[Won't Merge] Refactoring

LICENSE

@@ -1,6 +1,9 @@
 BSD 2-Clause License
 
-Copyright (c) 2022, Rohan P. Singh
+mujoco_py
+├── Copyright (c) 2022, Rohan P. Singh
+│   └── Copyright (c) 2022, Jack Xu
+
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

README.md

@@ -1,75 +1,27 @@
 # Viewer for MuJoCo in Python
 
-Interactive renderer to use with the official Python bindings for MuJoCo.
-
-Starting with version 2.1.2, MuJoCo comes with native Python bindings officially supported by the MuJoCo devs.  
-
-If you have been a user of `mujoco-py`, you might be looking to migrate.  
-Some pointers on migration are available [here](https://mujoco.readthedocs.io/en/latest/python.html#migration-notes-for-mujoco-py).
-
-# Install
+Interactive renderer to use with the official Python bindings for MuJoCo 2.2.x
+
++ Develop along with [jx-mujoco-python-engine](https://github.com/jaku-jaku/jx-mujoco-python-engine)
++ A more efficient, robust and thread safe viewer with native MuJoCo 2.2.x with glfw
++ Works with Mac M1 with MuJoCo 2.2.x
+## Points to ponder:
+> This repo is/will-be a re-implementation of https://github.com/rohanpsingh/mujoco-python-viewer with custom features
+> Additional credits: I do see a lot of similar structure as used in `mjviewer` from mujoco-py, so I will also give credits to https://github.com/openai/mujoco-py/blob/master/mujoco_py/mjviewer.py
+> Starting with version 2.1.2, MuJoCo comes with native Python bindings officially supported by the MuJoCo devs.  
+> If you have been a user of `mujoco-py`, you might be looking to migrate.  
+> Some pointers on migration are available [here](https://mujoco.readthedocs.io/en/latest/python.html#migration-notes-for-mujoco-py).
+
+## Tested OS Platform:
+- Mac M1
+- Ubuntu 18.04
+
+## Install
 ```sh
-$ git clone https://github.com/rohanpsingh/mujoco-python-viewer
-$ cd mujoco-python-viewer
+$ git clone https://github.com/jaku-jaku/jx-mujoco-python-viewer
+$ cd jx-mujoco-python-viewer
 $ pip install -e .
 ```
-Or, install via Pip.
-```sh
-$ pip install mujoco-python-viewer
-```
-
-# Usage
-#### How to render in a window?
-```py
-import mujoco
-import mujoco_viewer
-
-model = mujoco.MjModel.from_xml_path('humanoid.xml')
-data = mujoco.MjData(model)
-
-# create the viewer object
-viewer = mujoco_viewer.MujocoViewer(model, data)
-
-# simulate and render
-for _ in range(10000):
-    if viewer.is_alive:
-        mujoco.mj_step(model, data)
-        viewer.render()
-    else:
-        break
-
-# close
-viewer.close()
-```
-
-The render should pop up and the simulation should be running.  
-Double-click on a geom and hold `Ctrl` to apply forces (right) and torques (left).
-
-![ezgif-2-6758c40cdf](https://user-images.githubusercontent.com/16384313/161459985-a47e74dc-92c9-4a0b-99fc-92d1b5b04163.gif)
-
-
-Press `ESC` to quit.  
-Other key bindings are shown in the overlay menu (Press `H` or hold `Alt`).
-
-
-
-#### How to render offscreen?
-```py
-import mujoco
-import mujoco_viewer
-
-model = mujoco.MjModel.from_xml_path('humanoid.xml')
-data = mujoco.MjData(model)
-
-viewer = mujoco_viewer.MujocoViewer(model, data, 'offscreen')
-mujoco.mj_forward(model, data)
-img = viewer.read_pixels(camid=2)
-## do something cool with img
-```
-
-# Optional Parameters
 
-- `title`: set the title of the window, for example: `viewer = mujoco_viewer.MujocoViewer(model, data, title='My Demo')` (defaults to `mujoco-python-viewer`). 
-- `width`: set the window width, for example: `viewer = mujoco_viewer.MujocoViewer(model, data, width=300)` (defaults to full screen's width). 
-- `height`: set the window height, for example: `viewer = mujoco_viewer.MujocoViewer(model, data, height=300)` (defaults to full screen's height). 
-- `hide_menus`: set whether the overlay menus should be hidden or not (defaults to `True`).
+## Demo (WIP):
+- https://github.com/UW-Advanced-Robotics-Lab/simulation-mujoco-summit-wam

examples/markers_demo.py

@@ -28,37 +28,39 @@
 # 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.update_safe()
+    viewer.render_safe()
+
 # close
-viewer.close()
+viewer.signal_termination_safe(if_immediate=True)

examples/offscreen_demo.py

@@ -5,8 +5,12 @@
 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.update_safe()
+viewer.render_safe()
+
+# img = viewer.read_pixels(camid=2)
+# img = PIL.Image.fromarray(img)
+# img.show()

examples/sample.py

@@ -10,9 +10,9 @@
 # simulate and render
 for _ in range(100000):
     mujoco.mj_step(model, data)
-    viewer.render()
-    if not viewer.is_alive:
-        break
-
+    viewer.process_safe()
+    viewer.update_safe()
+    viewer.render_safe()
+    
 # close
-viewer.close()
+viewer.signal_termination_safe(if_immediate=True)

examples/simple_linkage.py

@@ -59,7 +59,9 @@
 # simulate and render
 for _ in range(100000):
     mujoco.mj_step(model, data)
-    viewer.render()
-
+    viewer.process_safe()
+    viewer.update_safe()
+    viewer.render_safe()
+
 # close
-viewer.close()
+viewer.signal_termination_safe(if_immediate=True)