🎬 Scene Management

OrcaGym's scene system provides runtime control over the simulation scene.

Scene loading is handled automatically in the Euler environment via the model_xml_path parameter. See 🔧 MuJoCo Backend for details.

Scene Objects

A scene consists of the following elements:

• Actor — Characters/objects in the scene
• Light — Light sources
• Camera — Cameras (including RGB-D sensor data)
• Material — Materials

from orca_gym.scene.orca_gym_scene import OrcaGymScene
from orca_gym.scene.orca_gym_scene_runtime import OrcaGymSceneRuntime

Chapter Navigation

• 🏞️ Scene Loading — XML loading process, resource caching
• 🎭 Actor Manipulation — Mocap anchoring, equality constraints
• 🏔️ Terrain Generation — Height map terrain tools
• 🎨 Assets and Rendering — 3D asset formats, rendering configuration