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| _"d S ) a0 Initializes a new `Renderer`.
Args:
model: an MjModel instance.
height: image height in pixels.
width: image width in pixels.
max_geom: Optional integer specifying the maximum number of geoms that can
be rendered in the same scene. If None this will be chosen automatically
based on the estimated maximum number of renderable geoms in the model.
Raises:
ValueError: If `camera_id` is outside the valid range, or if `width` or
`height` exceed the dimensions of MuJoCo's offscreen framebuffer.
z
Image width z > framebuffer width z. Either reduce the image
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d| _ d S NF)r! r( r$ r$ r% disable_depth_renderingw s z Renderer.disable_depth_renderingc C s d| _ d| _d S )NTFr* r( r$ r$ r% enable_segmentation_renderingz s z&Renderer.enable_segmentation_renderingc C s
d| _ d S r, )r" r( r$ r$ r% disable_segmentation_rendering~ s z'Renderer.disable_segmentation_rendering)out)r0 r c
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Args:
out: Alternative output array in which to place the resulting pixels. It
must have the same shape as the expected output but the type will be
cast if necessary. The expted shape depends on the value of
`self._depth_rendering`: when `True`, we expect `out.shape == (width,
height)`, and `out.shape == (width, height, 3)` when `False`.
Returns:
A new numpy array holding the pixels with shape `(H, W)` or `(H, W, 3)`,
depending on the value of `self._depth_rendering` unless
`out is None`, in which case a reference to `out` is returned.
Raises:
RuntimeError: if this method is called after the close method.
TNz$render cannot be called after close. )dtypezExpected `out.shape == z`. Got `out.shape=z` instead. When using depth rendering, the out array should be of shape `(width, height)` and otherwise (width, height, 3). Got `(self.height, self.width)=z ` and `self._depth_rendering=z`. g g ?r i )Z
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| j dS )av Updates geometry used for rendering.
Args:
data: An instance of `MjData`.
camera: An instance of `MjvCamera`, a string or an integer
scene_option: A custom `MjvOption` instance to use to render the scene
instead of the default.
Raises:
ValueError: If `camera_id` is outside the valid range, or if camera does
not exist.
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mjCAMERA_FREEtypeZmjv_defaultFreeCameraZmjCAMERA_FIXEDr Zmjv_updateSceneZ mjtCatBitZ mjCAT_ALLr )r# rL rM rN Z camera_idr$ r$ r% update_scene s<
zRenderer.update_scenec C s0 | j r| j d| _ | jr&| j d| _dS )a" Frees the resources used by the renderer.
This method can be used directly:
```python
renderer = Renderer(...)
# Use renderer.
renderer.close()
```
or via a context manager:
```python
with Renderer(...) as renderer:
# Use renderer.
```
N)r freer r( r$ r$ r% close0 s
zRenderer.closec C s | S r' r$ r( r$ r$ r% __enter__I s zRenderer.__enter__c C s ~~~| d S r' rU )r# exc_type exc_value tracebackr$ r$ r% __exit__L s zRenderer.__exit__c C s | d S r' rW r( r$ r$ r% __del__P s zRenderer.__del__)r
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