agent_mjc.py 文件源码

def mujoco_to_imagespace(self, mujoco_coord, numpix=64, truncate=False):
        """
        convert form Mujoco-Coord to numpix x numpix image space:
        :param numpix: number of pixels of square image
        :param mujoco_coord:
        :return: pixel_coord
        """
        viewer_distance = .75  # distance from camera to the viewing plane
        window_height = 2 * np.tan(75 / 2 / 180. * np.pi) * viewer_distance  # window height in Mujoco coords
        pixelheight = window_height / numpix  # height of one pixel
        pixelwidth = pixelheight
        window_width = pixelwidth * numpix
        middle_pixel = numpix / 2
        pixel_coord = np.rint(np.array([-mujoco_coord[1], mujoco_coord[0]]) /
                              pixelwidth + np.array([middle_pixel, middle_pixel]))
        pixel_coord = pixel_coord.astype(int)

        return pixel_coord