robosuite.renderers package

Subpackages

Submodules

robosuite.renderers.base module

This file contains the base renderer class for Mujoco environments.

class robosuite.renderers.base.Renderer(env, renderer_type='mujoco')

Bases: object

Base class for all robosuite renderers Defines basic interface for all renderers to adhere to

abstract close()

Closes the renderer objects

abstract get_pixel_obs()

Get the pixel observations from the given renderer

Returns

numpy array representing pixels of renderer

Return type

numpyarr

abstract render(**kwargs)

Renders the current state with the specified renderer

abstract reset()

Reset the renderer with initial states for environment

abstract update()

Updates the states in the renderer (for NVISII and iGibson)

robosuite.renderers.base.load_renderer_config(renderer)

Loads the config of the specified renderer. Modify the dictionary returned by this function according to reuirements.

Parameters

renderer (str) – Name of the renderer to use.

Returns

renderer default config.

Return type

dict

robosuite.renderers.base_parser module

class robosuite.renderers.base_parser.BaseParser(renderer, env)

Bases: object

Base class for Parser objects used by renderers.

parse_cameras()

Parse cameras and initialize the cameras.

parse_geometries()

Iterate through each goemetry and load it in the iGibson renderer.

abstract parse_materials()

Parse all materials and use texture mapping to initialize materials

parse_meshes()

Create mapping of meshes.

abstract parse_textures()

Parse and load all textures and store them

Module contents