This change refactors the Python API to use the term "plugins" instead of "handlers" for classes containing decorated handler methods. The term handler is still used for an annotated method of a plugin class that handles a specific message type. Also improved some documentation.
PiperOrigin-RevId: 962150099
Change-Id: I34a8cc410cd784b088605490cfa3baccea5c9e71
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 change introduces a get_frame method to the viewer protocol, replacing the previous is_running check. This allows the viewer loop to skip rendering and lifecycle events when no active frame is ready (for example, when no browser is connected to the web viewer).
Additionally, this change:
- Adds a shutdown hook to ViewerHandle to wait for the viewer to cleanly release resources before exiting.
- Implements an ExitEvent handler in the viewer protocol to stop the run loop.
- Adds an http_port configuration option for the web viewer.
- Prevents double-closing in the viewer.
PiperOrigin-RevId: 954603868
Change-Id: Iaba7d131dc94191de51150464514dd10fa7834b0
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
Introduced a ViewerConfig dataclass to encapsulate common viewer window parameters. The NativeViewer now accepts a ViewerConfig and no longer requires a model at initialization. The Viewer protocol has been updated to include a close method (renamed from stop) and an upload_image method. Added checks for None models/data in studio event handling.
PiperOrigin-RevId: 939631378
Change-Id: Ibc07d0e775efa0d79ce5552ee52102e943a9b290
- 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