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Add ImGui context sharing for UI rendering in Python MuJoCo Studio

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PiperOrigin-RevId: 930507935
Change-Id: I7615931f9a71793b049e8b6b442be6a2d726f0b2
This commit is contained in:
Michael Moss
2026-06-11 07:09:44 -07:00
committed by Copybara-Service
parent 684eccc146
commit 41ac783d3a
3 changed files with 19 additions and 1 deletions
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python/mujoco/experimental/studio/native_viewer.cc
+7 -1
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@@ -22,6 +22,7 @@
#include <vector>
#include <fstream>
#include <imgui.h>
#include <implot.h>
#include <mujoco/mujoco.h>
#include <mujoco/experimental/platform/hal/graphics_mode.h>
@@ -180,6 +181,10 @@ class Viewer {
window_->Present(pixels_);
}
intptr_t GetImGuiContext() {
return reinterpret_cast<intptr_t>(ImGui::GetCurrentContext());
}
private:
std::unique_ptr<mujoco::platform::Window> window_;
std::unique_ptr<mujoco::platform::Renderer> renderer_;
@@ -195,7 +200,8 @@ PYBIND11_MODULE(native_viewer_cc, m) {
.def("Present", &Viewer::Present)
.def("UploadImage", &Viewer::UploadImage)
.def("RenderToTexture", &Viewer::RenderToTexture)
.def("GetDropFile", &Viewer::GetDropFile);
.def("GetDropFile", &Viewer::GetDropFile)
.def("GetImGuiContext", &Viewer::GetImGuiContext);
m.def("IsCrd", &IsCrd);
m.def("IsCuda", &IsCuda);
}