This example demonstrates how to use Studio's `extra_geoms` feature to render semi-transparent, time-delayed copies of the model's geoms, creating a "ghost" effect.
PiperOrigin-RevId: 943672439
Change-Id: I8ae640672945b55dd25dd3d444f52d0b2fa7f0f8
ViewerApp is simplified, interacting with the endpoint and handlers through the Viewer instance. This change makes it possible to write simulation viewers without using the UI/UX provided by ViewerApp (which should be renamed StudioApp)
PiperOrigin-RevId: 943642660
Change-Id: Id8eb3d4e6a27ceda93833367fec4699fa6bc838e
This change replaces fixed callback protocols (e.g., ViewerGuiHook, ViewerUpdateHook, SimEventHandler) with a general-purpose, priority-based message and event handling mechanism.
Key changes:
- Handler decorator and registry: Introduced the `@messages.handler(priority=...)` decorator and `HandlerRegistry` (`handler_registry.py`). Methods marked as handlers are automatically discovered and dispatched by priority (CRITICAL, USER, LIBRARY, INTERNAL) or method resolution order.
- Local lifecycle events: Added `ViewerAppInitEvent`, `BuildGuiEvent`, and `UpdateEvent` to `messages.py`. Custom GUI rendering and per-frame update logic can now be implemented as standard event handlers without needing separate interface protocols.
- Streamlined launch and app APIs: Replaced individual hook and handler arguments in `launch_passive`, `ViewerApp`, and `ViewerHandle` with unified `viewer_handlers` and `sim_handlers` lists.
- Module restructuring: Extracted simulation-side message handling and `ViewerHandle` from `sim_app.py` into a dedicated `viewer_handle.py` module, removing `sim_app.py`.
- Sample updates: Migrated existing examples (such as `implot.py`) to use the new handler pattern and lifecycle events.
PiperOrigin-RevId: 941729322
Change-Id: I93e7c0edf0a13a8dc854f9e2083451f7c25a1825
Deleted async examples since they add noise and are not particularly useful
PiperOrigin-RevId: 941117641
Change-Id: I4f621801f652e0b410a7acf905cda58143dc3fb0
StepControl methods SetSpeed, SetNoiseParameters, and SetPauseState now return a boolean indicating whether the state was actually changed. The GUI functions NoiseGui and StepControlGui also return a boolean reflecting if any parameters were modified. Noise parameters are now directly managed by StepControl rather than being stored in UxState. The StepControlEvent message has been expanded to include all step control parameters. Keyboard event handling has been slightly refactored to better align with event-based updates.
PiperOrigin-RevId: 940656342
Change-Id: I3701623a2fdcfc4c084b5db0ae19048669040de4
- Move SimToView and ViewToSim dataclasses from async.py to viewer_protocol.py (adding a user_data field) to consolidate IPC protocol definitions.
- Remove the simulated Network class and latency UI controls from async.py to simplify the example and focus on core multiprocessing communication.
- Use parser.parse() in main() for cleaner and more direct MuJoCo model loading.
- Add cancel_join_thread() to multiprocessing queues and a join timeout to prevent atexit handlers from blocking during process shutdown.
PiperOrigin-RevId: 932327625
Change-Id: If91777dba934814b3f9faa17f9055869920575d7
Following the export declarations in Dear ImGui and ImPlot METADATA, this change updates MuJoCo's Copybara configuration (copy.bara.sky) to export and transform the Python bindings. `//third_party/dear_imgui/google/py` exports to `python/mujoco/experimental/dear_imgui` and `//third_party/implot/google/py` exports to `python/mujoco/experimental/implot`.
PiperOrigin-RevId: 925293624
Change-Id: Ie6e32d247a6f7fc24bb36ae7060f2075d8efeb26
Matija Kecman