chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Expose a handle for the Python viewer.

Browse Source 
This change also requires user scripts to explicitly synchronize changes to physics state to the viewer. The Simulate class was reconfigured so that certain UI events are handled during this sync operation, outside of the render loop on the main thread. These correspond to operations that require access to the full mjModel/mjData.

To support other, more interactive operations (e.g. camera movements), a new mjvSceneState struct is introduced which captures only the portion of the physics state required for scene re-rendering. The mjvSceneState is updated from mjModel/mjData during the viewer sync operation, and is significantly cheaper than a full mj_copyModel and mj_copyData.

Fixes https://github.com/deepmind/mujoco/issues/796

PiperOrigin-RevId: 525723636
Change-Id: Id08d0210a2c067d5afe85e2bf104f276aeddd75e
This commit is contained in:
Saran Tunyasuvunakool
2023-04-20 05:58:32 -07:00
committed by Copybara-Service
parent 4f5da9c554
commit b362cb4972
34 changed files with 4644 additions and 1088 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/changelog.rst
+5 -1
View File
@@ -35,6 +35,10 @@ Python bindings
state concurrently with the internal ``mj_forward``, resulting in e.g.
`MuJoCo stack overflow error <https://github.com/deepmind/mujoco/issues/783>`_
or `segmentation fault <https://github.com/deepmind/mujoco/issues/790>`_.
- The ``viewer.launch_passive`` function now returns a handle which can be used to interact with the viewer. The passive
viewer now also requires an explicit call to ``sync`` on its handle to pick up any update to the physics state. This
is to avoid race conditions that can result in visual artifacts. See :ref:`documentation<PyViewer>` for details.
- The ``viewer.launch_repl`` function has been removed since its functionality is superceded by ``launch_passive``.
- Added a small number of missing struct fields discovered through the new ``introspect`` metadata.
Bug fixes
@@ -102,7 +106,7 @@ Python bindings
#. Added ``viewer.launch_passive`` which launches the interactive viewer in a passive, non-blocking mode. Calls to
``launch_passive`` return immediately, allowing user code to continue execution, with the viewer automatically
reflecting any changes to the physics state. (Note that this functionality is currently in experimental/beta stage,
and is not yet described in our :ref:`viewer documentation<PyViewer>`.)
and is not yet described in our :ref:`viewer documentation<PyViewer>`.)
#. Added the ``mjpython`` launcher for macOS, which is required for ``viewer.launch_passive`` to function there.
#. Removed ``efc_`` fields from joint indexers. Since the introduction of arena memory, these fields now have dynamic
sizes that change between time steps depending on the number of active constraints, breaking strict correspondence