RecorderManager#

RecorderManager 协调多个 recorders，管理它们的生命周期和数据分发。

概述#

RecorderManager:

  • 管理 recorders 集合

  • 将数据分派到适当的 recorders

  • 处理录制会话的启动/停止

  • 协调构建和清理阶段

用法#

RecorderManager 通常通过 Scene 访问：

import genesis as gs

gs.init()
scene = gs.Scene()
robot = scene.add_entity(gs.morphs.URDF(file="robot.urdf"))
scene.build()

# Add multiple recorders
scene.add_recorder(
    gs.recorders.NPZFileWriter(filepath="data.npz"),
    data_func=lambda: robot.get_qpos(),
)

scene.add_recorder(
    gs.recorders.MPLLinePlotter(title="Positions"),
    data_func=lambda: robot.get_qpos(),
)

# Start all recorders
scene.start_recording()

for i in range(1000):
    scene.step()

# Stop all recorders
scene.stop_recording()

录制控制#

# Start recording all registered recorders
scene.start_recording()

# Check recording status
if scene.is_recording:
    print("Currently recording")

# Stop recording and trigger cleanup
scene.stop_recording()

# Stop recording and save video (if viewer is active)
scene.stop_recording(save_to="output.mp4")

API 参考#

另请参阅#