robopal.commons.renderers module

class robopal.commons.renderers.MjRenderer(mj_model, mj_data, render_mode: str | None = 'human', enable_camera_view=False, camera_name='0_cam')

基类：object

add_visual_point(pos: ndarray | List[ndarray])

Render the trajectory from deque above,

you can push the cartesian position into this deque.

参数:

pos -- One of the cartesian position of the trajectory to render.

close()

close the environment.

key_callback(keycode)

render()

render per frame in glfw.

render_pixels_from_camera(cam='0_cam', enable_depth=True)

set_renderer_config()

Setup mujoco global config while using viewer as renderer. It should be noted that the render thread need locked.

visualize_site_frame()

Visualize frames and labels.