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Wheels WuWheels Wu
Wheels Wu
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Wheels Wu
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Add update_hfield, update_mesh, update_texture methods to Renderer class.
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‎python/mujoco/renderer.py‎

Lines changed: 60 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -304,6 +304,66 @@ def update_scene(
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self._scene,
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)
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def update_hfield(self, hfieldid: int) -> None:
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"""Uploads modified height field data to the GPU.
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Args:
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hfieldid: The ID of the height field to update.
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Raises:
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RuntimeError: If called after the renderer is closed.
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ValueError: If hfieldid is out of range.
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"""
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if self._mjr_context is None:
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raise RuntimeError('update_hfield cannot be called after close.')
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if hfieldid < 0 or hfieldid >= self._model.nhfield:
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raise ValueError(
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f'hfieldid {hfieldid} is out of range [0, {self._model.nhfield}).'
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)
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if self._gl_context:
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self._gl_context.make_current()
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_render.mjr_uploadHField(self._model, self._mjr_context, hfieldid)
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def update_mesh(self, meshid: int) -> None:
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"""Uploads modified mesh data to the GPU.
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Args:
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meshid: The ID of the mesh to update.
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Raises:
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RuntimeError: If called after the renderer is closed.
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ValueError: If meshid is out of range.
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"""
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if self._mjr_context is None:
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raise RuntimeError('update_mesh cannot be called after close.')
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if meshid < 0 or meshid >= self._model.nmesh:
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raise ValueError(
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f'meshid {meshid} is out of range [0, {self._model.nmesh}).'
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)
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if self._gl_context:
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self._gl_context.make_current()
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_render.mjr_uploadMesh(self._model, self._mjr_context, meshid)
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def update_texture(self, texid: int) -> None:
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"""Uploads modified texture data to the GPU.
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Args:
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texid: The ID of the texture to update.
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Raises:
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RuntimeError: If called after the renderer is closed.
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ValueError: If texid is out of range.
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"""
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if self._mjr_context is None:
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raise RuntimeError('update_texture cannot be called after close.')
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if texid < 0 or texid >= self._model.ntex:
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raise ValueError(
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f'texid {texid} is out of range [0, {self._model.ntex}).'
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)
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if self._gl_context:
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self._gl_context.make_current()
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_render.mjr_uploadTexture(self._model, self._mjr_context, texid)
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307367
def close(self) -> None:
308368
"""Frees the resources used by the renderer.
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‎python/mujoco/renderer_test.py‎

Lines changed: 157 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -158,5 +158,162 @@ def test_renderer_output_with_out(self):
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renderer.render(out=np.zeros((*failing_render_size, 3), np.uint8))
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160160

