Matija Kecman
b3ef7a8c2f
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
76 lines
2.5 KiB
Python
76 lines
2.5 KiB
Python
# Copyright 2026 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# https://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Interactive Studio GUI viewer for MuJoCo."""
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from absl import app as _app
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from absl import flags as _flags
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from mujoco.experimental.studio import launch_passive
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from mujoco.experimental.studio import messages
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from mujoco.experimental.studio import parser
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from mujoco.experimental.studio import sim
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from mujoco.experimental.studio import viewer_app
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from mujoco.experimental.studio import viewer_protocol
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vp = viewer_protocol
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_MODEL = _flags.DEFINE_string('model', None, 'Path to model file.')
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_GFX = _flags.DEFINE_enum(
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'gfx', None, vp.GFX_MODES, 'Graphics mode ("web" launches Web Viewer).'
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)
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_PORT = _flags.DEFINE_integer(
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'port', 0, 'Web Viewer port (0 picks first free port >= 8080).'
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)
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_WIDTH = _flags.DEFINE_integer('width', 1200, 'Width of the output image.')
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_HEIGHT = _flags.DEFINE_integer('height', 800, 'Height of the output image')
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def main(argv: list[str]) -> None:
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config = vp.ViewerConfig(
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width=_WIDTH.value,
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height=_HEIGHT.value,
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gfx=_GFX.value or '',
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http_port=_PORT.value,
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)
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# Resolve model path, if provided.
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model_path = _MODEL.value or (
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argv[1] if len(argv) > 1 and not argv[1].startswith('--') else None
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)
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# Load model if path was provided.
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data, model = None, None
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if model_path and (data := parser.parse(model_path)):
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model = data.model
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with launch_passive.launch_passive(
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config,
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viewer_handlers=[viewer_app.ViewerApp()],
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) as handle:
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# Send the model to the viewer, if we have a model.
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if model is not None:
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handle.send_to_viewer(messages.ModelEvent(model=model, path=model_path))
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# Run the simulation.
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step_control = sim.StepControl()
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try:
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while handle.is_running():
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step_control.advance(model, data)
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model, data, step_control = handle.sync(model, data, step_control)
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except KeyboardInterrupt:
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# Ctrl+C is the documented way to quit; exit cleanly, no traceback.
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print('\nShutting down.', flush=True)
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_app.run(main)
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