Running Mujoco in C++

Hi

I used the sample code from the documentation page for simulating and rendering humanoid example. But when I run it, it's running in slow motion mode. Am I doing something wrong? (I'm running the code in release mode).

Here's the code:

Code:

#include "mujoco.h"
#include "glfw3.h"
#include "stdio.h"
#include "string.h"

char error[1000];
mjModel* m;
mjData* d;

mjvCamera cam;                      // abstract camera
mjvPerturb pert;                    // perturbation object
mjvOption opt;                      // visualization options
mjvScene scn;                       // abstract scene
mjrContext con;                     // custom GPU context

int main(void)
{
    // activate MuJoCo Pro
    mj_activate("mjkey.txt");

    // load model from file and check for errors
    m = mj_loadXML("humanoid.xml", NULL, error, 1000);
    if( !m )
    {
        printf("%s\n", error);
        return 1;
    }

    // make data corresponding to model
    d = mj_makeData(m);

    glfwInit();
    GLFWwindow* window = glfwCreateWindow(800, 600, "Demo", NULL, NULL);
    glfwMakeContextCurrent(window);
    glfwSwapInterval(1);

    // initialize visualization data structures
    mjv_defaultCamera(&cam);
    mjv_defaultPerturb(&pert);
    mjv_defaultOption(&opt);
    mjr_defaultContext(&con);
    mjv_makeScene(&scn, 1000);                     // space for 1000 objects
    mjr_makeContext(m, &con, mjFONTSCALE_100);     // model-specific context


    // get framebuffer viewport
    mjrRect viewport = {0, 0, 0, 0};
    glfwGetFramebufferSize(window, &viewport.width, &viewport.height);

    // run simulation for 10 seconds
    while(d->time< 5)
    {
        mj_step(m, d);

        // update scene and render
        mjv_updateScene(m, d, &opt, &pert, &cam, mjCAT_ALL, &scn);
        mjr_render(viewport, &scn, &con);

        // swap OpenGL buffers (blocking call due to v-sync)
        glfwSwapBuffers(window);

        // process pending GUI events, call GLFW callbacks
        glfwPollEvents();
    }

    // close GLFW, free visualization storage
    glfwTerminate();
    mjv_freeScene(&scn);
    mjr_freeContext(&con);

    // free model and data, deactivate
    mj_deleteData(d);
    mj_deleteModel(m);
    mj_deactivate();

    return 0;
}