Merge pull request #3340 from devshahofficial:devshahofficial/mjr-renderer-info

PiperOrigin-RevId: 948183711
Change-Id: I28b256eca22e86ec0ba05a4fa26458d678aca130

python/mujoco/introspect/functions.py

@@ -5480,6 +5480,34 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Set default mjrContext.',
      )),
+    ('mjr_defaultRendererInfo',
+     FunctionDecl(
+         name='mjr_defaultRendererInfo',
+         return_type=ValueType(name='void'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='info',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjrRendererInfo'),
+                 ),
+             ),
+         ),
+         doc='Set default mjrRendererInfo.',
+     )),
+    ('mjr_getRendererInfo',
+     FunctionDecl(
+         name='mjr_getRendererInfo',
+         return_type=ValueType(name='void'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='info',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjrRendererInfo'),
+                 ),
+             ),
+         ),
+         doc='Get active renderer information.',
+     )),
     ('mjr_makeContext',
      FunctionDecl(
          name='mjr_makeContext',

python/mujoco/introspect/structs.py

@@ -11005,6 +11005,27 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              ),
          ),
      )),
+    ('mjrRendererInfo',
+     StructDecl(
+         name='mjrRendererInfo',
+         declname='struct mjrRendererInfo_',
+         fields=(
+             StructFieldDecl(
+                 name='renderer',
+                 type=PointerType(
+                     inner_type=ValueType(name='char', is_const=True),
+                 ),
+                 doc='renderer family: classic, filament, noop',
+             ),
+             StructFieldDecl(
+                 name='backend',
+                 type=PointerType(
+                     inner_type=ValueType(name='char', is_const=True),
+                 ),
+                 doc='graphics backend: opengl, vulkan; empty if uninitialized',
+             ),
+         ),
+     )),
     ('mjrVertexAttribute',
      StructDecl(
          name='mjrVertexAttribute',

python/mujoco/raw.h

@@ -79,6 +79,7 @@ using MjLogMessage = ::mjLogMessage;
 
 // From mjrender.h
 using MjrRect = ::mjrRect;
+using MjrRendererInfo = ::mjrRendererInfo;
 using MjrContext = ::mjrContext;
 using MjrVertexAttribute = ::mjrVertexAttribute;
 

python/mujoco/render.cc

@@ -143,7 +143,6 @@ void MjrContextWrapper::Free() {
   // mjr_freeContext is safe to call multiple times.
   InterceptMjErrors(mjr_freeContext)(ptr_);
 }
-
 }  // namespace _impl
 
 namespace {
@@ -241,10 +240,38 @@ PYBIND11_MODULE(_render, pymodule, pybind11::mod_gil_not_used()) {
   X(charWidthBig);
 #undef X
 
+  // ==================== MJRRENDERERINFO ======================================
+  py::class_<raw::MjrRendererInfo> mjrRendererInfo(pymodule, "MjrRendererInfo");
+  mjrRendererInfo.def(py::init([]() {
+    raw::MjrRendererInfo info;
+    mjr_defaultRendererInfo(&info);
+    return info;
+  }));
+  mjrRendererInfo.def("__copy__", [](const raw::MjrRendererInfo& other) {
+    return raw::MjrRendererInfo(other);
+  });
+  mjrRendererInfo.def("__deepcopy__",
+                      [](const raw::MjrRendererInfo& other, py::dict) {
+                        return raw::MjrRendererInfo(other);
+  });
+  DefineStructFunctions(mjrRendererInfo);
+  mjrRendererInfo.def_property_readonly("renderer",
+                                        [](const raw::MjrRendererInfo& info) {
+                                          return info.renderer ? info.renderer
+                                                               : "";
+                                        });
+  mjrRendererInfo.def_property_readonly("backend",
+                                        [](const raw::MjrRendererInfo& info) {
+                                          return info.backend ? info.backend
+                                                              : "";
+                                        });
+
   using EigenUnsignedCharVectorX = Eigen::Vector<unsigned char, Eigen::Dynamic>;
   using EigenFloatVectorX = Eigen::Vector<float, Eigen::Dynamic>;
 
   // Skipped: mjr_defaultContext (have MjrContext.__init__)
+  Def<traits::mjr_defaultRendererInfo>(pymodule);
+  Def<traits::mjr_getRendererInfo>(pymodule);
   // Skipped: mjr_makeContext (have MjrContext.__init__)
   Def<traits::mjr_changeFont>(pymodule);
   Def<traits::mjr_addAux>(pymodule);

python/mujoco/renderer_test.py

@@ -28,6 +28,13 @@ import numpy as np
 )
 class MuJoCoRendererTest(parameterized.TestCase):
 
+  def test_renderer_info_binding(self):
+    info = mujoco.MjrRendererInfo()
+    mujoco.mjr_getRendererInfo(info)
+
+    self.assertIn(info.renderer, ('classic', 'filament', 'noop'))
+    self.assertIn(info.backend, ('', 'opengl', 'vulkan', 'unknown'))
+
   def test_renderer_unknown_camera_name(self):
     xml = """
 <mujoco>