Mujoco-py: Access camera data from mujoco model

[adarshsehgal]

I have a model of AUBO i5 in mujoco and I am using mujoco py with gym AI to implement reinforcement learning algorithm. I have put camera on the robot and I want to get images from the camera and access those in mujoco py so that I can process them.

Any help would be highly appreciated

Thank you,
Adarsh Sehgal

[gisely]

I would also like to know how to do this!

Thanks,
Guy Isely

[kracon7]

Hi, @adarshsehgal @gisely
have you guys figured this out yet? I ran into the same problem.
Thanks in advance!

[adarshsehgal]

Unfortunately, I was not able to figure this out.

On Sun, Mar 31, 2019 at 7:53 PM kracon7 [e-mail] wrote:

Hi, @adarshsehgal https://github.com/adarshsehgal @gisely
https://github.com/gisely
have you guys figured this out yet? I ran into the same problem.
Thanks in advance!

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[kracon7]

@adarshsehgal
I figured it out.

model = load_model_from_path("test.xml")
sim = MjSim(model)

 ## a is a tuple if depth is True and a numpy array if depth is False ##
a = sim.render(width=200, height=200, camera_name='rgb', depth=True)
rgb_img = a[0]
depth_img = a[1]

It's in their api reference:
https://openai.github.io/mujoco-py/build/html/reference.html#mjsim-basic-simulation

[adarshsehgal]

Great! Thank you so much!

On Mon, Apr 1, 2019 at 12:32 PM kracon7 [e-mail] wrote:

@adarshsehgal https://github.com/adarshsehgal
I figured it out.

model = load_model_from_path("test.xml")
sim = MjSim(model)

## a is a tuple if depth is True and a numpy array if depth is False ##
a = sim.render(width=200, height=200, camera_name='rgb', depth=True)
rgb_img = a[0]
depth_img = a[1]

It's in their api reference:

https://openai.github.io/mujoco-py/build/html/reference.html#mjsim-basic-simulation

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[quinnliu]

'rgb' is not a valid camera but you can use ('frontview', 'birdview', 'agentview', 'sideview', 'robot0_robotview', 'robot0_eye_in_hand')