Skip to main content

Usage Guide

BaseConfig Class​

Configuration of the simulation environment, including the following contents:

  • mjcf_file_path: The simulation scene file, with the suffix .xml or .mjb.
  • timestep: The time step of the physical simulation, in seconds.
  • decimation: Downsampling, and the time for each call to the step simulation is $decimation \times timestep$.
  • sync: Time synchronization. When set to True, it will perform sleep during step to keep the time speed of the simulation consistent with the real world. It is recommended to set it to True during teleoperation and False during automatic data generation, which will speed up the data generation.
  • headless: Headless mode. If set to True, the visualization window will not be displayed. It is recommended to set it to True on devices without a display or during automatic data generation.
  • render_set: Of dictionary type, used to set the frame rate, width, and height of the rendered image.
  • obs_rgb_cam_id: List of integers, used to set the ID of the RGB image acquisition camera.
  • obs_depth_cam_id: List of integers, used to set the ID of the depth map acquisition camera.
  • use_gaussian_renderer: When set to True, 3dgs is used for high-fidelity rendering, otherwise the mujoco native renderer is used. The following options are unique to high-fidelity rendering and do not need to be set when using the mujoco native renderer:
  • rb_link_list: The body name of the robot.
  • obj_list: The body name of the manipulated objects in the scene. Only objects appearing in rb_link_list and obj_list will appear during 3dgs rendering.
  • gs_model_dict: Of dictionary type, where the key is the body name and the value is the path of the corresponding 3dgs ply file.

Step Function​

The agent interacts with the environment through the step() function, executes an action, and receives the next observation, privileged observation, reward, done flag, and other additional information.

observation, privileged_observation, reward, done, info = env.step(action)

Tools​

There are some commonly used Python scripts in the scripts path:

  • convex_decomposition.ipynb: [Convex decomposition of objects](doc/convex decomposition.md)
  • urdf format: Format the urdf file.
  • gaussainSplattingConvert.py: Convert 3dgs ply models between binary and ASCII encoding.
  • gaussainSplattingTranspose.py: Translate, rotate, and scale a single 3dgs ply model.

Other tools:

  • obj2mjcf: Convert obj files to mjcf format.
  • View the mujoco scene in the terminal 
    python3 -m mujoco.viewer --mjcf=<PATH-TO-MJCF-FILE>
    e.g.
    cd models/mjcf
    python3 -m mujoco.viewer --mjcf=mmk2_floor.xml