Use render arguments for debug GUI (#64)

* Debug visualizer use render arg * update version
qgallouedec · Apr 27, 2023 · f645048 · f645048
1 parent f3031c9
commit f645048
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Showing 9 changed files with 12 additions and 9 deletions.
diff --git a/docs/conf.py b/docs/conf.py
@@ -23,7 +23,7 @@
 author = "Quentin Gallouédec"
 
 # The full version, including alpha/beta/rc tags
-release = "v3.0.5"
+release = "v3.0.6"
 
 
 # -- General configuration ---------------------------------------------------

diff --git a/panda_gym/envs/core.py b/panda_gym/envs/core.py
@@ -247,11 +247,20 @@ def __init__(
 
         self.render_width = render_width
         self.render_height = render_height
-        self.render_target_position = render_target_position
+        self.render_target_position = (
+            render_target_position if render_target_position is not None else np.array([0.0, 0.0, 0.0])
+        )
         self.render_distance = render_distance
         self.render_yaw = render_yaw
         self.render_pitch = render_pitch
         self.render_roll = render_roll
+        with self.sim.no_rendering():
+            self.sim.place_visualizer(
+                target_position=self.render_target_position,
+                distance=self.render_distance,
+                yaw=self.render_yaw,
+                pitch=self.render_pitch,
+            )
 
     def _get_obs(self) -> Dict[str, np.ndarray]:
         robot_obs = self.robot.get_obs().astype(np.float32)  # robot state

diff --git a/panda_gym/envs/tasks/flip.py b/panda_gym/envs/tasks/flip.py
@@ -24,7 +24,6 @@ def __init__(
         self.obj_range_high = np.array([obj_xy_range / 2, obj_xy_range / 2, 0])
         with self.sim.no_rendering():
             self._create_scene()
-            self.sim.place_visualizer(target_position=np.zeros(3), distance=0.9, yaw=45, pitch=-30)
 
     def _create_scene(self) -> None:
         """Create the scene."""

diff --git a/panda_gym/envs/tasks/pick_and_place.py b/panda_gym/envs/tasks/pick_and_place.py
@@ -27,7 +27,6 @@ def __init__(
         self.obj_range_high = np.array([obj_xy_range / 2, obj_xy_range / 2, 0])
         with self.sim.no_rendering():
             self._create_scene()
-            self.sim.place_visualizer(target_position=np.zeros(3), distance=0.9, yaw=45, pitch=-30)
 
     def _create_scene(self) -> None:
         """Create the scene."""

diff --git a/panda_gym/envs/tasks/push.py b/panda_gym/envs/tasks/push.py
@@ -25,7 +25,6 @@ def __init__(
         self.obj_range_high = np.array([obj_xy_range / 2, obj_xy_range / 2, 0])
         with self.sim.no_rendering():
             self._create_scene()
-            self.sim.place_visualizer(target_position=np.zeros(3), distance=0.9, yaw=45, pitch=-30)
 
     def _create_scene(self) -> None:
         self.sim.create_plane(z_offset=-0.4)

diff --git a/panda_gym/envs/tasks/reach.py b/panda_gym/envs/tasks/reach.py
@@ -23,7 +23,6 @@ def __init__(
         self.goal_range_high = np.array([goal_range / 2, goal_range / 2, goal_range])
         with self.sim.no_rendering():
             self._create_scene()
-            self.sim.place_visualizer(target_position=np.zeros(3), distance=0.9, yaw=45, pitch=-30)
 
     def _create_scene(self) -> None:
         self.sim.create_plane(z_offset=-0.4)

diff --git a/panda_gym/envs/tasks/slide.py b/panda_gym/envs/tasks/slide.py
@@ -26,7 +26,6 @@ def __init__(
         self.obj_range_high = np.array([obj_xy_range / 2, obj_xy_range / 2, 0])
         with self.sim.no_rendering():
             self._create_scene()
-            self.sim.place_visualizer(target_position=np.zeros(3), distance=0.9, yaw=45, pitch=-30)
 
     def _create_scene(self) -> None:
         self.sim.create_plane(z_offset=-0.4)

diff --git a/panda_gym/envs/tasks/stack.py b/panda_gym/envs/tasks/stack.py
@@ -25,7 +25,6 @@ def __init__(
         self.obj_range_high = np.array([obj_xy_range / 2, obj_xy_range / 2, 0])
         with self.sim.no_rendering():
             self._create_scene()
-            self.sim.place_visualizer(target_position=np.zeros(3), distance=0.9, yaw=45, pitch=-30)
 
     def _create_scene(self) -> None:
         self.sim.create_plane(z_offset=-0.4)

diff --git a/panda_gym/version.txt b/panda_gym/version.txt
@@ -1 +1 @@
-3.0.5
+3.0.6