Yuval Tassa
6a532fc53e
Noise injection was occurring at every iteration of the physics thread, rather than before every call to `mj_step`, leading to time-step-dependent noise rate. - Moved the logic from main.cc to a `Simulate::` method, called before `mj_step`. - Reduced the maximum time-scale slider value back to 4 seconds (recent increase was due to this bug). PiperOrigin-RevId: 643350296 Change-Id: I96832905e6614f92ac725298b16fcabe64ea1df1
Simulate App
simulate is a fully-featured interactive application for MuJoCo. It opens an
OpenGL window using the platform-independent GLFW library, and renders the
simulation state in it. There is built-in help, simulation statistics, profiler,
sensor data plots. The model file can be specified as a command-line argument,
or loaded at runtime using drag-and-drop functionality. Below is a
screen-capture of simulate in action:
