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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 <vector>
#include <fstream> #include <fstream>
#include <imgui.h>
#include <implot.h> #include <implot.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include <mujoco/experimental/platform/hal/graphics_mode.h> #include <mujoco/experimental/platform/hal/graphics_mode.h>
@@ -180,6 +181,10 @@ class Viewer {
window_->Present(pixels_); window_->Present(pixels_);
} }
intptr_t GetImGuiContext() {
return reinterpret_cast<intptr_t>(ImGui::GetCurrentContext());
}
private: private:
std::unique_ptr<mujoco::platform::Window> window_; std::unique_ptr<mujoco::platform::Window> window_;
std::unique_ptr<mujoco::platform::Renderer> renderer_; std::unique_ptr<mujoco::platform::Renderer> renderer_;
@@ -195,7 +200,8 @@ PYBIND11_MODULE(native_viewer_cc, m) {
.def("Present", &Viewer::Present) .def("Present", &Viewer::Present)
.def("UploadImage", &Viewer::UploadImage) .def("UploadImage", &Viewer::UploadImage)
.def("RenderToTexture", &Viewer::RenderToTexture) .def("RenderToTexture", &Viewer::RenderToTexture)
.def("GetDropFile", &Viewer::GetDropFile); .def("GetDropFile", &Viewer::GetDropFile)
.def("GetImGuiContext", &Viewer::GetImGuiContext);
m.def("IsCrd", &IsCrd); m.def("IsCrd", &IsCrd);
m.def("IsCuda", &IsCuda); m.def("IsCuda", &IsCuda);
} }
python/mujoco/experimental/studio/native_viewer.py
+5
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@@ -24,6 +24,7 @@ import mujoco
from mujoco.experimental.studio import native_viewer_cc as _viewer from mujoco.experimental.studio import native_viewer_cc as _viewer
from mujoco.experimental.studio import ux from mujoco.experimental.studio import ux
from mujoco.experimental.studio import viewer_protocol from mujoco.experimental.studio import viewer_protocol
from mujoco.experimental.dear_imgui import dear_imgui as imgui
class NativeViewer(viewer_protocol.Viewer): class NativeViewer(viewer_protocol.Viewer):
@@ -75,6 +76,10 @@ class NativeViewer(viewer_protocol.Viewer):
# Initted to match mujoco/src/engine/engine_vis_init.c # Initted to match mujoco/src/engine/engine_vis_init.c
self.render_flags.flags = [1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 1] self.render_flags.flags = [1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 1]
ctx = self._viewer.GetImGuiContext()
imgui.SetCurrentContext(ctx)
ux.set_imgui_context(ctx)
def _sync_renderer(self, model: mujoco.MjModel) -> None: def _sync_renderer(self, model: mujoco.MjModel) -> None:
"""Re-initializes the renderer if the model object has changed.""" """Re-initializes the renderer if the model object has changed."""
if id(model) != self._renderer_model_id: if id(model) != self._renderer_model_id:
python/mujoco/experimental/studio/ux.cc
+7
View File
@@ -95,6 +95,13 @@ PYBIND11_MODULE(ux, m) {
}, },
py::arg("theme"), "Set up Dear ImGui visual theme."); py::arg("theme"), "Set up Dear ImGui visual theme.");
m.def(
"set_imgui_context",
[](intptr_t ptr) {
ImGui::SetCurrentContext(reinterpret_cast<ImGuiContext*>(ptr));
},
py::arg("ptr"), "Set ImGui context pointer.");
m.def( m.def(
"configure_docking_layout", "configure_docking_layout",
[]() { []() {