| # Live 3D viewer for the twoleg model (paused at STAND keyframe) | |
| # NOTE: stays on Wayland on purpose — forcing X11 crashes with | |
| # the current NVIDIA 595.84 kernel vs 595.91 userspace mismatch. | |
| # The libdecor / libEGL / dri2 warnings below are harmless and filtered. | |
| cd "$(dirname "$0")" | |
| export MUJOCO_GL=glfw | |
| export PYTHONWARNINGS=ignore | |
| export MJ_KEY="${1:-0}" # keyframe index: 0=STAND, 1=ARMS_STRAIGHT (or a keyframe name) | |
| echo "Opening MuJoCo viewer (Wayland, keyframe '${MJ_KEY}')... close the window or press Ctrl+C to exit." | |
| uv run --with mujoco python << 'PY' 2> >(grep -v -E "libdecor|libEGL|pci id|dri2 screen|No plugins found|no decorations|^$" >&2) | |
| import os | |
| import warnings | |
| warnings.filterwarnings("ignore") | |
| try: | |
| import glfw | |
| glfw.ERROR_REPORTING = "ignore" # silence "Wayland: ... window position" (expected, harmless) | |
| except Exception: | |
| pass | |
| import mujoco, mujoco.viewer | |
| m = mujoco.MjModel.from_xml_path('twoleg_mjcf/robot_twoleg.xml') | |
| d = mujoco.MjData(m) | |
| key = os.environ.get('MJ_KEY', '0') | |
| try: | |
| idx = int(key) | |
| except ValueError: | |
| idx = mujoco.mj_name2id(m, mujoco.mjtObj.mjOBJ_KEY, key) | |
| mujoco.mj_resetDataKeyframe(m, d, idx) | |
| mujoco.mj_forward(m, d) | |
| print(f"Viewer running (keyframe {key}).", flush=True) | |
| with mujoco.viewer.launch_passive(m, d) as v: | |
| import time | |
| while v.is_running(): | |
| v.sync() | |
| time.sleep(0.05) | |
| print("Viewer closed.", flush=True) | |
| PY | |