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Extend sim rendering function to allow rendering to RGB images #35

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Merged
amacati merged 1 commit into from
Jul 10, 2025
Merged

Extend sim rendering function to allow rendering to RGB images #35

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14 changes: 7 additions & 7 deletions crazyflow/sim/sim.py
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
from functools import partial
from pathlib import Path
from typing import Any, Callable
from typing import Any, Callable, Optional

import jax
import jax.numpy as jnp
Expand Down Expand Up @@ -300,15 +300,15 @@
controls = to_device(cmd, self.device)
self.data = self.data.replace(controls=self.data.controls.replace(thrust=controls))

def render(self):
def render(self, mode: Optional[str] = "human", world: Optional[int] = 0, default_cam_config: Optional[dict] = None):

Check failure on line 303 in crazyflow/sim/sim.py

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Ruff (ANN201) 

crazyflow/sim/sim.py:303:9: ANN201 Missing return type annotation for public function `render`
if self.viewer is None:
patch_viewer()
self.viewer = MujocoRenderer(self.mj_model, self.mj_data, max_geom=self.max_visual_geom)
self.mj_data.qpos[:] = self.data.mjx_data.qpos[0, :]
self.mj_data.mocap_pos[:] = self.data.mjx_data.mocap_pos[0, :]
self.mj_data.mocap_quat[:] = self.data.mjx_data.mocap_quat[0, :]
self.viewer = MujocoRenderer(self.mj_model, self.mj_data, max_geom=self.max_visual_geom, default_cam_config=default_cam_config, height=480, width=640)
self.mj_data.qpos[:] = self.data.mjx_data.qpos[world, :]
self.mj_data.mocap_pos[:] = self.data.mjx_data.mocap_pos[world, :]
self.mj_data.mocap_quat[:] = self.data.mjx_data.mocap_quat[world, :]
mujoco.mj_forward(self.mj_model, self.mj_data)
self.viewer.render("human")
return self.viewer.render(mode)

def seed(self, seed: int):
"""Set the JAX rng key for the simulation.
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