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
Startblock:
* // Put other blockers before this line to avoid churning.
* has lgtm
* is approved
* and then
* all comments are resolved
* and then
PiperOrigin-RevId: 961854282
Change-Id: I9d323a8ef9f36ffe69cc62d449849eac82dc6858
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
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
Matija Kecman