🎨 Assets and Rendering¶
OrcaGym performs 3D scene rendering through OrcaStudio/OrcaLab.
Supported Assets¶
| Asset Type | Format | Description |
|---|---|---|
| Mesh | OBJ, STL | 3D geometry |
| Height Field (HField) | PNG | Terrain height map |
| Texture | PNG, JPG | Surface textures |
| Scene | MJCF (XML) | MuJoCo scene description |
Asset Processing Tools¶
# USDZ to XML conversion
from orca_gym.tools.assets import usdz_to_xml
# Texture processing
from orca_gym.tools.assets import texture_processer
Asset Cache¶
Asset files are cached at ~/.orcagym/tmp/:
# Cache directory
# Assets are cached at ~/.orcagym/tmp/
# Safe access via file locks
# Supports concurrent multi-process downloads
Rendering Configuration¶
Rendering is controlled on the OrcaStudio/OrcaLab server side, including:
- Light position and type
- Camera viewpoint
- Material properties
- Shadow settings
On the Python side, rendering frame transmission is triggered via the render() method.