EmbodiedAI
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Go2Py_SIM
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render flag bug is fixed

This commit is contained in:
Rooholla-KhorramBakht 2024-06-02 19:36:54 -04:00
parent 4922a44251
commit 6b3e6e242f
1 changed files with 8 additions and 4 deletions
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4
Go2Py/sim/mujoco.py
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@ -68,6 +68,7 @@ class Go2Sim:
self.rot0 = np.array([1., 0., 0., 0.]) self.rot0 = np.array([1., 0., 0., 0.])
self.reset() self.reset()
mujoco.mj_step(self.model, self.data) mujoco.mj_step(self.model, self.data)
if self.render:
self.viewer.sync() self.viewer.sync()
self.nv = self.model.nv self.nv = self.model.nv
self.jacp = np.zeros((3, self.nv)) self.jacp = np.zeros((3, self.nv))
@ -117,6 +118,7 @@ class Go2Sim:
self.rot0 = np.array([1., 0., 0., 0.]) self.rot0 = np.array([1., 0., 0., 0.])
self.reset() self.reset()
mujoco.mj_step(self.model, self.data) mujoco.mj_step(self.model, self.data)
if self.render:
self.viewer.sync() self.viewer.sync()
def sitDownReset(self): def sitDownReset(self):
@ -125,6 +127,7 @@ class Go2Sim:
self.rot0 = np.array([1., 0., 0., 0.]) self.rot0 = np.array([1., 0., 0., 0.])
self.reset() self.reset()
mujoco.mj_step(self.model, self.data) mujoco.mj_step(self.model, self.data)
if self.render:
self.viewer.sync() self.viewer.sync()
def getJointStates(self): def getJointStates(self):
@ -237,4 +240,5 @@ class Go2Sim:
return False return False
def close(self): def close(self):
if self.render:
self.viewer.close() self.viewer.close()