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Replace glfw.get_time with time.time in the Python viewer timing logic.

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PiperOrigin-RevId: 563134207
Change-Id: Ic548701fc78336d8d87e94ea48833f94ee6395b8
This commit is contained in:
Saran Tunyasuvunakool
2023-09-06 09:51:32 -07:00
committed by Copybara-Service
parent ba66bd4f8b
commit 48d0bfde44
3 changed files with 9 additions and 8 deletions
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python/mujoco/simulate.cc
+2 -1
View File
@@ -31,6 +31,7 @@
namespace mujoco::python { namespace mujoco::python {
namespace { namespace {
using UIAdapter = mujoco::GlfwAdapter;
namespace py = ::pybind11; namespace py = ::pybind11;
template <typename T, int N> template <typename T, int N>
@@ -196,7 +197,7 @@ PYBIND11_MODULE(_simulate, pymodule) {
py::object pert, bool fully_managed, py::object pert, bool fully_managed,
py::object key_callback) { py::object key_callback) {
return std::make_unique<SimulateWrapper>( return std::make_unique<SimulateWrapper>(
std::make_unique<UIAdapterWithPyCallback<mujoco::GlfwAdapter>>( std::make_unique<UIAdapterWithPyCallback<UIAdapter>>(
key_callback), key_callback),
scn, cam, opt, pert, fully_managed); scn, cam, opt, pert, fully_managed);
})) }))
python/mujoco/viewer.py
+4 -4
View File
@@ -236,7 +236,7 @@ def _physics_loop(simulate: _Simulate, loader: Optional[_InternalLoaderType]):
assert d is not None assert d is not None
if simulate.run: if simulate.run:
# Record CPU time at start of iteration. # Record CPU time at start of iteration.
startcpu = glfw.get_time() startcpu = time.time()
elapsedcpu = startcpu - synccpu elapsedcpu = startcpu - synccpu
elapsedsim = d.time - syncsim elapsedsim = d.time - syncsim
@@ -281,8 +281,8 @@ def _physics_loop(simulate: _Simulate, loader: Optional[_InternalLoaderType]):
refreshtime = SIM_REFRESH_FRACTION / simulate.refresh_rate refreshtime = SIM_REFRESH_FRACTION / simulate.refresh_rate
# Step while sim lags behind CPU and within refreshtime. # Step while sim lags behind CPU and within refreshtime.
while (((d.time - syncsim) * slowdown < while (((d.time - syncsim) * slowdown <
(glfw.get_time() - synccpu)) and (time.time() - synccpu)) and
((glfw.get_time() - startcpu) < refreshtime)): ((time.time() - startcpu) < refreshtime)):
# Measure slowdown before first step. # Measure slowdown before first step.
if not measured and elapsedsim: if not measured and elapsedsim:
simulate.measured_slowdown = elapsedcpu / elapsedsim simulate.measured_slowdown = elapsedcpu / elapsedsim
@@ -349,7 +349,6 @@ def _launch_internal(
notify_loaded = ( notify_loaded = (
lambda: handle_return.put_nowait(Handle(simulate, scn, cam, opt, pert))) lambda: handle_return.put_nowait(Handle(simulate, scn, cam, opt, pert)))
side_thread = None
if run_physics_thread: if run_physics_thread:
side_thread = threading.Thread( side_thread = threading.Thread(
target=_physics_loop, args=(simulate, loader)) target=_physics_loop, args=(simulate, loader))
@@ -427,6 +426,7 @@ def launch_passive(
if __name__ == '__main__': if __name__ == '__main__':
# pylint: disable=g-bad-import-order
from absl import app # pylint: disable=g-import-not-at-top from absl import app # pylint: disable=g-import-not-at-top
from absl import flags # pylint: disable=g-import-not-at-top from absl import flags # pylint: disable=g-import-not-at-top
src/engine/engine_vis_state.c
+3 -3
View File
@@ -263,9 +263,9 @@ void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
mjvSceneState* scnstate) { mjvSceneState* scnstate) {
// Check that mjModel sizes haven't changed. // Check that mjModel sizes haven't changed.
#define X(var) #define X(var)
#define XMJV(var) \ #define XMJV(var) \
if (scnstate->model.var != m->var) { \ if (scnstate->model.var != m->var) { \
mjERROR("m->%s changed", #var); \ mjERROR("m->%s changed: %d vs %d", #var, scnstate->model.var, m->var); \
} }
MJMODEL_INTS MJMODEL_INTS
#undef XMJV #undef XMJV