Matija Kecman
58d6910afa
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
143 lines
4.0 KiB
Python
143 lines
4.0 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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"""Messages and Channels for Studio."""
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import dataclasses
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from typing import Protocol
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from typing import runtime_checkable
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import mujoco
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from mujoco.experimental.studio import sim
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import numpy as np
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# -----------------------------------------------------------------------------
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# Message and Channel types for passing data between the sim and the viewer.
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# Concrete messages are defined later in this file, there is one per Event;
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# add more if needed in your script.
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# Concrete Channel implementations live in the launch_* modules.
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# -----------------------------------------------------------------------------
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class Message:
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"""Base class for data sent between the sim and the viewer.
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Derive from Snapshot or Event, depending on the desired delivery semantics.
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"""
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class Snapshot(Message):
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"""Base class for latest-wins, droppable messages.
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Each new snapshot replaces the previous one, so the receiver always sees the
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most recent value. Intermediate values may be silently dropped, making
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snapshots suitable for frequently updated state where only the latest value
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matters.
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"""
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class Event(Message):
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"""Base class for reliable, ordered, never dropped messages.
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Events are queued in order and every event is delivered exactly once. Use
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events for discrete actions that must not be lost.
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"""
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@runtime_checkable
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class SnapshotChannel(Protocol):
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"""Channel to transport Snapshot messages with latest-wins semantics."""
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def put(self, value: Snapshot) -> None:
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"""Overwrites the latest snapshot of the same type."""
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...
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def get(self) -> list[Snapshot]:
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"""Returns the latest pending snapshots of each type."""
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...
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def close(self) -> None:
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"""Releases resources held by the channel."""
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...
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@runtime_checkable
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class EventChannel(Protocol):
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"""Channel to transport Event messages in an ordered stream, nothing dropped."""
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def put(self, value: Event) -> None:
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"""Puts an event into the channel, appending to the stream."""
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...
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def get(self) -> list[Event]:
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"""Returns all pending events, in order."""
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...
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def close(self) -> None:
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"""Releases resources held by the channel."""
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...
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# -----------------------------------------------------------------------------
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# Concrete Event and Snapshot types.
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# -----------------------------------------------------------------------------
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@dataclasses.dataclass(frozen=True)
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class StateSnapshot(Snapshot):
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"""A snapshot message that transports a MuJoCo state."""
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state: np.ndarray
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state_sig: int
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@dataclasses.dataclass(frozen=True)
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class ResetEvent(Event):
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"""An event requesting to reset the simulation."""
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@dataclasses.dataclass(frozen=True)
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class ModelEvent(Event):
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"""An event that transports a MuJoCo model."""
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model: mujoco.MjModel
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@dataclasses.dataclass(frozen=True)
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class OptionEvent(Event):
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"""An event that transports updated MuJoCo model options."""
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opt: mujoco.MjOption
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@dataclasses.dataclass(frozen=True)
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class PerturbEvent(Event):
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"""Carries perturbation forces from the viewer to the simulation."""
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state: np.ndarray
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state_sig: int
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@dataclasses.dataclass(frozen=True)
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class StepControlEvent(Event):
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"""An event carrying the full step control state from the viewer to the sim."""
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pause_state: sim.PauseState
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speed: float
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noise_scale: float
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noise_rate: float
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@dataclasses.dataclass(frozen=True)
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class ExitEvent(Event):
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"""An event requesting to exit."""
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