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Simplify MuJoCo Studio viewer selection and unify model flags.

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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
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python/mujoco/experimental/studio/sample/render.py
+18 -17
View File
@@ -16,37 +16,38 @@
import os
import sys
from absl import app
from absl import flags
from absl import app as _app
from absl import flags as _flags
import mujoco
from mujoco.experimental.studio import parser
from mujoco.experimental.studio import renderer
from mujoco.experimental.studio import viewer_protocol
from PIL import Image
_MODEL = flags.DEFINE_string('model', '', 'Model file to load.')
_OUTPUT = flags.DEFINE_string('output', '', 'Output file to save.')
_GFX = flags.DEFINE_enum(
_MODEL = _flags.DEFINE_string('model', None, 'Path to model file.')
_OUTPUT = _flags.DEFINE_string('output', '', 'Output file to save.')
_GFX = _flags.DEFINE_enum(
'gfx', None, viewer_protocol.GFX_MODES, 'Rendering graphics mode.'
)
_WIDTH = flags.DEFINE_integer('width', 320, 'Width of the output image.')
_HEIGHT = flags.DEFINE_integer('height', 240, 'Height of the output image.')
_STEPS = flags.DEFINE_integer('steps', 1, 'Number of steps before render.')
_WIDTH = _flags.DEFINE_integer('width', 320, 'Width of the output image.')
_HEIGHT = _flags.DEFINE_integer('height', 240, 'Height of the output image.')
_STEPS = _flags.DEFINE_integer('steps', 1, 'Number of steps before render.')
def main(argv):
if len(argv) > 1:
raise app.UsageError('Too many command-line arguments.')
if not _MODEL.value:
raise ValueError('`model` flag is required.')
def main(argv: list[str]) -> None:
model_path = _MODEL.value or (
argv[1] if len(argv) > 1 and not argv[1].startswith('--') else None
)
if not model_path:
raise _app.UsageError('Please provide a model path argument or --model flag.')
if not _OUTPUT.value:
raise ValueError('`output flag is required.')
raise _app.UsageError('`output` flag is required.')
try:
data = parser.parse(_MODEL.value)
data = parser.parse(model_path)
model = data.model
except Exception as ex: # pylint: disable=broad-except
print(f'Error loading model from `{_MODEL.value}`: {ex}')
print(f'Error loading model from `{model_path}`: {ex}')
sys.exit(-1)
for _ in range(_STEPS.value):
@@ -73,4 +74,4 @@ def main(argv):
if __name__ == '__main__':
app.run(main)
_app.run(main)