cambrian.renderer.renderer

Wrapper around the mujoco viewer for rendering scenes.

Classes

MjCambrianRendererSaveMode

The save modes for saving rendered images.

MjCambrianRendererConfig

The config for the renderer. Used for type hinting.

MjCambrianViewer

The base class for the viewer. This class should not be instantiated directly.

MjCambrianOffscreenViewer

The offscreen viewer for rendering scenes.

MjCambrianOnscreenViewer

The onscreen viewer for rendering scenes.

MjCambrianRenderer

The renderer for rendering scenes. This is essentially a wrapper around the

Module Contents

class MjCambrianRendererSaveMode(*args, **kwds)[source]

Bases: enum.Flag

The save modes for saving rendered images.

class MjCambrianRendererConfig[source]

Bases: hydra_config.HydraContainerConfig

The config for the renderer. Used for type hinting.

A renderer corresponds to a single camera. The renderer can then view the scene in different ways, like offscreen (rgb_array) or onscreen (human).

Variables:
  • render_modes (List[str]) – The render modes to use for the renderer. See MjCambrianRenderer.metadata[“render.modes”] for options.

  • width (Optional[int]) – The width of the rendered image. For onscreen renderers, if this is set, the window cannot be resized. Must be set for offscreen renderers.

  • height (Optional[int]) – The height of the rendered image. For onscreen renderers, if this is set, the window cannot be resized. Must be set for offscreen renderers.

  • fullscreen (Optional[bool]) – Whether to render in fullscreen or not. If True, the width and height are ignored and the window is rendered in fullscreen. This is only valid for onscreen renderers.

  • scene (Type[mj.MjvScene]) – The scene to render.

  • scene_options (mj.MjvOption) – The options to use for rendering.

  • camera (mj.MjvCamera) – The camera to use for rendering.

  • use_shared_context (bool) – Whether to use a shared context or not. If True, the renderer will share a context with other renderers. This is useful for rendering multiple renderers at the same time. If False, the renderer will create its own context. This is computationally expensive if there are many renderers.

  • save_mode (Optional[MjCambrianRendererSaveMode]) – The save modes to use for saving the rendered images. See MjCambrianRenderer.SaveMode for options. Must be set if save is called without save modes passed directly.

class MjCambrianViewer(config)[source]

Bases: abc.ABC

The base class for the viewer. This class should not be instantiated directly.

Parameters:

config (MjCambrianRendererConfig) – The config to use for the viewer.

class MjCambrianOffscreenViewer(config)[source]

Bases: MjCambrianViewer

The offscreen viewer for rendering scenes.

class MjCambrianOnscreenViewer(config)[source]

Bases: MjCambrianViewer

The onscreen viewer for rendering scenes.

class MjCambrianRenderer(config)[source]

The renderer for rendering scenes. This is essentially a wrapper around the mujoco viewer/renderer.

Parameters:

config (MjCambrianRendererConfig) – The config to use for the renderer.

Variables:

metadata (Dict[str, List[str]]) – The metadata for the renderer. The render modes are stored here.