Add renderer info query API

python/mujoco/bindings_test.py

@@ -125,6 +125,14 @@ class MuJoCoBindingsTest(parameterized.TestCase):
     self.model: mujoco.MjModel = mujoco.MjModel.from_xml_string(TEST_XML)
     self.data = mujoco.MjData(self.model)
 
+  def test_renderer_info_binding(self):
+    info = mujoco.MjrRendererInfo()
+    mujoco.mjr_getRendererInfo(info)
+
+    self.assertIn(info.renderer, ('classic', 'filament', 'noop'))
+    self.assertIn(info.backend, ('', 'opengl', 'vulkan', 'unknown'))
+    self.assertIsInstance(info.backend_version, str)
+
   def test_load_xml_can_handle_name_clash(self):
     xml_1 = r"""
 <mujoco>

python/mujoco/introspect/functions.py

@@ -5480,6 +5480,34 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Set default mjrContext.',
      )),
+    ('mjr_defaultRendererInfo',
+     FunctionDecl(
+         name='mjr_defaultRendererInfo',
+         return_type=ValueType(name='void'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='info',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjrRendererInfo'),
+                 ),
+             ),
+         ),
+         doc='Set default mjrRendererInfo.',
+     )),
+    ('mjr_getRendererInfo',
+     FunctionDecl(
+         name='mjr_getRendererInfo',
+         return_type=ValueType(name='void'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='info',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjrRendererInfo'),
+                 ),
+             ),
+         ),
+         doc='Get active renderer information.',
+     )),
     ('mjr_makeContext',
      FunctionDecl(
          name='mjr_makeContext',

python/mujoco/introspect/structs.py

@@ -10995,6 +10995,34 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              ),
          ),
      )),
+    ('mjrRendererInfo',
+     StructDecl(
+         name='mjrRendererInfo',
+         declname='struct mjrRendererInfo_',
+         fields=(
+             StructFieldDecl(
+                 name='renderer',
+                 type=PointerType(
+                     inner_type=ValueType(name='char', is_const=True),
+                 ),
+                 doc='renderer family: classic, filament, noop',
+             ),
+             StructFieldDecl(
+                 name='backend',
+                 type=PointerType(
+                     inner_type=ValueType(name='char', is_const=True),
+                 ),
+                 doc='graphics backend: opengl, vulkan; empty if uninitialized',
+             ),
+             StructFieldDecl(
+                 name='backend_version',
+                 type=PointerType(
+                     inner_type=ValueType(name='char', is_const=True),
+                 ),
+                 doc='backend version string, empty if unknown',
+             ),
+         ),
+     )),
     ('mjrVertexAttribute',
      StructDecl(
          name='mjrVertexAttribute',

python/mujoco/raw.h

@@ -79,6 +79,7 @@ using MjLogMessage = ::mjLogMessage;
 
 // From mjrender.h
 using MjrRect = ::mjrRect;
+using MjrRendererInfo = ::mjrRendererInfo;
 using MjrContext = ::mjrContext;
 using MjrVertexAttribute = ::mjrVertexAttribute;
 

python/mujoco/render.cc

@@ -245,6 +245,8 @@ PYBIND11_MODULE(_render, pymodule, pybind11::mod_gil_not_used()) {
   using EigenFloatVectorX = Eigen::Vector<float, Eigen::Dynamic>;
 
   // Skipped: mjr_defaultContext (have MjrContext.__init__)
+  Def<traits::mjr_defaultRendererInfo>(pymodule);
+  Def<traits::mjr_getRendererInfo>(pymodule);
   // Skipped: mjr_makeContext (have MjrContext.__init__)
   Def<traits::mjr_changeFont>(pymodule);
   Def<traits::mjr_addAux>(pymodule);

python/mujoco/structs.cc

@@ -1049,6 +1049,36 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   X(height);
 #undef X
 
+  // ==================== MJRRENDERERINFO ======================================
+  py::class_<raw::MjrRendererInfo> mjrRendererInfo(m, "MjrRendererInfo");
+  mjrRendererInfo.def(py::init([]() {
+    raw::MjrRendererInfo info;
+    mjr_defaultRendererInfo(&info);
+    return info;
+  }));
+  mjrRendererInfo.def("__copy__", [](const raw::MjrRendererInfo& other) {
+    return raw::MjrRendererInfo(other);
+  });
+  mjrRendererInfo.def("__deepcopy__",
+                      [](const raw::MjrRendererInfo& other, py::dict) {
+                        return raw::MjrRendererInfo(other);
+  });
+  DefineStructFunctions(mjrRendererInfo);
+  mjrRendererInfo.def_property_readonly("renderer",
+                                        [](const raw::MjrRendererInfo& info) {
+                                          return info.renderer ? info.renderer
+                                                               : "";
+                                        });
+  mjrRendererInfo.def_property_readonly("backend",
+                                        [](const raw::MjrRendererInfo& info) {
+                                          return info.backend ? info.backend
+                                                              : "";
+                                        });
+  mjrRendererInfo.def_property_readonly(
+      "backend_version", [](const raw::MjrRendererInfo& info) {
+        return info.backend_version ? info.backend_version : "";
+      });
+
   // ==================== MJRVERTEXATTRIBUTE ===================================
   py::class_<raw::MjrVertexAttribute> mjrVertexAttribute(m,
                                                          "MjrVertexAttribute");