Add reset-aware camera render intervals#1025
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Camera sensors can now set `render_update_period` to render images every N `sim.sense()` calls while reusing the previous camera buffers on skipped calls. Reset paths force a fresh camera render so post-reset visual observations remain current.
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Add the feature mentioned in [Reset-aware camera render intervals for batched visual RL · Issue #1024 · mujocolab/mjlab](#1024).
This adds
CameraSensorCfg.render_update_period, defaulting to1so existing camera behavior is unchanged. When users set a larger period, mjlab skips camera rendering on intermediatesim.sense()calls and leaves the previous RGB/depth/segmentation buffers in place. Environment resets and GUI-driven reset updates force a fresh full-batch camera render, which keeps post-reset visual observations current without requiring users to render cameras every control step.The implementation keeps using MuJoCo Warp's public
refit_bvhandrenderAPIs. It does not implement selected-world rendering yet; that remains a possible follow-up after discussion in the linked issue and in google-deepmind/mujoco_warp#1373.Tests cover skipped camera updates, forced refresh after a skipped update, rejection of mismatched render periods across cameras that share one render context, and the existing camera and auto-reset paths. Documentation and the changelog were updated for the new configuration option.
Check results:
UV_NO_SYNC=1 make check: passed.UV_NO_SYNC=1 make test: passed, 903 passed.UV_NO_SYNC=1 make test-all: passed, 903 passed.UV_NO_SYNC=1 uv run pytest tests/test_camera_sensor.py: passed, 17 passed.UV_NO_SYNC=1 uv run pytest tests/test_auto_reset.py: passed, 6 passed.git diff --check: passed.