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abb3f94 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 | #!/usr/bin/env python3
"""
Shows how to use render callback.
"""
from mujoco_py import load_model_from_path, MjSim, MjViewer
from mujoco_py.modder import TextureModder
import os
modder = None
def render_callback(sim, viewer):
global modder
if modder is None:
modder = TextureModder(sim)
for name in sim.model.geom_names:
modder.rand_all(name)
model = load_model_from_path("xmls/fetch/main.xml")
sim = MjSim(model, render_callback=render_callback)
viewer = MjViewer(sim)
t = 0
while True:
viewer.render()
t += 1
if t > 100 and os.getenv('TESTING') is not None:
break |