+ minor fixes

+ modified examples to fit our lib
jaku-jaku · Jul 30, 2022 · 61ab284 · 61ab284
1 parent 4bddc80
commit 61ab284
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Showing 4 changed files with 24 additions and 20 deletions.
diff --git a/examples/markers_demo.py b/examples/markers_demo.py
@@ -28,37 +28,38 @@
 # create the viewer object
 viewer = mujoco_viewer.MujocoViewer(model, data)
 
-while viewer.is_alive:
+while True:
     # sim step
     mujoco.mj_step(model, data)
 
     # draw origin
     x_dir = [[0, 0, 1], [0, 1, 0], [-1, 0, 0]]
     y_dir = [[1, 0, 0], [0, 0, 1], [0, -1, 0]]
     z_dir = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
-    viewer.add_marker(
+    viewer.add_marker_safe(
         pos=[
             0, 0, 0], size=[
             0.05, 0.05, 0.05], rgba=[
                 1, 1, 1, 1], type=mujoco.mjtGeom.mjGEOM_SPHERE, label="origin")
-    viewer.add_marker(
+    viewer.add_marker_safe(
         pos=[
             0, 0, 0], mat=x_dir, size=[
             0.01, 0.01, 2], rgba=[
                 1, 0, 0, 0.2], type=mujoco.mjtGeom.mjGEOM_ARROW, label="")
-    viewer.add_marker(
+    viewer.add_marker_safe(
         pos=[
             0, 0, 0], mat=y_dir, size=[
             0.01, 0.01, 2], rgba=[
                 0, 1, 0, 0.2], type=mujoco.mjtGeom.mjGEOM_ARROW, label="")
-    viewer.add_marker(
+    viewer.add_marker_safe(
         pos=[
             0, 0, 0], mat=z_dir, size=[
             0.01, 0.01, 2], rgba=[
                 0, 0, 1, 0.2], type=mujoco.mjtGeom.mjGEOM_ARROW, label="")
 
     # render
-    viewer.render()
-
+    viewer.process_safe()
+    viewer.render_safe()
+
 # close
-viewer.close()
+viewer.signal_termination_safe(if_immediate=True)
diff --git a/examples/offscreen_demo.py b/examples/offscreen_demo.py
@@ -5,8 +5,11 @@
 model = mujoco.MjModel.from_xml_path('humanoid.xml')
 data = mujoco.MjData(model)
 
-viewer = mujoco_viewer.MujocoViewer(model, data, 'offscreen')
+viewer = mujoco_viewer.MujocoViewer(model, data, if_on_scrn=False)
 mujoco.mj_step(model, data)
-img = viewer.read_pixels(camid=2)
-img = PIL.Image.fromarray(img)
-img.show()
+viewer.process_safe()
+viewer.render_safe()
+
+# img = viewer.read_pixels(camid=2)
+# img = PIL.Image.fromarray(img)
+# img.show()
diff --git a/examples/sample.py b/examples/sample.py
@@ -10,9 +10,8 @@
 # simulate and render
 for _ in range(100000):
     mujoco.mj_step(model, data)
-    viewer.render()
-    if not viewer.is_alive:
-        break
-
+    viewer.process_safe()
+    viewer.render_safe()
+
 # close
-viewer.close()
+viewer.signal_termination_safe(if_immediate=True)
diff --git a/examples/simple_linkage.py b/examples/simple_linkage.py
@@ -59,7 +59,8 @@
 # simulate and render
 for _ in range(100000):
     mujoco.mj_step(model, data)
-    viewer.render()
-
+    viewer.process_safe()
+    viewer.render_safe()
+
 # close
-viewer.close()
+viewer.signal_termination_safe(if_immediate=True)