tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
tdpeuter/2026SEL3-project-Brittle_Star_Controller_Modularity
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Merge branch 'feat/video-simulation' of github.com:SELab-3-2026/Brittle-Star into feat/video-simulation

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Jona Reynaert 2026-05-15 19:51:16 +02:00
commit 3dfcfc493e
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20
scripts/poster_visualisations/render_static_path_image.py
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@ -139,6 +139,26 @@ def main() -> None:
if int(model.geom_bodyid[g]) in robot_body_ids:
model.geom_rgba[g][:] = robot_rgba
# Optionally override robot color by recoloring geoms belonging to the robot's body subtree.
if args.robot_color is not None:
robot_rgba = _hex_to_rgba(args.robot_color, 1.0)
# Collect body IDs in the subtree rooted at `body_id` by walking parent links.
nbody = int(model.nbody)
body_parent = model.body_parentid
robot_body_ids = set([int(body_id)])
for i in range(1, nbody):
cur = int(i)
# walk up until root (0) or until we hit the robot root
while cur not in (-1, 0, int(body_id)):
cur = int(body_parent[cur])
if cur == int(body_id):
robot_body_ids.add(i)
# Recolor geoms whose body id is in the robot subtree
for g in range(int(model.ngeom)):
if int(model.geom_bodyid[g]) in robot_body_ids:
model.geom_rgba[g][:] = robot_rgba
positions = []
observations = _get_observations(state)