Add camera pose editors plugins#1397
Conversation
|
|
||
|
|
||
| _VIEWER_GL_POSE = sapien.Pose([0, 0, 0], [-0.5, -0.5, 0.5, 0.5]) | ||
| _CAMERA_LINESET_VERTICES = [ |
There was a problem hiding this comment.
Can the _CAMERA_LINESET_VERTICES variable be made a single line (and add a comment to ignore lint checks for that line)
| @@ -0,0 +1,411 @@ | |||
| from __future__ import annotations | |||
|
|
|||
There was a problem hiding this comment.
nice use of the sapien plugin class.
I think this won't be the only non sapien provided plugin we may wish to provide given there could be some other useful features (e.g. reward tracking à la mujoco/mjx tooling).
Moreover we kind of shoehorned some other viewer related code into this folder https://github.com/haosulab/ManiSkill/tree/main/mani_skill/render which I never really liked.
Thus, I think we should make a new folder mani_skill/viewer and then another folder mani_skill/viewer/plugins and add this plugin here.
| pause: Annotated[bool, tyro.conf.arg(aliases=["-p"])] = False | ||
| """If using human render mode, auto pauses the simulation upon loading""" | ||
|
|
||
| edit_camera_poses: bool = False |
There was a problem hiding this comment.
The demo random action file should not be demoing specific plugins like camera editing. I recommend making a new function to demonstrate how to add plugins to a viewer by a user in code examples/demo_plugins.py. Let user specify in the CLI which plugins to load, and print a message to the user to tell them to read the demo's code for how to use non-default plugins
We can include some widely used plugins in the future as part of the default set of plugins added to sapien in maniskill (and this could be one of them, at the moment I'd hold off from making it a default).
| If True, the environment will reset the episode RNG upon each reset regardless of whether a seed is provided. | ||
| Generally enhanced_determinisim is not needed and users are recommended to pass seeds into the env reset function instead. | ||
|
|
||
| enable_camera_pose_editing (bool): If True, the human viewer exposes an in-window camera editor that lets you click camera frustums |
There was a problem hiding this comment.
given I think we should make new plugins a bit more standardized, we should not add specific viewer plugin related code here like one just for camera editing.
Instead, we have two (not mutually exclusive) options
- Add a function
attach_viewer_pluginthat accepts a created plugin object or maybe the plugin class and adds it to the viewer once viewer is created (we will need to maintain a list of plugins). - In the BaseEnv init args, add a argument
pluginsand you can pass in a list of plugins that we add upon viewer creation
This reverts commit 8dc1a80.
|
(sorry for the gymnasium confusion, pushed to the wrong branch!) |
2 participants
Adds an interactive camera-pose editor directly in the renderer, so that users can modify (and read!) the pose of different cameras more easily. Demo 👇
Run the same command with:
As an aside: wow, Codex (@Vaibhavs10, 🥹)---simply wow.