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Allow user-defined visualization geoms to be added to the passive viewer.

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Fixes #1023, #1082

PiperOrigin-RevId: 572303635
Change-Id: Ia8399f816f311b38a7b137f5bd4f359f77a1da1c
This commit is contained in:
Saran Tunyasuvunakool
2023-10-10 10:51:29 -07:00
committed by Copybara-Service
parent 1bd6c94e6d
commit 2e15574b58
13 changed files with 112 additions and 56 deletions
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python/mujoco/simulate.cc
+12 -7
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@@ -69,19 +69,23 @@ class UIAdapterWithPyCallback : public Adapter {
class SimulateWrapper {
public:
SimulateWrapper(std::unique_ptr<PlatformUIAdapter> platform_ui_adapter,
py::object scn, py::object cam, py::object opt,
py::object pert, bool is_passive)
py::object cam, py::object opt,
py::object pert, py::object user_scn, bool is_passive)
: simulate_(new mujoco::Simulate(
std::move(platform_ui_adapter), scn.cast<MjvSceneWrapper&>().get(),
std::move(platform_ui_adapter),
cam.cast<MjvCameraWrapper&>().get(),
opt.cast<MjvOptionWrapper&>().get(),
pert.cast<MjvPerturbWrapper&>().get(), is_passive)),
m_(py::none()),
d_(py::none()),
scn_(scn),
cam_(cam),
opt_(opt),
pert_(pert) {}
pert_(pert),
user_scn_(user_scn) {
if (!user_scn.is_none()) {
simulate_->user_scn = user_scn_.cast<MjvSceneWrapper&>().get();
}
}
~SimulateWrapper() { Destroy(); }
@@ -127,10 +131,10 @@ class SimulateWrapper {
// simulate object.
py::object m_;
py::object d_;
py::object scn_;
py::object cam_;
py::object opt_;
py::object pert_;
py::object user_scn_;
mjModel* m_raw_ = nullptr;
mjData* d_raw_ = nullptr;
@@ -207,7 +211,8 @@ PYBIND11_MODULE(_simulate, pymodule) {
.def("load_message", CallIfNotNull(&mujoco::Simulate::LoadMessage),
py::call_guard<py::gil_scoped_release>())
.def("load", &SimulateWrapper::Load)
.def("load_message_clear", CallIfNotNull(&mujoco::Simulate::LoadMessageClear),
.def("load_message_clear",
CallIfNotNull(&mujoco::Simulate::LoadMessageClear),
py::call_guard<py::gil_scoped_release>())
.def("sync", CallIfNotNull(&mujoco::Simulate::Sync),
py::call_guard<py::gil_scoped_release>())