Copybara-Service
bc8c1f826c
PiperOrigin-RevId: 910401768 Change-Id: I015bd05d9d823db5efb92f660c707a67ddca6591
81 lines
2.6 KiB
Python
81 lines
2.6 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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# http://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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# ==============================================================================
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"""MJX Warp render context types and buffer registry."""
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import threading
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from mujoco.mjx._src import dataclasses as mjx_dataclasses
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_MJX_RENDER_CONTEXT_LOCK = threading.Lock()
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_MJX_RENDER_CONTEXT_BUFFERS = {}
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class RenderContext:
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"""MJX render context wrapping one or more warp render contexts.
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Returned by ``io.create_render_context``. Holds the raw warp contexts
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directly so callers can read camera resolution, buffer addresses, etc.
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Use :meth:`pytree` to obtain the lightweight JAX-compatible handle
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that should be passed into ``jit``/``vmap``-compiled functions such as
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``render`` and ``refit_bvh``.
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"""
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def __init__(self, key, contexts, default):
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self.key = key
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self._contexts = contexts # {device_ordinal: warp RenderContext}
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self._default = default # the first warp RenderContext
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def pytree(self):
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"""Returns a lightweight JAX pytree for use in jit/vmap."""
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return RenderContextPytree(self.key)
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def __getattr__(self, name):
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"""Delegate attribute access to the default warp context."""
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return getattr(self._default, name)
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def __del__(self):
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lock = _MJX_RENDER_CONTEXT_LOCK
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buffers = _MJX_RENDER_CONTEXT_BUFFERS
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if lock is None or buffers is None:
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return
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with lock:
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keys_to_remove = [
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k for k in buffers.keys() if isinstance(k, tuple) and k[0] == self.key
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]
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for k in keys_to_remove:
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buffers.pop(k, None)
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class RenderContextPytree(mjx_dataclasses.PyTreeNode):
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"""Minimal JAX pytree holding just the render context key.
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The key is static (aux_data) so JAX doesn't trace it, allowing the
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Warp FFI to receive a concrete int value.
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"""
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key: int
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def get(rc: RenderContextPytree):
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"""Validates and returns the backing Warp render context."""
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if not isinstance(rc, RenderContextPytree):
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raise TypeError(
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f'Expected RenderContextPytree, got {type(rc).__name__}.'
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' Use rc.pytree() to get the JAX-compatible handle.'
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)
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return _MJX_RENDER_CONTEXT_BUFFERS[(rc.key, None)]
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