Test Window and Camera Test Window

Test Window

To open Test Window, call:

env.render("human")

In this window, you can:

• turn around point in the center, using your mouse or trackpad (LMB is left mouse button here),
• move in virtual world, using Ctrl + LMB or RMB,
• Turn on/off slowmo F1,
• Turn on/off score bar F2,
• Turn on/off actions, observations, rewards F3.

The wireframe cage you see in the center when you open Test Window, is a ruler to show zero coordinates position, height of 1, horizontal distance of 1. Distance between running lanes is 1 meter.

If you close the window, env.render("human") will start returning False.

Camera Test Window

A scene usually has a camera to chase the robot, it is used to record video.

a = env.render("rgb_array")
# Look inside a, it has shape [400,600,3] or similar
env.unwrapped.camera.test_window()

You also can create your own camera:

mycam = env.unwrapped.scene.cpp_world.new_camera_free_float(320, 200, "my_camera")
mycam.move_and_look_at(1,1,1, 0,0,0)
rgb, depth, depth_mask, labeling, labeling_mask = mycam.render(True, True, True)
rgb_array       = np.fromstring(rgb, dtype=np.uint8).reshape( (320,200,3) )
depth_array     = np.fromstring(depth, dtype=np.float32).reshape( (160,100,1) )
labeling_array  = np.fromstring(labeling, dtype=np.uint8).reshape( (160,100,1) )

Labeling is broken now, but it's expected to recover, once environments with RGB observations appear.