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Increase priority of ViewerApp ModelEvent handler

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PiperOrigin-RevId: 942274710
Change-Id: Ib894420e2d8f1e57a1da2d953c944316a1ff42ae
This commit is contained in:
Matija Kecman
2026-07-03 16:01:44 -07:00
committed by Copybara-Service
parent 7e9ac58ff9
commit 16f2276fe2
1 changed files with 5 additions and 2 deletions
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python/mujoco/experimental/studio/viewer_app.py
+5 -2
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@@ -30,6 +30,7 @@ import numpy as np
from mujoco.experimental.dear_imgui import dear_imgui as imgui from mujoco.experimental.dear_imgui import dear_imgui as imgui
@dataclasses.dataclass(frozen=True) @dataclasses.dataclass(frozen=True)
class ViewerAppInitEvent(messages.Event): class ViewerAppInitEvent(messages.Event):
"""Lifecycle event dispatched once when the ViewerApp is initialised. """Lifecycle event dispatched once when the ViewerApp is initialised.
@@ -418,12 +419,14 @@ class ViewerApp:
imgui.End() imgui.End()
imgui.PopStyleVar(3) imgui.PopStyleVar(3)
@messages.handler(priority=messages.Priority.INTERNAL) # CRITICAL priority ensures the model is copied before any other handlers
# are notified of the ModelEvent.
@messages.handler(priority=messages.Priority.CRITICAL)
def _on_model(self, event: messages.ModelEvent) -> bool: def _on_model(self, event: messages.ModelEvent) -> bool:
self.model = copy.deepcopy(event.model) self.model = copy.deepcopy(event.model)
self.data = mujoco.MjData(self.model) self.data = mujoco.MjData(self.model)
assert id(self.model) != id(event.model) assert id(self.model) != id(event.model)
return True return False # Do not consume to allow other handlers to recieve the event.
@messages.handler(priority=messages.Priority.INTERNAL) @messages.handler(priority=messages.Priority.INTERNAL)
def _on_exit(self, _: messages.ExitEvent) -> bool: def _on_exit(self, _: messages.ExitEvent) -> bool: