-
Notifications
You must be signed in to change notification settings - Fork 9
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Add jaxsim.mujoco
package with resources to render a scene using the Mujoco viewer
#83
Merged
diegoferigo
merged 8 commits into
ami-iit:main
from
diegoferigo:feature/mujoco_passive_viewer
Feb 12, 2024
Merged
Add jaxsim.mujoco
package with resources to render a scene using the Mujoco viewer
#83
diegoferigo
merged 8 commits into
ami-iit:main
from
diegoferigo:feature/mujoco_passive_viewer
Feb 12, 2024
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
4c18638
to
6bb00ea
Compare
6bb00ea
to
8de7ffe
Compare
traversaro
approved these changes
Feb 12, 2024
flferretti
approved these changes
Feb 12, 2024
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
LGTM, thanks! I just wrote some minor comments
Co-authored-by: Filippo Luca Ferretti <[email protected]>
8de7ffe
to
4dcd4a7
Compare
As a reference, here the result of the visualization of the ergoCubSN001: export GAZEBO_MODEL_PATH=/home/dferigo/git/ergocub-software/urdf
python -m jaxsim.mujoco -d ~/git/ergocub-software/urdf/ergoCub/robots/ergoCubSN001/model.urdf -v -b 0 0 1 |
This was referenced Mar 8, 2024
Closed
5 tasks
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR introduces a new
jaxsim.mujoco
package for visualizing a simulated trajectory in the Mujoco viewer. The implementation uses the asynchronous (non-blocking) passive viewer, and it allows to both open a window and/or record a video -- assuming a proper configuration to exploit EGL on headless machines.So far, only kinematics is visualized. A list of missing features that might be implemented in future PRs is the following:
user_scn
member.Implementation details:
jaxsim.mujoco
resources.visual
shapes are visualized. The collision shapes are rendered withalpha=0
.Therefore, we perform:
URDF/SDF
→ in-memory ROD model → export toURDF
→ load into the Mujoco URDF parser → export the XML → postprocess the XML with additional elements.Full commandline:
For something similar to a tutorial on how to visualize a model, refer to the
__main__
file that includes a handy command-line.Partially addresses #11.
📚 Documentation preview 📚: https://jaxsim--83.org.readthedocs.build//83/