn = mujoco.MjvScene(self.model, maxgeom=10000)
self.pert = mujoco.MjvPerturb()
self.ctx = mujoco.MjrContext(
self.model, mujoco.mjtFontScale.mjFONTSCALE_150.value)
# get viewport
self.viewport = mujoco.MjrRect(
0, 0, framebuffer_width, framebuffer_height)
# overlay, markers
self._overlay = {}
self._markers = []
def _key_callback(self, window, key, scancode, action, mods):
if action != glfw.RELEASE:
return
# Switch cameras
elif key == glfw.KEY_TAB:
self.cam.fixedcamid += 1
self.cam.type = mujoco.mjtCamera.mjCAMERA_FIXED
if self.cam.fixedcamid >= self.model.ncam:
self.cam.fixedcamid = -1
self.cam.type = mujoco.mjtCamera.mjCAMERA_FREE
# Pause simulation
elif key == glfw.KEY_SPACE and self._paused is not None:
self._paused = not self._paused
# Advances simulation by one step.
elif key == glfw.KEY_RIGHT and self._paused is not None:
self._advance_by_one_step = True
self._paused = True
# Slows down simulation
elif key == glfw.KEY_S:
self._run_speed /= 2.0
# Speeds up simulation
elif key == glfw.KEY_F:
self._run_speed *= 2.0
# Turn off / turn on rendering every frame.
elif key == glfw.KEY_D:
self._render_every_frame = not self._render_every_frame
# Capture screenshot
elif key == glfw.KEY_T:
img = np.zeros(
(glfw.get_framebuffer_size(
self.window)[1], glfw.get_framebuffer_size(
self.window)[0], 3), dtype=np.uint8)
mujoco.mjr_readPixels(img, None, self.viewport, self.ctx)
imageio.imwrite(self._image_path % self._image_idx, np.flipud(img))
self._image_idx += 1
# Display contact forces
elif key == glfw.KEY_C:
self._contacts = not self._contacts
self.vopt.flags[mujoco.mjtVisFlag.mjVIS_CONTACTPOINT] = self._contacts
self.vopt.flags[mujoco.mjtVisFlag.mjVIS_CONTACTFORCE] = self._contacts
elif key == glfw.KEY_J:
self._joints = not self._joints
self.vopt.flags[mujoco.mjtVisFlag.mjVIS_JOINT] = self._joints
# Display coordinate frames
elif key == glfw.KEY_E:
self.vopt.frame = 1 - self.vopt.frame
# Hide overlay menu
elif key == glfw.KEY_H:
self._hide_menu = not self._hide_menu
# Make transparent
elif key == glfw.KEY_R:
self._transparent = not self._transparent
if self._transparent:
self.model.geom_rgba[:, 3] /= 5.0
else:
self.model.geom_rgba[:, 3] *= 5.0
# Display inertia
elif key == glfw.KEY_I:
self._inertias = not self._inertias
self.vopt.flags[mujoco.mjtVisFlag.mjVIS_INERTIA] = self._inertias
# Display center of mass
elif key == glfw.KEY_M:
self._com = not self._com
self.vopt.flags[mujoco.mjtVisFlag.mjVIS_COM] = self._com
# Wireframe Rendering
elif key == glfw.KEY_W:
self._wire_frame = not self._wire_frame
self.scn.flags[mujoco.mjtRndFlag.mjRND_WIREFRAME] = self._wire_frame
# Geom group visibility
elif key in (glfw.KEY_0, glfw.KEY_1, glfw.KEY_2, glfw.KEY_3, glfw.KEY_4):
self.vopt.geomgroup[key - glfw.KEY_0] ^= 1
# Quit
if key == glfw.KEY_ESCAPE:
print("Pressed ESC")
print("Quitting.")
