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Commit 41a5fc26 authored by Jerry Tworek's avatar Jerry Tworek
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Properly terminate glfw.

parent a4aa1b93
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from threading import Lock import copy
import glfw import glfw
import imageio
import numpy as np
import time
import sys
from mujoco_py.builder import cymj from mujoco_py.builder import cymj
from mujoco_py.generated import const from mujoco_py.generated import const
import time
import copy
from multiprocessing import Process, Queue
from mujoco_py.utils import rec_copy, rec_assign from mujoco_py.utils import rec_copy, rec_assign
import numpy as np from multiprocessing import Process, Queue
import imageio from threading import Lock
class MjViewerBasic(cymj.MjRenderContextWindow): class MjViewerBasic(cymj.MjRenderContextWindow):
...@@ -49,7 +51,8 @@ class MjViewerBasic(cymj.MjRenderContextWindow): ...@@ -49,7 +51,8 @@ class MjViewerBasic(cymj.MjRenderContextWindow):
if self.window is None: if self.window is None:
return return
elif glfw.window_should_close(self.window): elif glfw.window_should_close(self.window):
exit(0) glfw.terminate()
sys.exit(0)
with self._gui_lock: with self._gui_lock:
super().render() super().render()
...@@ -60,7 +63,8 @@ class MjViewerBasic(cymj.MjRenderContextWindow): ...@@ -60,7 +63,8 @@ class MjViewerBasic(cymj.MjRenderContextWindow):
if action == glfw.RELEASE and key == glfw.KEY_ESCAPE: if action == glfw.RELEASE and key == glfw.KEY_ESCAPE:
print("Pressed ESC") print("Pressed ESC")
print("Quitting.") print("Quitting.")
exit(0) glfw.terminate()
sys.exit(0)
def _cursor_pos_callback(self, window, xpos, ypos): def _cursor_pos_callback(self, window, xpos, ypos):
if not (self._button_left_pressed or self._button_right_pressed): if not (self._button_left_pressed or self._button_right_pressed):
......
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