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Support extra_geoms argument

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PiperOrigin-RevId: 942283363
Change-Id: I7e0c3aa845c0d2ae1c4390fd5cc01d6ff2741720
This commit is contained in:
Matija Kecman
2026-07-03 16:38:39 -07:00
committed by Copybara-Service
parent 16f2276fe2
commit 7c0d527005
3 changed files with 36 additions and 11 deletions
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python/mujoco/experimental/studio/native_viewer.cc
+18 -3
View File
@@ -164,7 +164,17 @@ class Viewer {
mujoco::python::MjvPerturbWrapper& perturb,
mujoco::python::MjvCameraWrapper& camera,
mujoco::python::MjvOptionWrapper& vis_options,
const std::vector<uint8_t>& render_flags) {
const std::vector<uint8_t>& render_flags,
const std::vector<mujoco::python::MjvGeomWrapper>& extra_geoms =
{}) {
std::vector<mjvGeom> geoms;
geoms.reserve(extra_geoms.size());
for (const auto& geom_wrapper : extra_geoms) {
if (geom_wrapper.get()) {
geoms.push_back(*geom_wrapper.get());
}
}
py::gil_scoped_release no_gil;
const float width = window_->GetWidth();
@@ -185,7 +195,7 @@ class Viewer {
renderer_->Render(model.get(), data.get(), perturb.get(), camera.get(),
vis_options.get(), width * scale, height * scale,
pixels_);
pixels_, geoms);
window_->EndFrame();
window_->Present(pixels_);
@@ -207,7 +217,12 @@ PYBIND11_MODULE(native_viewer_cc, m, pybind11::mod_gil_not_used()) {
.def(pybind11::init<const std::string&, int, int, const std::string&>())
.def("InitRenderer", &Viewer::InitRenderer)
.def("NewFrame", &Viewer::NewFrame)
.def("Present", &Viewer::Present)
.def("Present", &Viewer::Present, pybind11::arg("model"),
pybind11::arg("data"), pybind11::arg("perturb"),
pybind11::arg("camera"), pybind11::arg("vis_options"),
pybind11::arg("render_flags"),
pybind11::arg("extra_geoms") =
std::vector<mujoco::python::MjvGeomWrapper>())
.def("UploadImage", &Viewer::UploadImage)
.def("RenderToTexture", &Viewer::RenderToTexture)
.def("GetDropFile", &Viewer::GetDropFile)