From 64ccb5c47b51f3d5a8412d6712eac8f0c2d4ae5b Mon Sep 17 00:00:00 2001 From: Maximilian Haas-Heger Date: Tue, 21 Apr 2020 02:15:49 -0700 Subject: [PATCH 1/2] Update keyboard shortcut for contact rendering --- mujoco_py/mjviewer.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mujoco_py/mjviewer.py b/mujoco_py/mjviewer.py index cf9ed6e3..562ccb85 100644 --- a/mujoco_py/mjviewer.py +++ b/mujoco_py/mjviewer.py @@ -340,7 +340,7 @@ def key_callback(self, window, key, scancode, action, mods): self._run_speed *= 2.0 elif key == glfw.KEY_C: # Displays contact forces. vopt = self.vopt - vopt.flags[10] = vopt.flags[11] = not vopt.flags[10] + vopt.flags[13] = vopt.flags[14] = not vopt.flags[13] elif key == glfw.KEY_D: # turn off / turn on rendering every frame. self._render_every_frame = not self._render_every_frame elif key == glfw.KEY_E: From de9b2cd00266cc0fb8f118d9aa583d2705ed94c6 Mon Sep 17 00:00:00 2001 From: Maximilian Haas-Heger Date: Wed, 6 May 2020 18:10:10 -0700 Subject: [PATCH 2/2] Use enum instead of numerical indices --- mujoco_py/mjviewer.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mujoco_py/mjviewer.py b/mujoco_py/mjviewer.py index 562ccb85..7a419fb3 100644 --- a/mujoco_py/mjviewer.py +++ b/mujoco_py/mjviewer.py @@ -340,7 +340,7 @@ def key_callback(self, window, key, scancode, action, mods): self._run_speed *= 2.0 elif key == glfw.KEY_C: # Displays contact forces. vopt = self.vopt - vopt.flags[13] = vopt.flags[14] = not vopt.flags[13] + vopt.flags[const.VIS_CONTACTPOINT] = vopt.flags[const.VIS_CONTACTFORCE] = not vopt.flags[const.VIS_CONTACTPOINT] elif key == glfw.KEY_D: # turn off / turn on rendering every frame. self._render_every_frame = not self._render_every_frame elif key == glfw.KEY_E: