restore go2 example

examples/drone/interactive_drone.py

@@ -91,7 +91,6 @@ def update_thrust(self):
         return self.rpms
 
 
-
 def run_sim(scene, drone, controller):
     while controller.running:
         try:

examples/locomotion/go2_env.py

@@ -64,16 +64,6 @@ def __init__(self, num_envs, env_cfg, obs_cfg, reward_cfg, command_cfg, show_vie
             ),
         )
 
-        # add follower camera
-        if show_viewer:
-            self.follower_camera = self.scene.add_camera(res=(640,480),
-                                        pos=(0.0, 2.0, 0.5),
-                                        lookat=(0.0, 0.0, 0.5),
-                                        fov=40,
-                                        GUI=True)
-            # follow the robot at a fixed height and orientation 
-            self.follower_camera.follow_entity(self.robot, fixed_axis=(None, None, 0.5), smoothing=0.5, fix_orientation=True)
-
         # build
         self.scene.build(n_envs=num_envs)
 
@@ -134,9 +124,6 @@ def step(self, actions):
         self.robot.control_dofs_position(target_dof_pos, self.motor_dofs)
         self.scene.step()
 
-        if hasattr(self, "follower_camera"):
-            self.follower_camera.render()
-
         # update buffers
         self.episode_length_buf += 1
         self.base_pos[:] = self.robot.get_pos()

examples/locomotion/go2_train.py

@@ -137,7 +137,6 @@ def get_cfgs():
 
 def main():
     parser = argparse.ArgumentParser()
-    parser.add_argument("-v", "--vis", action="store_true", default=False, help="Enable visualization (default: False)")
     parser.add_argument("-e", "--exp_name", type=str, default="go2-walking")
     parser.add_argument("-B", "--num_envs", type=int, default=4096)
     parser.add_argument("--max_iterations", type=int, default=100)
@@ -154,7 +153,7 @@ def main():
     os.makedirs(log_dir, exist_ok=True)
 
     env = Go2Env(
-        num_envs=args.num_envs, env_cfg=env_cfg, obs_cfg=obs_cfg, reward_cfg=reward_cfg, command_cfg=command_cfg, show_viewer=args.vis
+        num_envs=args.num_envs, env_cfg=env_cfg, obs_cfg=obs_cfg, reward_cfg=reward_cfg, command_cfg=command_cfg
     )
 
     runner = OnPolicyRunner(env, train_cfg, log_dir, device="cuda:0")

genesis/vis/camera.py

@@ -288,7 +288,7 @@ def follow_entity(self, entity, fixed_axis=(None, None, None), smoothing=None, f
             The entity to follow.
         fixed_axis : (float, float, float), optional
             The fixed axis for the camera's movement. For each axis, if None, the camera will move freely. If a float, the viewer will be fixed on at that value.
-            For example, [None, None, None] will allow the camera to move freely while following, [None, None, 0.5] will fix the viewer's z-axis at 0.5.   
+            For example, [None, None, None] will allow the camera to move freely while following, [None, None, 0.5] will fix the viewer's z-axis at 0.5.
         smoothing : float, optional
             The smoothing factor for the camera's movement. If None, no smoothing will be applied.
         fix_orientation : bool, optional
@@ -306,15 +306,17 @@ def update_following(self):
         """
 
         entity_pos = self._followed_entity.get_pos()[0].cpu().numpy()
-        if entity_pos.ndim > 1: #check for multiple envs
+        if entity_pos.ndim > 1:  # check for multiple envs
             entity_pos = entity_pos[0]
         camera_pos = np.array(self._pos)
         camera_pose = np.array(self._transform)
         lookat_pos = np.array(self._lookat)
 
         if self._follow_smoothing is not None:
             # Smooth camera movement with a low-pass filter
-            camera_pos = self._follow_smoothing * camera_pos + (1 - self._follow_smoothing) * (entity_pos + self._init_pos)
+            camera_pos = self._follow_smoothing * camera_pos + (1 - self._follow_smoothing) * (
+                entity_pos + self._init_pos
+            )
             lookat_pos = self._follow_smoothing * lookat_pos + (1 - self._follow_smoothing) * entity_pos
         else:
             camera_pos = entity_pos + self._init_pos

genesis/vis/viewer.py

@@ -171,7 +171,7 @@ def follow_entity(self, entity, fixed_axis=(None, None, None), smoothing=None, f
             The entity to follow.
         fixed_axis : (float, float, float), optional
             The fixed axis for the viewer's movement. For each axis, if None, the viewer will move freely. If a float, the viewer will be fixed on at that value.
-            For example, [None, None, None] will allow the viewer to move freely while following, [None, None, 0.5] will fix the viewer's z-axis at 0.5.   
+            For example, [None, None, None] will allow the viewer to move freely while following, [None, None, 0.5] will fix the viewer's z-axis at 0.5.
         smoothing : float, optional
             The smoothing factor in ]0,1[ for the viewer's movement. If None, no smoothing will be applied.
         fix_orientation : bool, optional
@@ -188,15 +188,19 @@ def update_following(self):
         Update the viewer position to follow the specified entity.
         """
         entity_pos = self._followed_entity.get_pos().cpu().numpy()
-        if entity_pos.ndim > 1: #check for multiple envs
+        if entity_pos.ndim > 1:  # check for multiple envs
             entity_pos = entity_pos[0]
         camera_pose = np.array(self._pyrender_viewer._trackball.pose)
         camera_pos = np.array(self._pyrender_viewer._trackball.pose[:3, 3])
 
         if self._follow_smoothing is not None:
             # Smooth viewer movement with a low-pass filter
-            camera_pos = self._follow_smoothing * camera_pos + (1 - self._follow_smoothing) * (entity_pos + np.array(self._camera_init_pos)) 
-            self._follow_lookat = self._follow_smoothing * self._follow_lookat + (1 - self._follow_smoothing) * entity_pos
+            camera_pos = self._follow_smoothing * camera_pos + (1 - self._follow_smoothing) * (
+                entity_pos + np.array(self._camera_init_pos)
+            )
+            self._follow_lookat = (
+                self._follow_smoothing * self._follow_lookat + (1 - self._follow_smoothing) * entity_pos
+            )
         else:
             camera_pos = entity_pos + np.array(self._camera_init_pos)
             self._follow_lookat = entity_pos