Code simplification, kinematic loop example

[rohit-kumar-j]

Added a Kinematic Loop example
Simplified the mujoco_viewer.py with callbacks in another file.
Auto creates a root/tmp (unless root/tmp exists) to save screen captures in it.

TODO: No.2 in #4

[rohanpsingh]

Hi @rohit-kumar-j
Thanks for the PR.

I have several comments and some questions.

• Why do you want to put the callbacks in another file? The code is pretty straightforward as-is and easy to follow. Unless the callbacks are needed to be used in another place, I'm not sure if breaking the file into 2 has any use.
• It might be better to save the screencap frames under $HOME/.mujoco-viewer, so a new directory is not created each time the user changes to a new os.getcwd()
• The Kinematic Loop example may be useful for other users too. Can you create a separate PR for the example?

[rohit-kumar-j]

Why do you want to put the callbacks in another file? The code is pretty straightforward as-is and easy to follow. Unless the callbacks are needed to be used in another place, I'm not sure if breaking the file into 2 has any use.

I was adding graphs, and thought it would be easier to restructure the code to reduce the cluttering up a single file

It might be better to save the screencap frames under $HOME/.mujoco-viewer, so a new directory is not created each time the user changes to a new os.getcwd()

This is a better idea. will do.

The Kinematic Loop example may be useful for other users too. Can you create a separate PR for the example?

Certainly

[rohit-kumar-j]

Graphing example in examples/graphs.py in a dev branch. not ready or pr yet.

Preview:
The sinewave is a custom data_stream with math.sin(x)
Rest of them are sensor data

mujoco_graph_working.mp4

[rohanpsingh]

Looks good, I will take a look at your branch in a few days!