def _setup_world(self):
"""
Helper method for handling setup of the MuJoCo world.
"""
fid = open(self.simParams['xmlfile'], 'r')
xmlStr = fid.read()
self._model = cymj.load_model_from_xml(xmlStr)
self.sim = cymj.MjSim(self._model)
for nm in self.camera_names():
self.camPrms[nm] = {}
self.camPrms[nm]['width'] = self.prms['image_width']
self.camPrms[nm]['height'] = self.prms['image_height']
def initMuJoCo(filename, width2, height):
''' load model, init simulation and rendering '''
global window, sim, ctx
assert glfw.init(), 'Could not initialize GLFW'
glfw.window_hint(glfw.SAMPLES, 0)
glfw.window_hint(glfw.DOUBLEBUFFER, True)
glfw.window_hint(glfw.RESIZABLE, 0)
window = glfw.create_window(width2 // 4, height // 2, "mjvive.py", None, None)
assert window, "Could not create GLFW window"
glfw.make_context_current(window)
glfw.swap_interval(0)
# GLEW init required in C++, not in Python
sim = MjSim(load_model_from_xml(open(filename).read()))
sim.forward()
sim.model.vis.global_.offwidth = width2
sim.model.vis.global_.offheight = height
sim.model.vis.quality.offsamples = 8
ctx = MjRenderContext(sim)
ctx.scn.enabletransform = 1
ctx.scn.translate[1:3] = -0.5
ctx.scn.rotate[0:2] = math.cos(-0.25 * math.pi), math.sin(-0.25 * math.pi)
ctx.scn.scale = 1
ctx.scn.stereo = STEREO_SIDEBYSIDE
def initMuJoCo(filename, width2, height):
''' load model, init simulation and rendering '''
global window, sim, ctx
assert glfw.init(), 'Could not initialize GLFW'
glfw.window_hint(glfw.SAMPLES, 0)
glfw.window_hint(glfw.DOUBLEBUFFER, True)
glfw.window_hint(glfw.RESIZABLE, 0)
window = glfw.create_window(width2 // 4, height // 2, "mjvive.py", None, None)
assert window, "Could not create GLFW window"
glfw.make_context_current(window)
glfw.swap_interval(0)
# GLEW init required in C++, not in Python
sim = MjSim(load_model_from_xml(open(filename).read()))
sim.forward()
sim.model.vis.global_.offwidth = width2
sim.model.vis.global_.offheight = height
sim.model.vis.quality.offsamples = 8
ctx = MjRenderContext(sim)
ctx.scn.enabletransform = 1
ctx.scn.translate[1:3] = -0.5
ctx.scn.rotate[0:2] = math.cos(-0.25 * math.pi), math.sin(-0.25 * math.pi)
ctx.scn.scale = 1
ctx.scn.stereo = STEREO_SIDEBYSIDE