Refactor StepControl and GUI to return change status.

StepControl methods SetSpeed, SetNoiseParameters, and SetPauseState now return a boolean indicating whether the state was actually changed. The GUI functions NoiseGui and StepControlGui also return a boolean reflecting if any parameters were modified. Noise parameters are now directly managed by StepControl rather than being stored in UxState. The StepControlEvent message has been expanded to include all step control parameters. Keyboard event handling has been slightly refactored to better align with event-based updates.

PiperOrigin-RevId: 940656342
Change-Id: I3701623a2fdcfc4c084b5db0ae19048669040de4

python/mujoco/experimental/studio/studio_app.py

@@ -39,7 +39,7 @@ import typing
 import mujoco
 from mujoco.experimental.studio import parser
 from mujoco.experimental.studio import sim
-from mujoco.experimental.studio import studio_app_events as events
+from mujoco.experimental.studio import studio_app_events
 from mujoco.experimental.studio import ux
 from mujoco.experimental.studio import viewer_protocol
 import numpy as np
@@ -141,10 +141,7 @@ class StudioApp:
     Returns:
       True if a key was handled, False otherwise.
     """
-    if imgui.GetIO().WantCaptureKeyboard:
-      return False
-
-    return events.handle_vis_options_keyboard_events(
+    return studio_app_events.handle_vis_options_keyboard_events(
         vis_options, is_freecam_wasd
     )
 
@@ -154,11 +151,8 @@ class StudioApp:
     Returns:
       True if a key was handled, False otherwise.
     """
-    if imgui.GetIO().WantCaptureKeyboard:
-      return False
-
-    return events.handle_step_control_keyboard_events(
-        self.model, self.data, self.step_control, self.ux_state
+    return studio_app_events.handle_step_control_keyboard_events(
+        self.step_control, self.ux_state
     )
 
   def handle_freecam_wasd_keyboard_events(
@@ -166,11 +160,10 @@ class StudioApp:
       camera: mujoco.MjvCamera,
   ) -> bool:
     """Handles keyboard shortcuts for free camera movement."""
-    if imgui.GetIO().WantCaptureKeyboard:
-      return False
-
-    handled, self._cam_speed = events.handle_freecam_wasd_keyboard_events(
-        self.model, self.data, camera, self._cam_speed
+    handled, self._cam_speed = (
+        studio_app_events.handle_freecam_wasd_keyboard_events(
+            self.model, self.data, camera, self._cam_speed
+        )
     )
     return handled
 
@@ -180,31 +173,16 @@ class StudioApp:
       vis_options: mujoco.MjvOption,
   ) -> bool:
     """Handle keyboard events according to Studio's bindings."""
-    if imgui.GetIO().WantCaptureKeyboard:
-      return False
-
-    is_freecam_wasd = self.ux_state.camera_index == ux.FREE_CAMERA_IDX
-    if events.handle_step_control_keyboard_events(
-        self.model, self.data, self.step_control, self.ux_state
-    ):
-      return True
-
-    if events.handle_camera_select_keyboard_events(
-        self.model, camera, self.ux_state
-    ):
-      return True
-
-    if events.handle_vis_options_keyboard_events(vis_options, is_freecam_wasd):
-      return True
-
-    if is_freecam_wasd:
-      handled, self._cam_speed = events.handle_freecam_wasd_keyboard_events(
-          self.model, self.data, camera, self._cam_speed
-      )
-      if handled:
-        return True
-
-    return False
+    handled, self._cam_speed = studio_app_events.handle_keyboard_events(
+        self.model,
+        self.data,
+        camera,
+        vis_options,
+        self.step_control,
+        self.ux_state,
+        self._cam_speed,
+    )
+    return handled
 
   def handle_camera_tracking_mouse_events(
       self,
@@ -212,10 +190,7 @@ class StudioApp:
       vis_options: mujoco.MjvOption,
   ) -> None:
     """Handles mouse events for camera tracking."""
-    if imgui.GetIO().WantCaptureMouse:
-      return
-
-    events.handle_camera_tracking_mouse_events(
+    studio_app_events.handle_camera_tracking_mouse_events(
         self.model, self.data, camera, vis_options, self.ux_state
     )
 
@@ -226,10 +201,7 @@ class StudioApp:
       perturb: mujoco.MjvPerturb,
   ) -> None:
     """Handles mouse events."""
-    if imgui.GetIO().WantCaptureMouse:
-      return
-
-    events.handle_mouse_events(
+    studio_app_events.handle_mouse_events(
         self.model, self.data, camera, vis_options, perturb, self.ux_state
     )
 
@@ -391,7 +363,7 @@ class StudioApp:
         self.reset_physics_gui()
 
         imgui.SameLine()
-        ux.step_control_gui(self.model, self.step_control, self.ux_state)
+        ux.step_control_gui(self.step_control, self.ux_state)
 
         imgui.TableNextColumn()
         ux.camera_selection_gui(self.model, self.data, camera, self.ux_state)
@@ -434,7 +406,7 @@ class StudioApp:
     # -- Right pane: Inspector ------------------------------------------------
     imgui.Begin('Inspector')
     if imgui.TreeNodeEx('Noise', node_flags):
-      ux.noise_gui(self.model, self.data, self.ux_state)
+      ux.noise_gui(self.step_control)
       imgui.TreePop()
     if imgui.TreeNodeEx('Joints', node_flags):
       ux.joints_gui(self.model, self.data, vis_options)