Method render

dm_control/mujoco/engine.py:178–233

Returns a camera view as a NumPy array of pixel values. Args: height: Viewport height (number of pixels). Optional, defaults to 240. width: Viewport width (number of pixels). Optional, defaults to 320. camera_id: Optional camera name or index. Defaults to -1, the free

(
      self,
      height=240,
      width=320,
      camera_id=-1,
      overlays=(),
      depth=False,
      segmentation=False,
      scene_option=None,
      render_flag_overrides=None,
      scene_callback: Optional[Callable[['Physics', mujoco.MjvScene],
                                        None]] = None,
  )

        mujoco.mj_step(self.model.ptr, self.data.ptr, nstep)

  def render(
      self,
      height=240,
      width=320,
      camera_id=-1,
      overlays=(),
      depth=False,
      segmentation=False,
      scene_option=None,
      render_flag_overrides=None,
      scene_callback: Optional[Callable[['Physics', mujoco.MjvScene],
                                        None]] = None,
  ):
    """Returns a camera view as a NumPy array of pixel values.

    Args:
      height: Viewport height (number of pixels). Optional, defaults to 240.
      width: Viewport width (number of pixels). Optional, defaults to 320.
      camera_id: Optional camera name or index. Defaults to -1, the free
        camera, which is always defined. A nonnegative integer or string
        corresponds to a fixed camera, which must be defined in the model XML.
        If `camera_id` is a string then the camera must also be named.
      overlays: An optional sequence of `TextOverlay` instances to draw. Only
        supported if `depth` is False.
      depth: If `True`, this method returns a NumPy float array of depth values
        (in meters). Defaults to `False`, which results in an RGB image.
      segmentation: If `True`, this method returns a 2-channel NumPy int32 array
        of label values where the pixels of each object are labeled with the
        pair (mjModel ID, mjtObj enum object type). Background pixels are
        labeled (-1, -1). Defaults to `False`, which returns an RGB image.
      scene_option: An optional `wrapper.MjvOption` instance that can be used to
        render the scene with custom visualization options. If None then the
        default options will be used.
      render_flag_overrides: Optional mapping specifying rendering flags to
        override. The keys can be either lowercase strings or `mjtRndFlag` enum
        values, and the values are the overridden flag values, e.g.
        `{'wireframe': True}` or `{mujoco.mjtRndFlag.mjRND_WIREFRAME: True}`.
        See `mujoco.mjtRndFlag` for the set of valid flags. Must be None if
        either `depth` or `segmentation` is True.
      scene_callback: Called after the scene has been created and before
        it is rendered. Can be used to add more geoms to the scene.

    Returns:
      The rendered RGB, depth or segmentation image.
    """
    camera = Camera(
        physics=self,
        height=height,
        width=width,
        camera_id=camera_id,
        scene_callback=scene_callback)
    image = camera.render(
        overlays=overlays, depth=depth, segmentation=segmentation,
        scene_option=scene_option, render_flag_overrides=render_flag_overrides)
    camera._scene.free()  # pylint: disable=protected-access
    return image

  def get_state(self, sig=None):