Add show_{left,right}_ui kwarg to viewer.launch(_passive).

Fixes #857

PiperOrigin-RevId: 572333909
Change-Id: I12247fe856afddf808eb8f386a594acac47c34b5

doc/changelog.rst

@@ -133,6 +133,8 @@ Python bindings
     camera name used the default camera.
 24. Added ``user_scn`` to the :ref:`passive viewer<PyViewerPassive>` handle, which allows users to add custom
     visualization geoms (`#1023 <https://github.com/google-deepmind/mujoco/issues/870>`__).
+25. Added optional boolean keyword arguments ``show_left_ui`` and ``show_right_ui`` to the functions ``viewer.launch``
+    and ``viewer.launch_passive``, which allow users to launch a viewer with UI panels hidden.
 
 Simulate
 ^^^^^^^^
@@ -141,21 +143,22 @@ Simulate
    :align: right
    :width: 240px
 
-25. Added **state history** mechanism to :ref:`simulate<saSimulate>` and the managed
+26. Added **state history** mechanism to :ref:`simulate<saSimulate>` and the managed
     :ref:`Python viewer<PyViewerManaged>`. State history can be viewed by scrubbing the History slider and (more
     precisely) with the left and right arrow keys. See screen capture:
 
-26. The ``LOADING...`` label is now shown correctly.
+27. The ``LOADING...`` label is now shown correctly.
     `Contribution <https://github.com/google-deepmind/mujoco/pull/1070>`__ by
     `Levi Burner <https://github.com/aftersomemath>`__.
 
 Bug fixes
 ^^^^^^^^^
 
-27. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
+28. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
     midphase collision trees.
 
-27. Fixed a bug that was generating incorrect values in ``efc_diagApprox`` for weld equality constraints.
+29. Fixed a bug that was generating incorrect values in ``efc_diagApprox`` for weld equality constraints.
+
 
 Version 2.3.7 (July 20, 2023)
 -----------------------------

doc/python.rst

@@ -191,28 +191,33 @@ illustrative example that does **not** necessarily keep the physics ticking at t
       if time_until_next_step > 0:
         time.sleep(time_until_next_step)
 
-Optionally, ``viewer.launch_passive`` also accepts a callable as a keyword argument ``key_callback``, which gets called
+Optionally, ``viewer.launch_passive`` accepts the following keyword arguments.
-each time a keyboard event occurs in the viewer window. This allows user scripts to react to various key presses, e.g.,
-pause or resume the run loop when the spacebar is pressed.
 
-.. code-block:: python
+- ``key_callback``: A callable which gets called each time a keyboard event occurs in the viewer window. This allows
+  user scripts to react to various key presses, e.g., pause or resume the run loop when the spacebar is pressed.
 
-  paused = False
+  .. code-block:: python
 
-  def key_callback(keycode):
+    paused = False
-    if chr(keycode) == ' ':
-      nonlocal paused
-      paused = not paused
 
-  ...
+    def key_callback(keycode):
+      if chr(keycode) == ' ':
+        nonlocal paused
+        paused = not paused
 
-  with mujoco.viewer.launch_passive(m, d, key_callback=key_callback) as viewer:
+    ...
-    while viewer.is_running():
+
-      ...
+    with mujoco.viewer.launch_passive(m, d, key_callback=key_callback) as viewer:
-      if not paused:
+      while viewer.is_running():
-        mujoco.mj_step(m, d)
+        ...
-        viewer.sync()
+        if not paused:
-      ...
+          mujoco.mj_step(m, d)
+          viewer.sync()
+        ...
+
+- ``show_left_ui_panel`` and ``show_right_ui_panel``: Boolean arguments indicating whether UI panels should be visible
+  or hidden when the viewer is launched. Note that regardless of the values specified, the user can still toggle the
+  visibility of these panels after launch by pressing Tab or Shift+Tab.
 
