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v1.1.1-rc2; add velocity visualization

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wty-yy
2026-01-26 10:43:48 +08:00
parent 9b026c9e7a
commit 493fa04341
5 changed files with 119 additions and 32 deletions
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7
robogauge/tasks/pipeline/base_pipeline.py
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@@ -92,10 +92,9 @@ class BasePipeline:
sim_data = self.reset_sim_and_robot(sim_data)
continue
if goal_data.visualization_pos is not None:
self.sim.set_target_pos(goal_data.visualization_pos)
else:
self.sim.set_target_pos(None)
# Setup visualization for simulation
self.sim.target_pos = goal_data.visualization_pos
self.sim.target_velocity = goal_data.velocity_goal
obs = self.robot.build_observation(self.add_noise(sim_data), goal_data)
action, p_gains, d_gains, control_type = self.robot.get_action(obs)