glfw.terminate()
sys.exit(0)
def _cursor_pos_callback(self, window, xpos, ypos):
if not (self._button_left_pressed or self._button_right_pressed):
return
mod_shift = (
glfw.get_key(window, glfw.KEY_LEFT_SHIFT) == glfw.PRESS or
glfw.get_key(window, glfw.KEY_RIGHT_SHIFT) == glfw.PRESS)
if self._button_right_pressed:
action = mujoco.mjtMouse.mjMOUSE_MOVE_H if mod_shift else mujoco.mjtMouse.mjMOUSE_MOVE_V
elif self._button_left_pressed:
action = mujoco.mjtMouse.mjMOUSE_ROTATE_H if mod_shift else mujoco.mjtMouse.mjMOUSE_ROTATE_V
else:
action = mujoco.mjtMouse.mjMOUSE_ZOOM
dx = int(self._scale * xpos) - self._last_mouse_x
dy = int(self._scale * ypos) - self._last_mouse_y
width, height = glfw.get_framebuffer_size(window)
with self._gui_lock:
if self.pert.active:
mujoco.mjv_movePerturb(
self.model,
self.data,
action,
dx / height,
dy / height,
self.scn,
self.pert)
else:
mujoco.mjv_moveCamera(
self.model,
action,
dx / height,
dy / height,
self.scn,
self.cam)
self._last_mouse_x = int(self._scale * xpos)
self._last_mouse_y = int(self._scale * ypos)
def _mouse_button_callback(self, window, button, act, mods):
self._button_left_pressed = button == glfw.MOUSE_BUTTON_LEFT and act == glfw.PRESS
self._button_right_pressed = button == glfw.MOUSE_BUTTON_RIGHT and act == glfw.PRESS
x, y = glfw.get_cursor_pos(window)
self._last_mouse_x = int(self._scale * x)
self._last_mouse_y = int(self._scale * y)
# detect a left- or right- doubleclick
self._left_double_click_pressed = False
self._right_double_click_pressed = False
time_now = glfw.get_time()
if self._button_left_pressed:
if self._last_left_click_time is None:
self._last_left_click_time = glfw.get_time()
time_diff = (time_now - self._last_left_click_time)
if time_diff > 0.01 and time_diff < 0.3:
self._left_double_click_pressed = True
self._last_left_click_time = time_now
if self._button_right_pressed:
if self._last_right_click_time is None:
self._last_right_click_time = glfw.get_time()
time_diff = (time_now - self._last_right_click_time)
if time_diff > 0.01 and time_diff < 0.2:
self._right_double_click_pressed = True
self._last_right_click_time = time_now
# set perturbation
key = mods == glfw.MOD_CONTROL
newperturb = 0
if key and self.pert.select > 0:
# right: translate, left: rotate
if self._button_right_pressed:
newperturb = mujoco.mjtPertBit.mjPERT_TRANSLATE
if self._button_left_pressed:
newperturb = mujoco.mjtPertBit.mjPERT_ROTATE
# perturbation onste: reset reference
if newperturb and not self.pert.active:
mujoco.mjv_initPerturb(
self.model, self.data, self.scn, self.pert)
self.pert.active = newperturb
# handle doubleclick
if self._left_double_click_pressed or self._right_double_click_pressed:
# determine selection mode
selmode = 0
if self._left_double_click_pressed:
selmode = 1
if self._right_double_click_pressed:
selmode = 2
if self._right_double_click_pressed and key:
selmode = 3
# find geom and 3D click point, get corresponding body
width, height = self.viewport.width, self.viewport.height
aspectratio = width / height
relx = x / width
rely = (self.viewport.height - y) / height
selpnt = np.zeros((3, 1), dtype=np.float64)
selgeom = np.zeros((1, 1), dtype=np.int32)
selskin = np.zeros((1, 1), dtype=np.int32)
selbody = mujoco.mjv_select(
self.model,
self.data,
self.vopt,
aspectratio,
relx,
rely,
self.scn,
selpnt,
selgeom,
selskin)
# set lookat point, start tracking is requested
if selmode == 2 or selmode == 3:
# set cam lookat
if selbody >= 0:
self.cam.lookat = selpnt.flatten()
# switch to tracking camera if dynamic body clicked
if selmode == 3 and selbody > 0:
self.cam.type = mujoco.mjtCamera.mjCAMERA_TRACKING
self.cam.trackbodyid = selbody
self.cam.fixedcamid = -1
# set body selection
else:
if selbody >= 0:
# record selection
self.pert.select = selbody
self.pert.skinselect = selskin
# compute localpos
vec = selpnt.flatten() - self.data.xpos[selbody]
mat = self.data.xmat[selbody].reshape(3, 3)
self.pert.localpos = self.data.xmat[selbody].reshape(
3, 3).dot(vec)
else:
self.pert.select = 0
self.pert.skinselect = -1
# stop perturbation on select
self.pert.active = 0
# 3D release
if act == glfw.RELEASE:
self.pert.active = 0
def _scroll_callback(self, window, x_offset, y_offset):
with self._gui_lock:
mujoco.mjv_moveCamera(
self.model, mujoco.mjtMouse.mjMOUSE_ZOOM, 0, -0.05 * y_offset, self.scn, self.cam)
def add_marker(self, **marker_params):
self._markers.append(marker_params)
def _add_marker_to_scene(self, marker):
if self.scn.ngeom >= self.scn.maxgeom:
raise RuntimeError(
'Ran out of geoms. maxgeom: %d' %
self.scn.maxgeom)
g = self.scn.geoms[self.scn.ngeom]
# default values.
g.dataid = -1
g.objtype = mujoco.mjtObj.mjOBJ_UNKNOWN
g.objid = -1
g.category = mujoco.mjtCatBit.mjCAT_DECOR
g.texid = -1
g.texuniform = 0
g.texrepeat[0] = 1
g.texrepeat[1] = 1
g.emission = 0
g.specular = 0.5
g.shininess = 0.5
g.reflectance = 0
g.type = mujoco.mjtGeom.mjGEOM_BOX
g.size[:] = np.ones(3) * 0.1
g.mat[:] = np.eye(3)
g.rgba[:] = np.ones(4)
for key, value in marker.items():
if isinstance(value, (int, float, mujoco._enums.mjtGeom)):
setattr(g, key, value)
elif isinstance(value, (tuple, list, np.ndarray)):
attr = getattr(g, key)
attr[:] = np.asarray(value).reshape(attr.shape)
elif isinstance(value, str):
assert key == "label", "Only label is a string in mjtGeom."
