01环境配置和测试.md

pip install genesis-world


import genesis as gs
gs.init(backend=gs.cpu)

scene = gs.Scene(show_viewer=True)
plane = scene.add_entity(gs.morphs.Plane())
franka = scene.add_entity(
    gs.morphs.MJCF(file='xml/franka_emika_panda/panda.xml'),
)

scene.build()

for i in range(1000):
    scene.step()

这样就可以看到机械臂倒下

光线渲染

import genesis as gs

gs.init(backend=gs.cpu)

scene = gs.Scene(
    show_viewer = True,
    viewer_options = gs.options.ViewerOptions(
        res           = (1280, 960),
        camera_pos    = (3.5, 0.0, 2.5),
        camera_lookat = (0.0, 0.0, 0.5),
        camera_fov    = 40,
        max_FPS       = 60,
    ),
    vis_options = gs.options.VisOptions(
        show_world_frame = True,
        world_frame_size = 1.0,
        show_link_frame  = False,
        show_cameras     = False,
        plane_reflection = True,
        ambient_light    = (0.1, 0.1, 0.1),
    ),
    renderer=gs.renderers.Rasterizer(),
)

plane = scene.add_entity(
    gs.morphs.Plane(),
)
franka = scene.add_entity(
    gs.morphs.MJCF(file='xml/franka_emika_panda/panda.xml'),
)

cam = scene.add_camera(
    res    = (640, 480),
    pos    = (3.5, 0.0, 2.5),
    lookat = (0, 0, 0.5),
    fov    = 30,
    GUI    = False,
)

scene.build()

# 渲染rgb、深度、分割掩码和法线图
# rgb, depth, segmentation, normal = cam.render(rgb=True, depth=True, segmentation=True, normal=True)

cam.start_recording()
import numpy as np

for i in range(120):
    scene.step()
    cam.set_pose(
        pos    = (3.0 * np.sin(i / 60), 3.0 * np.cos(i / 60), 2.5),
        lookat = (0, 0, 0.5),
    )
    cam.render()
cam.stop_recording(save_to_filename='video.mp4', fps=60)