Method update_sim

avp_stream/streamer.py:3148–3198

Sync current simulation state to the VisionPro. Call this after each simulation step to update the 3D visualization. Works with both MuJoCo (configure_mujoco) and Isaac Lab (configure_isaac). Example (MuJoCo):: while True:

(self)

        return bodies
    
    def update_sim(self):
        """
        Sync current simulation state to the VisionPro.
        
        Call this after each simulation step to update the 3D visualization.
        Works with both MuJoCo (configure_mujoco) and Isaac Lab (configure_isaac).
        
        Example (MuJoCo)::
        
            while True:
                mujoco.mj_step(model, data)
                streamer.update_sim()
        
        Example (Isaac Lab)::
        
            while simulation_app.is_running():
                sim.step()
                streamer.update_sim()
        """
        # Check which simulation backend is configured
        is_isaac = self._isaac_stage is not None
        is_mujoco = self._mujoco_model is not None and self._mujoco_data is not None
        
        if not is_isaac and not is_mujoco:
            self._log("[SIM] Warning: No simulation configured. Call configure_mujoco() or configure_isaac() first.", force=True)
            return
        
        if not self._pose_stream_running:
            # Pose streaming not started yet
            return
        
        # Get current poses based on backend
        if is_isaac:
            poses = self._get_isaac_poses()
            qpos = []  # Isaac doesn't have a simple qpos equivalent
            ctrl = []
        else:
            poses = self._get_mujoco_poses()
            qpos = self._mujoco_data.qpos.tolist()
            ctrl = self._mujoco_data.ctrl.tolist()
        
        timestamp = time.time()
        
        # Update the current poses that the streaming thread will send
        with self._pose_stream_lock:
            self._current_poses = {
                "poses": poses,
                "qpos": qpos,
                "ctrl": ctrl,
                "timestamp": timestamp,
            }
    
    def _get_mujoco_poses(self) -> Dict[str, Dict[str, Any]]:
        """Get current MuJoCo body poses as a dictionary.