if value is None:
g.label[0] = 0
else:
g.label = value
elif hasattr(g, key):
raise ValueError(
"mjtGeom has attr {} but type {} is invalid".format(
key, type(value)))
else:
raise ValueError("mjtGeom doesn't have field %s" % key)
self.scn.ngeom += 1
return
def _create_overlay(self):
topleft = mujoco.mjtGridPos.mjGRID_TOPLEFT
topright = mujoco.mjtGridPos.mjGRID_TOPRIGHT
bottomleft = mujoco.mjtGridPos.mjGRID_BOTTOMLEFT
bottomright = mujoco.mjtGridPos.mjGRID_BOTTOMRIGHT
def add_overlay(gridpos, text1, text2):
if gridpos not in self._overlay:
self._overlay[gridpos] = ["", ""]
self._overlay[gridpos][0] += text1 + "\n"
self._overlay[gridpos][1] += text2 + "\n"
if self._render_every_frame:
add_overlay(topleft, "", "")
else:
add_overlay(
topleft,
"Run speed = %.3f x real time" %
self._run_speed,
"[S]lower, [F]aster")
add_overlay(
topleft,
"Ren[d]er every frame",
"On" if self._render_every_frame else "Off")
add_overlay(
topleft, "Switch camera (#cams = %d)" %
(self.model.ncam + 1), "[Tab] (camera ID = %d)" %
self.cam.fixedcamid)
add_overlay(
topleft,
"[C]ontact forces",
"On" if self._contacts else "Off")
add_overlay(
topleft,
"[J]oints",
"On" if self._joints else "Off")
add_overlay(
topleft,
"[I]nertia",
"On" if self._inertias else "Off")
add_overlay(
topleft,
"Center of [M]ass",
"On" if self._com else "Off")
add_overlay(
topleft,
"T[r]ansparent",
"On" if self._transparent else "Off")
add_overlay(
topleft,
"[W]ireframe",
"On" if self._wire_frame else "Off")
if self._paused is not None:
if not self._paused:
add_overlay(topleft, "Stop", "[Space]")
else:
add_overlay(topleft, "Start", "[Space]")
add_overlay(
topleft,
"Advance simulation by one step",
"[right arrow]")
add_overlay(
topleft,
"Referenc[e] frames",
"On" if self.vopt.frame == 1 else "Off")
add_overlay(topleft, "[H]ide Menu", "")
if self._image_idx > 0:
fname = self._image_path % (self._image_idx - 1)
add_overlay(topleft, "Cap[t]ure frame", "Saved as %s" % fname)
else:
add_overlay(topleft, "Cap[t]ure frame", "")
add_overlay(topleft, "Toggle geomgroup visibility", "0-4")
add_overlay(
bottomleft, "FPS", "%d%s" %
(1 / self._time_per_render, ""))
add_overlay(
bottomleft, "Solver iterations", str(
self.data.solver_iter + 1))
add_overlay(
bottomleft, "Step", str(
round(
self.data.time / self.model.opt.timestep)))
add_overlay(bottomleft, "timestep", "%.5f" % self.model.opt.timestep)
def apply_perturbations(self):
self.data.xfrc_applied = np.zeros_like(self.data.xfrc_applied)
mujoco.mjv_applyPerturbPose(self.model, self.data, self.pert, 0)
mujoco.mjv_applyPerturbForce(self.model, self.data, self.pert)
def render(self):
# mjv_updateScene, mjr_render, mjr_overlay
def update():
# fill overlay items
self._create_overlay()
render_start = time.time()
if self.window is None:
return
elif glfw.window_should_close(self.window):
glfw.terminate()
sys.exit(0)
self.viewport.width, self.viewport.height = glfw.get_framebuffer_size(
self.window)
with self._gui_lock:
# update scene
mujoco.mjv_updateScene(
self.model,
self.data,
self.vopt,
self.pert,
self.cam,
mujoco.mjtCatBit.mjCAT_ALL.value,
self.scn)
# marker items
for marker in self._markers:
self._add_marker_to_scene(marker)
# render
mujoco.mjr_render(self.viewport, self.scn, self.ctx)
# overlay items
if not self._hide_menu:
for gridpos, [t1, t2] in self._overlay.items():
mujoco.mjr_overlay(
mujoco.mjtFontScale.mjFONTSCALE_150,
gridpos,
self.viewport,
t1,
t2,
self.ctx)
glfw.swap_buffers(self.window)
glfw.poll_events()
self._time_per_render = 0.9 * self._time_per_render + \
0.1 * (time.time() - render_start)
# clear overlay
self._overlay.clear()
if self._paused:
while self._paused:
update()
if self._advance_by_one_step:
self._advance_by_one_step = False
break
else:
self._loop_count += self.model.opt.timestep / \
(self._time_per_render * self._run_speed)
if self._render_every_frame:
self._loop_count = 1
while self._loop_count > 0:
update()
self._loop_count -= 1
# clear markers
self._markers[:] = []
# apply perturbation (should this come before mj_step?)
self.apply_perturbations()
def close(self):
glfw.terminate()