python类render()的实例源码

def __init__(self, action_noise=0.0, file_path=None, template_args=None):
        # compile template
        if file_path is None:
            if self.__class__.FILE is None:
                raise "Mujoco file not specified"
            file_path = osp.join(MODEL_DIR, self.__class__.FILE)
        if file_path.endswith(".mako"):
            lookup = mako.lookup.TemplateLookup(directories=[MODEL_DIR])
            with open(file_path) as template_file:
                template = mako.template.Template(
                    template_file.read(), lookup=lookup)
            content = template.render(
                opts=template_args if template_args is not None else {},
            )
            tmp_f, file_path = tempfile.mkstemp(text=True)
            with open(file_path, 'w') as f:
                f.write(content)
            self.model = MjModel(file_path)
            os.close(tmp_f)
        else:
            self.model = MjModel(file_path)
        self.data = self.model.data
        self.viewer = None
        self.init_qpos = self.model.data.qpos
        self.init_qvel = self.model.data.qvel
        self.init_qacc = self.model.data.qacc
        self.init_ctrl = self.model.data.ctrl
        self.qpos_dim = self.init_qpos.size
        self.qvel_dim = self.init_qvel.size
        self.ctrl_dim = self.init_ctrl.size
        self.action_noise = action_noise
        if "frame_skip" in self.model.numeric_names:
            frame_skip_id = self.model.numeric_names.index("frame_skip")
            addr = self.model.numeric_adr.flat[frame_skip_id]
            self.frame_skip = int(self.model.numeric_data.flat[addr])
        else:
            self.frame_skip = 1
        if "init_qpos" in self.model.numeric_names:
            init_qpos_id = self.model.numeric_names.index("init_qpos")
            addr = self.model.numeric_adr.flat[init_qpos_id]
            size = self.model.numeric_size.flat[init_qpos_id]
            init_qpos = self.model.numeric_data.flat[addr:addr + size]
            self.init_qpos = init_qpos
        self.dcom = None
        self.current_com = None
        self.reset()
        super(MujocoEnv, self).__init__()

def __init__(self,
                 difficulty=1.0,
                 texturedir='/tmp/mujoco_textures',
                 hfield_dir='/tmp/mujoco_terrains',
                 regen_terrain=True,
                 *args, **kwargs):
        Serializable.quick_init(self, locals())

        self.difficulty = max(difficulty, self.MIN_DIFFICULTY)
        self.texturedir = texturedir
        self.hfield_dir = hfield_dir

        model_cls = self.__class__.MODEL_CLASS
        if model_cls is None:
            raise "MODEL_CLASS unspecified!"

        template_file_name = 'hill_' + model_cls.__module__.split('.')[-1] + '.xml.mako'

        template_options=dict(
            difficulty=self.difficulty,
            texturedir=self.texturedir,
            hfield_file=os.path.join(self.hfield_dir, self.HFIELD_FNAME))

        file_path = os.path.join(MODEL_DIR, template_file_name)
        lookup = mako.lookup.TemplateLookup(directories=[MODEL_DIR])
        with open(file_path) as template_file:
            template = mako.template.Template(
                template_file.read(), lookup=lookup)
        content = template.render(opts=template_options)

        tmp_f, file_path = tempfile.mkstemp(text=True)
        with open(file_path, 'w') as f:
            f.write(content)

        if self._iam_terrain_generator(regen_terrain):
            self._gen_terrain(regen_terrain)
            os.remove(self._get_lock_path())

        inner_env = model_cls(*args, file_path=file_path, **kwargs)  # file to the robot specifications
        ProxyEnv.__init__(self, inner_env)  # here is where the robot env will be initialized

        os.close(tmp_f)