 .. _PyUsage:
 

python/mujoco/mjpython/mjpython.mm

@@ -294,11 +294,17 @@ while True:
       break
 
     # Otherwise, launch the viewer.
-    model, data, handle_return, key_callback = task
+    model, data, handle_return, key_callback, show_left_ui, show_right_ui = task
     ctypes.CDLL(None).mjpython_show_dock_icon()
     mujoco.viewer._launch_internal(
-        model, data, run_physics_thread=False, handle_return=handle_return,
+        model,
-        key_callback=key_callback)
+        data,
+        run_physics_thread=False,
+        handle_return=handle_return,
+        key_callback=key_callback,
+        show_left_ui=show_left_ui,
+        show_right_ui=show_right_ui,
+    )
     ctypes.CDLL(None).mjpython_hide_dock_icon()
 
   finally:

python/mujoco/simulate.cc

@@ -314,7 +314,17 @@ PYBIND11_MODULE(_simulate, pymodule) {
             const auto max_length = sizeof_arr(sim.load_error);
             std::strncpy(sim.load_error, error.c_str(), max_length - 1);
             sim.load_error[max_length - 1] = '\0';
-          }));
+          }))
+      .def_property("ui0_enable", GetIfNotNull(&mujoco::Simulate::ui0_enable),
+                    CallIfNotNull(+[](mujoco::Simulate& sim, int enabled) {
+                      sim.ui0_enable = enabled;
+                    }),
+                    py::call_guard<py::gil_scoped_release>())
+      .def_property("ui1_enable", GetIfNotNull(&mujoco::Simulate::ui1_enable),
+                    CallIfNotNull(+[](mujoco::Simulate& sim, int enabled) {
+                      sim.ui1_enable = enabled;
+                    }),
+                    py::call_guard<py::gil_scoped_release>());
 
   pymodule.def("set_glfw_dlhandle", [](std::uintptr_t dlhandle) {
     mujoco::Glfw(reinterpret_cast<void*>(dlhandle));

python/mujoco/viewer.py

@@ -319,6 +319,8 @@ def _launch_internal(
     loader: Optional[_InternalLoaderType] = None,
     handle_return: Optional['queue.Queue[Handle]'] = None,
     key_callback: Optional[KeyCallbackType] = None,
+    show_left_ui: bool = True,
+    show_right_ui: bool = True,
 ) -> None:
   """Internal API, so that the public API has more readable type annotations."""
   if model is None and data is not None:
@@ -351,6 +353,9 @@ def _launch_internal(
       cam, opt, pert, user_scn, run_physics_thread, key_callback
   )
 
+  simulate.ui0_enable = show_left_ui
+  simulate.ui1_enable = show_right_ui
+
   # Initialize GLFW if not using mjpython.
   if _MJPYTHON is None:
     if not glfw.init():
@@ -385,13 +390,23 @@ def _launch_internal(
   simulate.destroy()
 
 
-def launch(model: Optional[mujoco.MjModel] = None,
+def launch(
-           data: Optional[mujoco.MjData] = None,
+    model: Optional[mujoco.MjModel] = None,
-           *,
+    data: Optional[mujoco.MjData] = None,
-           loader: Optional[LoaderType] = None) -> None:
+    *,
+    loader: Optional[LoaderType] = None,
+    show_left_ui: bool = True,
+    show_right_ui: bool = True,
+) -> None:
   """Launches the Simulate GUI."""
   _launch_internal(
-      model, data, run_physics_thread=True, loader=loader)
+      model,
+      data,
+      run_physics_thread=True,
+      loader=loader,
+      show_left_ui=show_left_ui,
+      show_right_ui=show_right_ui,
+  )
 
 
 def launch_from_path(path: str) -> None:
@@ -404,6 +419,8 @@ def launch_passive(
     data: mujoco.MjData,
     *,
     key_callback: Optional[KeyCallbackType] = None,
+    show_left_ui: bool = True,
+    show_right_ui: bool = True,
 ) -> Handle:
   """Launches a passive Simulate GUI without blocking the running thread."""
   if not isinstance(model, mujoco.MjModel):
@@ -425,6 +442,8 @@ def launch_passive(
             run_physics_thread=False,
             handle_return=handle_return,
             key_callback=key_callback,
+            show_left_ui=show_left_ui,
+            show_right_ui=show_right_ui,
         ),
     )
     thread.daemon = True
@@ -434,7 +453,14 @@ def launch_passive(
       raise RuntimeError(
           '`launch_passive` requires that the Python script be run under '
           '`mjpython` on macOS')
-    _MJPYTHON.launch_on_ui_thread(model, data, handle_return, key_callback)
+    _MJPYTHON.launch_on_ui_thread(
+        model,
+        data,
+        handle_return,
+        key_callback,
+        show_left_ui,
+        show_right_ui,
+    )
 
   return handle_return.get()