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Enable more than one MjViewer instance at a time #217

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Enable more than one MjViewer instance at a time #217

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35452aa
Add window title parameter to MjViewer
ryanjulian Feb 8, 2018
d028442
Set window context before rendering in MjViewer
ryanjulian Feb 8, 2018
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11 changes: 8 additions & 3 deletions rllab/mujoco_py/mjviewer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@ def _glfw_error_callback(e, d):

class MjViewer(object):

def __init__(self, visible=True, init_width=500, init_height=500, go_fast=False):
def __init__(self, visible=True, init_width=500, init_height=500, go_fast=False, title="Simulate"):
"""
Set go_fast=True to run at full speed instead of waiting for the 60 Hz monitor refresh
init_width and init_height set window size. On Mac Retina displays, they are in nominal
Expand All @@ -43,6 +43,7 @@ def __init__(self, visible=True, init_width=500, init_height=500, go_fast=False)
self.window = None
self.model = None
self.gui_lock = Lock()
self.title = title

# framebuffer objects
self._fbo = None
Expand Down Expand Up @@ -89,6 +90,10 @@ def get_rect(self):
def render(self):
if not self.data:
return

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

self.gui_lock.acquire()
rect = self.get_rect()
arr = (ctypes.c_double*3)(0, 0, 0)
Expand Down Expand Up @@ -176,15 +181,15 @@ def start(self):
if refresh_rate >= 100:
glfw.window_hint(glfw.STEREO, 1)
window = glfw.create_window(
self.init_width, self.init_height, "Simulate", None, None)
self.init_width, self.init_height, self.title, 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)
self.init_width, self.init_height, self.title, None, None)

if not window:
glfw.terminate()
Expand Down