This PR refactors mj_utils so that we don't carry global variables anymore (except for mujoco_initialized and glfw_initialized)
It also adds a simple GUI specific to mc_mujoco to:
Report average simulation time
Report sim/real time
Allow to control some simulation settings
Sync with real-time
Step by step
Control stepping
The mc_mujoco command also gains a few switches:
❯ ./src/mc_mujoco --help
mc_mujoco options:
--help Show this help message
--mc-config arg Configuration given to mc_rtc
--step-by-step Start the simulation in step-by-step mode
--without-controller Disable mc_rtc controller inside mc_mujoco
--without-visualization Disable mc_mujoco GUI
--without-mc-rtc-gui Disable mc_rtc GUI
--sync Synchronize mc_mujoco simulation time with real time
(--mc-config is also accepted as a positional argument)
This PR refactors mj_utils so that we don't carry global variables anymore (except for
mujoco_initializedandglfw_initialized)It also adds a simple GUI specific to mc_mujoco to:
The
mc_mujococommand also gains a few switches:(
--mc-configis also accepted as a positional argument)