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Speed up visualization by limiting render rate

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spencerfolk
2024-01-03 16:51:17 -05:00
parent f21b248e29
commit 173465dbec
1 changed files with 9 additions and 1 deletions
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10
rotorpy/learning/quadrotor_environments.py
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@@ -35,6 +35,7 @@ class QuadrotorEnv(gym.Env):
sim_rate: the simulation rate (in Hz), i.e. the timestep. sim_rate: the simulation rate (in Hz), i.e. the timestep.
aero: boolean, determines whether or not aerodynamic wrenches are computed. aero: boolean, determines whether or not aerodynamic wrenches are computed.
render_mode: render the quadrotor. render_mode: render the quadrotor.
render_fps: rendering frames per second, lower this for faster visualization.
ax: for plotting purposes, you can supply an axis object that the quadrotor will visualize on. ax: for plotting purposes, you can supply an axis object that the quadrotor will visualize on.
""" """
@@ -58,10 +59,13 @@ class QuadrotorEnv(gym.Env):
sim_rate = 100, # The update frequency of the simulator in Hz sim_rate = 100, # The update frequency of the simulator in Hz
aero = True, # Whether or not aerodynamic wrenches are computed. aero = True, # Whether or not aerodynamic wrenches are computed.
render_mode = "None", # The rendering mode render_mode = "None", # The rendering mode
render_fps = 30, # The rendering frames per second. Lower this for faster visualization.
ax = None, ax = None,
): ):
super(QuadrotorEnv, self).__init__() super(QuadrotorEnv, self).__init__()
self.metadata['render_fps'] = render_fps
self.initial_state = initial_state self.initial_state = initial_state
self.vehicle_state = initial_state self.vehicle_state = initial_state
@@ -398,17 +402,21 @@ class QuadrotorEnv(gym.Env):
def _plot_quad(self): def _plot_quad(self):
if abs(self.t / (1/self.metadata['render_fps']) - round(self.t / (1/self.metadata['render_fps']))) > 1e-2:
return
plot_position = deepcopy(self.vehicle_state['x']) plot_position = deepcopy(self.vehicle_state['x'])
plot_rotation = Rotation.from_quat(self.vehicle_state['q']).as_matrix() plot_rotation = Rotation.from_quat(self.vehicle_state['q']).as_matrix()
plot_wind = deepcopy(self.vehicle_state['wind']) plot_wind = deepcopy(self.vehicle_state['wind'])
if self.world_artists is None: if self.world_artists is None:
self.world_artists = self.world.draw(self.ax) self.world_artists = self.world.draw(self.ax)
self.ax.plot(0, 0, 0, 'go')
self.quad_obj.transform(position=plot_position, rotation=plot_rotation, wind=plot_wind) self.quad_obj.transform(position=plot_position, rotation=plot_rotation, wind=plot_wind)
self.title_artist.set_text('t = {:.2f}'.format(self.t)) self.title_artist.set_text('t = {:.2f}'.format(self.t))
plt.pause(0.0001) plt.pause(1e-9)
return return