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v0.1.11

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This commit is contained in:
wty-yy
2025-12-21 00:16:07 +08:00
parent 939dc69b7e
commit 4546be76bf
14 changed files with 246 additions and 45 deletions
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27
robogauge/tasks/simulator/mujoco_simulator.py
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@@ -42,6 +42,7 @@ class MujocoSimulator:
self._pause = True
self.n_step = 0
self.sim_time = 0.0
self.target_pos = None
def load(
self,
@@ -167,6 +168,9 @@ class MujocoSimulator:
self._pause = not self._pause
logger.info(f"Pause toggled: {self._pause}")
def set_target_pos(self, pos):
self.target_pos = pos
def step(self) -> SimData:
""" Simulation step, pause will block thread. """
while self._pause:
@@ -177,6 +181,17 @@ class MujocoSimulator:
# Viewer sync
if self.viewer is not None:
if self.viewer.is_running():
if self.target_pos is not None:
self.viewer.user_scn.ngeom = 0
mujoco.mjv_initGeom(
self.viewer.user_scn.geoms[0],
type=mujoco.mjtGeom.mjGEOM_SPHERE,
size=[0.1, 0, 0],
pos=self.target_pos,
mat=np.eye(3).flatten(),
rgba=[1, 0, 0, 1]
)
self.viewer.user_scn.ngeom = 1
self.viewer.sync()
time_untile_next_render = self.cfg.physics.simulation_dt - (
time.time() - self.last_render_time
@@ -193,6 +208,18 @@ class MujocoSimulator:
render_cam = self.viewer.cam if self.viewer is not None else self.offscreen_cam
# mujoco.mjv_updateCamera(render_cam)
self.renderer.update_scene(self.mj_data, camera=render_cam)
if self.target_pos is not None:
self.renderer.scene.ngeom += 1
mujoco.mjv_initGeom(
self.renderer.scene.geoms[self.renderer.scene.ngeom - 1],
type=mujoco.mjtGeom.mjGEOM_SPHERE,
size=[0.1, 0, 0],
pos=self.target_pos,
mat=np.eye(3).flatten(),
rgba=[1, 0, 0, 1]
)
frame = self.renderer.render()
self.vid_writer.append_data(frame)