def upload_texture(self, name):
"""
Uploads the texture to the GPU so it's available in the rendering.
"""
texture = self.get_texture(name)
if not self.sim.render_contexts:
cymj.MjRenderContextOffscreen(self.sim)
for render_context in self.sim.render_contexts:
render_context.upload_texture(texture.id)
def __init__(self,
env,
camera_name=None,
render_width=512,
render_height=512):
super().__init__(env)
self._mujoco_env = isinstance(env, MujocoEnv)
if self._mujoco_env and camera_name is None:
camera_name = env.sim.model.camera_names[0]
self.camera_name = camera_name
self.render_width = render_width
self.render_height = render_height
# TODO this still opens a dead window
self.env.sim.add_render_context(
cymj.MjRenderContextOffscreen(self.env.sim, 0))
