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Fix pretty printing in mjspec notebook.

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PiperOrigin-RevId: 721367994
Change-Id: Ia1c4ee5b64540ff2f9c08a1953295ff366e0c72b
This commit is contained in:
Yuval Tassa
2025-01-30 06:31:21 -08:00
committed by Copybara-Service
parent 2680bd3e8b
commit 767be23207
1 changed files with 10 additions and 9 deletions
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python/mjspec.ipynb
+10 -9
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@@ -95,8 +95,6 @@
"print('Installation successful.')\n", "print('Installation successful.')\n",
"\n", "\n",
"# Other imports and helper functions\n", "# Other imports and helper functions\n",
"import time\n",
"import itertools\n",
"import numpy as np\n", "import numpy as np\n",
"\n", "\n",
"# Graphics and plotting.\n", "# Graphics and plotting.\n",
@@ -106,8 +104,10 @@
"import mediapy as media\n", "import mediapy as media\n",
"import matplotlib.pyplot as plt\n", "import matplotlib.pyplot as plt\n",
"\n", "\n",
"# More legible printing from numpy.\n", "# Printing.\n",
"np.set_printoptions(precision=3, suppress=True, linewidth=100)\n", "np.set_printoptions(precision=3, suppress=True, linewidth=100)\n",
"import pygments\n",
"from google.colab import output\n",
"\n", "\n",
"from IPython.display import clear_output, HTML, display\n", "from IPython.display import clear_output, HTML, display\n",
"clear_output()\n", "clear_output()\n",
@@ -121,13 +121,17 @@
"!git clone https://github.com/google-deepmind/mujoco_menagerie\n", "!git clone https://github.com/google-deepmind/mujoco_menagerie\n",
"franka_file = 'mujoco_menagerie/franka_fr3/fr3.xml'\n", "franka_file = 'mujoco_menagerie/franka_fr3/fr3.xml'\n",
"\n", "\n",
"\n",
"is_dark = output.eval_js('document.documentElement.matches(\"[theme=dark]\")')\n",
"print_style = 'monokai' if is_dark else 'lovelace'\n",
"\n",
"def print_xml(xml_string):\n", "def print_xml(xml_string):\n",
" formatter = pygments.formatters.HtmlFormatter(style='lovelace')\n", " formatter = pygments.formatters.HtmlFormatter(style=print_style)\n",
" lexer = pygments.lexers.XmlLexer()\n", " lexer = pygments.lexers.XmlLexer()\n",
" highlighted = pygments.highlight(xml_string, lexer, formatter)\n", " highlighted = pygments.highlight(xml_string, lexer, formatter)\n",
" display(HTML(f\"<style>{formatter.get_style_defs()}</style>{highlighted}\"))\n", " display(HTML(f\"<style>{formatter.get_style_defs()}</style>{highlighted}\"))\n",
"\n", "\n",
"def render(model, data=None, height=250):\n", "def render(model, data=None, height=300):\n",
" if data is None:\n", " if data is None:\n",
" data = mj.MjData(model)\n", " data = mj.MjData(model)\n",
" with mj.Renderer(model, 480, 640) as renderer:\n", " with mj.Renderer(model, 480, 640) as renderer:\n",
@@ -254,7 +258,7 @@
" pixels = renderer.render()\n", " pixels = renderer.render()\n",
" frames.append(pixels)\n", " frames.append(pixels)\n",
"\n", "\n",
"media.show_video(frames, fps=framerate)\n" "media.show_video(frames, fps=framerate)"
] ]
}, },
{ {
@@ -812,9 +816,6 @@
"metadata": { "metadata": {
"accelerator": "GPU", "accelerator": "GPU",
"colab": { "colab": {
"collapsed_sections": [
"sJFuNetilv4m"
],
"gpuClass": "premium", "gpuClass": "premium",
"private_outputs": true "private_outputs": true
}, },