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

Simplify MuJoCo Studio viewer selection and unify model flags.

Browse Source 
This change removes the ViewerMode enum and instead infers whether to launch the Web Viewer or Native Viewer based on the graphics mode (gfx) setting. Specifically, setting gfx to "web" or "webgl" will now launch the Web Viewer (in future "webgpu" would also launch the Web Viewer).

Additionally, this unifies command-line flags across studio scripts and samples by replacing the --mjcf flag with --model (with positional argument fallback) and standardizing absl flags usage. --model is a better name since formats like .mjz and .mjb are also supported by this argument.

PiperOrigin-RevId: 959058940
Change-Id: If4e0ace664ddc6e45cb681d168679148e8c4901d
This commit is contained in:
Matija Kecman
2026-08-04 09:13:09 -07:00
committed by Copybara-Service
parent 0a10860257
commit b3ef7a8c2f
7 changed files with 68 additions and 74 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/experimental/studio/launch_passive.py
+6 -11
View File
@@ -86,26 +86,21 @@ def run_viewer_target(
"""Creates the appropriate viewer and runs the viewer loop.
Args:
config: Configuration specifying the viewer mode and window settings.
config: Configuration specifying the viewer window settings.
viewer_endpoint: Endpoint for communicating with the simulation side.
handlers: Optional list of viewer-side handler instances, which are classes
with methods decorated with ``@handler``.
Raises:
ValueError: If the viewer mode requested in config is unknown.
"""
if config.viewer_mode == viewer_protocol.ViewerMode.NATIVE:
if config.gfx in ('web', 'webgl'): # In future we may add 'webgpu' here too.
from mujoco.experimental.studio import web_viewer # pylint: disable=g-import-not-at-top
viewer = web_viewer.WebViewer(config, viewer_endpoint, handlers=handlers)
else:
from mujoco.experimental.studio import native_viewer # pylint: disable=g-import-not-at-top
viewer = native_viewer.NativeViewer(
config, viewer_endpoint, handlers=handlers
)
elif config.viewer_mode == viewer_protocol.ViewerMode.WEB:
from mujoco.experimental.studio import web_viewer # pylint: disable=g-import-not-at-top
viewer = web_viewer.WebViewer(config, viewer_endpoint, handlers=handlers)
else:
raise ValueError(f'Unknown viewer mode: {config.viewer_mode!r}')
viewer_protocol.run_viewer_loop(viewer)