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rohanpsingh / mujoco-python-viewer

Simple renderer for use with MuJoCo (>=2.1.2) Python Bindings.
BSD 2-Clause "Simplified" License
163 stars 24 forks source link

Added joint, wireframe, COM, Inertia overlay #3

Closed rohit-kumar-j closed 2 years ago

rohit-kumar-j commented 2 years ago

Joint overlay added with "J"

joint_overlay_gif

rohit-kumar-j commented 2 years ago

Added Wireframe rendering with "W"

wire_frame_rendering_mujoco

rohit-kumar-j commented 2 years ago

COM: com_rendering_mujoco

INERTIA: inertia_rendering_mujoco

rohanpsingh commented 2 years ago

Looks good, thanks for the PR!

rohanpsingh commented 2 years ago

Assuming, mjVIS_CONTACTFORCE was removed inadvertently, I'll add that line again manually.

rohit-kumar-j commented 2 years ago

mjVIS_CONTACTFORCE was written twice, so I reduced it

rohit-kumar-j commented 2 years ago

I wanted to add convex hull as well, but didn't really know how to work with the documentation in C. The mjVIS_CONVEXHULL is equal to 0. I saw the vopt.frame and tried the same but didn't work. Do you have any pointers to example python bindings examples like the Pybullet Quickstart Guide

rohanpsingh commented 2 years ago

mjVIS_CONTACTFORCE was written twice, so I reduced it

The first line was for mjVIS_CONTACTPOINT followed by the line for mjVIS_CONTACTFORCE. Their purpose is different.

I wanted to add convex hull as well, but didn't really know how to work with the documentation in C.

Let me see if I can get it working.

rohit-kumar-j commented 2 years ago

The first line was for mjVIS_CONTACTPOINT followed by the line for mjVIS_CONTACTFORCE. Their purpose is different.

Ah. I missed that

rohit-kumar-j commented 2 years ago

PR #7 with Convex Hull