| """Render the chess scene from every camera to sim/renders/*.png. |
| |
| Run: .venv/bin/python sim/render_scene.py [--pose home|zero] |
| """ |
| from __future__ import annotations |
|
|
| import argparse |
| import json |
| from pathlib import Path |
|
|
| import mujoco |
| from PIL import Image, ImageDraw |
|
|
| HERE = Path(__file__).resolve().parent |
| OUT = HERE / "renders" |
|
|
|
|
| def load(pose: str = "home"): |
| m = mujoco.MjModel.from_xml_path(str(HERE / "chess_scene.xml")) |
| d = mujoco.MjData(m) |
| if pose == "home": |
| mujoco.mj_resetDataKeyframe(m, d, m.key("home").id) |
| else: |
| mujoco.mj_resetData(m, d) |
| d.ctrl[:] = d.qpos[:m.nu] |
| |
| for _ in range(400): |
| mujoco.mj_step(m, d) |
| return m, d |
|
|
|
|
| def render_all(m, d, w=960, h=720, wrist_w=640, wrist_h=480): |
| OUT.mkdir(exist_ok=True) |
| r = mujoco.Renderer(m, height=h, width=w) |
| rw = mujoco.Renderer(m, height=wrist_h, width=wrist_w) |
| paths = {} |
| camera_metadata = {} |
| opt = mujoco.MjvOption() |
| opt.geomgroup[3] = 0 |
| for cam in ("side", "human", "overhead", "wrist", "board_detail", "scene", "rover"): |
| rr = rw if cam == "wrist" else r |
| rr.update_scene(d, camera=cam, scene_option=opt) |
| img = rr.render() |
| p = OUT / f"{cam}.png" |
| Image.fromarray(img).save(p) |
| paths[cam] = p |
| cid = m.camera(cam).id |
| camera_metadata[cam] = dict( |
| width=rr.width, height=rr.height, vertical_fov_deg=float(m.cam_fovy[cid]), |
| position_world_m=d.cam_xpos[cid].tolist(), |
| rotation_camera_to_world=d.cam_xmat[cid].reshape(3, 3).tolist(), |
| camera_axes="+x right, +y up, -z forward", |
| simulation_time_s=float(d.time), |
| ) |
| r.close(); rw.close() |
| montage = Image.new("RGB", (1280, 960)) |
| draw = ImageDraw.Draw(montage) |
| for i, cam in enumerate(("side", "human", "overhead", "wrist")): |
| x, y = (i % 2) * 640, (i // 2) * 480 |
| with Image.open(paths[cam]) as im: |
| montage.paste(im.resize((640, 480)), (x, y)) |
| draw.rectangle((x + 8, y + 8, x + 145, y + 35), fill="black") |
| draw.text((x + 16, y + 16), f"camera: {cam}", fill="white") |
| montage.save(OUT / "all_views.png") |
| (OUT / "cameras.json").write_text(json.dumps(camera_metadata, indent=2) + "\n") |
| return paths |
|
|
|
|
| def render_piece_lineup(): |
| """Inspection image using the same meshes, materials and scale as the scene.""" |
| from make_scene import ARM_DIR, PIECES, WHITE_PIECE, chess_assets, lookat_xyaxes, piece_body |
|
|
| kinds = list(PIECES) |
| bodies = [piece_body(f"sample_{kind}", kind, WHITE_PIECE, 0, (i - 2.5) * 0.032, 0, |
| "0.7071067812 0 0 0.7071067812" if kind == "king" else "1 0 0 0") |
| for i, kind in enumerate(kinds)] |
| xml = f'''<mujoco> |
| <compiler meshdir="{ARM_DIR}"/> |
| <visual><global offwidth="1280" offheight="600"/><quality shadowsize="4096"/></visual> |
| <asset>{chess_assets()}<material name="piece_mat" specular="0.25" shininess="0.35"/></asset> |
| <worldbody> |
| <light pos="0.1 -0.1 0.4" diffuse="0.8 0.8 0.8"/> |
| <geom type="plane" size="1 1 0.01" rgba="0.19 0.22 0.26 1"/> |
| {''.join(bodies)} |
| <camera name="lineup" pos="0.25 0 0.13" |
| xyaxes="{lookat_xyaxes((0.25, 0, 0.13), (0, 0, 0.020))}" fovy="23"/> |
| </worldbody> |
| </mujoco>''' |
| model = mujoco.MjModel.from_xml_string(xml) |
| data = mujoco.MjData(model) |
| mujoco.mj_forward(model, data) |
| opt = mujoco.MjvOption() |
| opt.geomgroup[3] = 0 |
| with mujoco.Renderer(model, height=600, width=1280) as renderer: |
| renderer.update_scene(data, camera="lineup", scene_option=opt) |
| im = Image.fromarray(renderer.render()) |
| im.save(OUT / "piece_lineup.png") |
|
|
|
|
| def main(): |
| ap = argparse.ArgumentParser() |
| ap.add_argument("--pose", default="home", choices=["home", "zero"]) |
| a = ap.parse_args() |
| m, d = load(a.pose) |
| paths = render_all(m, d) |
| render_piece_lineup() |
| for k, p in paths.items(): |
| print(k, p.relative_to(HERE.parent)) |
|
|
|
|
| if __name__ == "__main__": |
| main() |
|
|
