Custom Camera Views

Hello,

Thank you for the excellent code.

I’m trying to use the setup to collect simulated RGB data for a project but I haven’t been able to find a way to set custom camera angle while rendering. All I can see is some predefined modes like topview. Anyway I can setup custom camera views for the tasks?

Thanks!

[activatedgeek]

Here’s a tiny hack meanwhile.

I modified viewer_setup() method in mujoco_env.py with the following statements

...

def viewer_setup(self):
  self.viewer.cam.azimuth = -20
  self.viewer.cam.elevation = -20

...

Gets you this perspective

[karttikeya]

Yes, modifying the viewer_setup() api does the trick. In my case (headless remote server, No GLFW) to use env.sim.render instead of env.render using the following snippet to directly create and adjust the viewer

env.viewer = mujoco_py.MjRenderContextOffscreen(env.sim, -1) 
env.viewer.cam.azimuth =  205
env.viewer.cam.elevation = -170
env.viewer.cam.distance = 2.3
env.viewer.cam.lookat[0] = 1.1
env.viewer.cam.lookat[1] = 1.1 
env.viewer.cam.lookat[2] = -0.1

renders a nice GIF-esque angle.

On a related note, would there be a way to render this “effector ghost”, ie same as usual except without the sawyer arm.