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def test_update_hfield(self):
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xml = """
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<mujoco>
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<asset>
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<hfield name="terrain" nrow="10" ncol="10" size="1 1 0.1 0.1"/>
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</asset>
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<worldbody>
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<geom type="hfield" hfield="terrain"/>
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</worldbody>
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</mujoco>
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"""
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model = mujoco.MjModel.from_xml_string(xml)
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with mujoco.Renderer(model, 50, 50) as renderer:
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# Should succeed for valid hfield id
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renderer.update_hfield(0)
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def test_update_hfield_out_of_range(self):
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xml = """
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<mujoco>
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<asset>
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<hfield name="terrain" nrow="10" ncol="10" size="1 1 0.1 0.1"/>
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</asset>
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<worldbody>
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<geom type="hfield" hfield="terrain"/>
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</worldbody>
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</mujoco>
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"""
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model = mujoco.MjModel.from_xml_string(xml)
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with mujoco.Renderer(model, 50, 50) as renderer:
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with self.assertRaisesRegex(ValueError, 'out of range'):
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renderer.update_hfield(-1)
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with self.assertRaisesRegex(ValueError, 'out of range'):
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renderer.update_hfield(1)
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def test_update_hfield_after_close(self):
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xml = """
197+
<mujoco>
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<asset>
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<hfield name="terrain" nrow="10" ncol="10" size="1 1 0.1 0.1"/>
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</asset>
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<worldbody>
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<geom type="hfield" hfield="terrain"/>
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</worldbody>
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</mujoco>
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"""
206+
model = mujoco.MjModel.from_xml_string(xml)
207+
renderer = mujoco.Renderer(model, 50, 50)
208+
renderer.close()
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with self.assertRaisesRegex(RuntimeError, 'after close'):
210+
renderer.update_hfield(0)
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def test_update_mesh(self):
213+
xml = """
214+
<mujoco>
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<asset>
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<mesh name="box" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
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</asset>
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<worldbody>
219+
<geom type="mesh" mesh="box"/>
220+
</worldbody>
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</mujoco>
222+
"""
223+
model = mujoco.MjModel.from_xml_string(xml)
224+
with mujoco.Renderer(model, 50, 50) as renderer:
225+
# Should succeed for valid mesh id
226+
renderer.update_mesh(0)
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def test_update_mesh_out_of_range(self):
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xml = """
230+
<mujoco>
231+
<asset>
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<mesh name="box" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
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</asset>
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<worldbody>
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<geom type="mesh" mesh="box"/>
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</worldbody>
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</mujoco>
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"""
239+
model = mujoco.MjModel.from_xml_string(xml)
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with mujoco.Renderer(model, 50, 50) as renderer:
241+
with self.assertRaisesRegex(ValueError, 'out of range'):
242+
renderer.update_mesh(-1)
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with self.assertRaisesRegex(ValueError, 'out of range'):
244+
renderer.update_mesh(1)
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def test_update_mesh_after_close(self):
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xml = """
248+
<mujoco>
249+
<asset>
250+
<mesh name="box" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
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</asset>
252+
<worldbody>
253+
<geom type="mesh" mesh="box"/>
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</worldbody>
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</mujoco>
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"""
257+
model = mujoco.MjModel.from_xml_string(xml)
258+
renderer = mujoco.Renderer(model, 50, 50)
259+
renderer.close()
260+
with self.assertRaisesRegex(RuntimeError, 'after close'):
261+
renderer.update_mesh(0)
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263+
def test_update_texture(self):
264+
xml = """
265+
<mujoco>
266+
<asset>
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<texture name="grid" type="2d" builtin="checker" width="32" height="32"/>
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<material name="grid" texture="grid"/>
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</asset>
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<worldbody>
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<geom type="plane" size="1 1 0.1" material="grid"/>
272+
</worldbody>
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</mujoco>
274+
"""
275+
model = mujoco.MjModel.from_xml_string(xml)
276+
with mujoco.Renderer(model, 50, 50) as renderer:
277+
# Should succeed for valid texture id
278+
renderer.update_texture(0)
279+
280+
def test_update_texture_out_of_range(self):
281+
xml = """
282+
<mujoco>
283+
<asset>
284+
<texture name="grid" type="2d" builtin="checker" width="32" height="32"/>
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<material name="grid" texture="grid"/>
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</asset>
287+
<worldbody>
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<geom type="plane" size="1 1 0.1" material="grid"/>
289+
</worldbody>
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</mujoco>
291+
"""
292+
model = mujoco.MjModel.from_xml_string(xml)
293+
with mujoco.Renderer(model, 50, 50) as renderer:
294+
with self.assertRaisesRegex(ValueError, 'out of range'):
295+
renderer.update_texture(-1)
296+
with self.assertRaisesRegex(ValueError, 'out of range'):
297+
renderer.update_texture(1)
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299+
def test_update_texture_after_close(self):
300+
xml = """
301+
<mujoco>
302+
<asset>
303+
<texture name="grid" type="2d" builtin="checker" width="32" height="32"/>
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<material name="grid" texture="grid"/>
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</asset>
306+
<worldbody>
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<geom type="plane" size="1 1 0.1" material="grid"/>
308+
</worldbody>
309+
</mujoco>
310+
"""
311+
model = mujoco.MjModel.from_xml_string(xml)
312+
renderer = mujoco.Renderer(model, 50, 50)
313+
renderer.close()
314+
with self.assertRaisesRegex(RuntimeError, 'after close'):
315+
renderer.update_texture(0)
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161318
if __name__ == '__main__':
162319
absltest.main()

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