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)
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)
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
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
def start(self):
logger.info('initializing glfw@%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)