Example #1
0
    def start(self):
        if not glfw.init():
            return

        glfw.window_hint(glfw.SAMPLES, 4)

        # try stereo if refresh rate is at least 100Hz
        window = None
        stereo_available = False

        _, _, refresh_rate = glfw.get_video_mode(glfw.get_primary_monitor())
        if refresh_rate >= 100:
            glfw.window_hint(glfw.STEREO, 1)
            window = glfw.create_window(500, 500, "Simulate", None, None)
            if window:
                stereo_available = True

        # no stereo: try mono
        if not window:
            glfw.window_hint(glfw.STEREO, 0)
            window = glfw.create_window(500, 500, "Simulate", None, None)

        if not window:
            glfw.terminate()
            return

        self.running = True

        # Make the window's context current
        glfw.make_context_current(window)

        width, height = glfw.get_framebuffer_size(window)
        width1, height = glfw.get_window_size(window)
        self._scale = width * 1.0 / width1

        self.window = window

        mjlib.mjv_makeObjects(byref(self.objects), 1000)

        mjlib.mjv_defaultCamera(byref(self.cam))
        mjlib.mjv_defaultOption(byref(self.vopt))
        mjlib.mjr_defaultOption(byref(self.ropt))

        mjlib.mjr_defaultContext(byref(self.con))

        if self.model:
            mjlib.mjr_makeContext(self.model.ptr, byref(self.con), 150)
            self.autoscale()
        else:
            mjlib.mjr_makeContext(None, byref(self.con), 150)

        glfw.set_cursor_pos_callback(window, self.handle_mouse_move)
        glfw.set_mouse_button_callback(window, self.handle_mouse_button)
        glfw.set_scroll_callback(window, self.handle_scroll)
Example #2
0
import mjcore
import os
import numpy as np
from mjlib import mjlib
from ctypes import pointer

xml_path = "../vendor/mujoco_osx/humanoid.xml"


#print model.body_inertia

objects = mjcore.MJVOBJECTS()
cam = mjcore.MJVCAMERA()
vopt = mjcore.MJVOPTION()
ropt = mjcore.MJROPTION()
con = mjcore.MJRCONTEXT()


mjlib.mjv_makeObjects(pointer(mjvObject), 1000)
mjlib.mjv_defaultCamera(pointer(cam));
mjlib.mjv_defaultOption(pointer(vopt));
mjlib.mjr_defaultOption(pointer(ropt));
mjlib.mjr_defaultContext(pointer(con));

model, data = mjcore.load_model_data(xml_path)

mjlib.mjr_makeContext(model.ptr, pointer(con), 150);

#mjvObject
#mujoco_lib.mjvObject
Example #3
0
    def start(self):
        logger.info('initializing [email protected]%s', glfw.get_version())

        glfw.set_error_callback(_glfw_error_callback)

        if not glfw.init():
            raise Exception('glfw failed to initialize')

        window = None
        if self.visible:
            glfw.window_hint(glfw.SAMPLES, 4)
        else:
            glfw.window_hint(glfw.VISIBLE, 0);

        # try stereo if refresh rate is at least 100Hz
        stereo_available = False

        _, _, refresh_rate = glfw.get_video_mode(glfw.get_primary_monitor())
        if refresh_rate >= 100:
            glfw.window_hint(glfw.STEREO, 1)
            window = glfw.create_window(
                self.init_width, self.init_height, "Simulate", None, None)
            if window:
                stereo_available = True

        # no stereo: try mono
        if not window:
            glfw.window_hint(glfw.STEREO, 0)
            window = glfw.create_window(
                self.init_width, self.init_height, "Simulate", None, None)

        if not window:
            glfw.terminate()
            return

        self.running = True

        # Make the window's context current
        glfw.make_context_current(window)

        self._init_framebuffer_object()

        width, height = glfw.get_framebuffer_size(window)
        width1, height = glfw.get_window_size(window)
        self._scale = width * 1.0 / width1

        self.window = window

        mjlib.mjv_makeObjects(byref(self.objects), 1000)

        mjlib.mjv_defaultCamera(byref(self.cam))
        mjlib.mjv_defaultOption(byref(self.vopt))
        mjlib.mjr_defaultOption(byref(self.ropt))

        mjlib.mjr_defaultContext(byref(self.con))

        if self.model:
            mjlib.mjr_makeContext(self.model.ptr, byref(self.con), 150)
            self.autoscale()
        else:
            mjlib.mjr_makeContext(None, byref(self.con), 150)

        glfw.set_cursor_pos_callback(window, self.handle_mouse_move)
        glfw.set_mouse_button_callback(window, self.handle_mouse_button)
        glfw.set_scroll_callback(window, self.handle_scroll)