Matija Kecman
f594778813
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
54 lines
1.7 KiB
Python
54 lines
1.7 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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"""This script runs Studio from Python, visualized in a native viewer."""
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from absl import app as absl_app
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from absl import flags as absl_flags
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from mujoco.experimental.studio import native_viewer
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from mujoco.experimental.studio import studio_app
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from mujoco.experimental.studio import viewer_protocol
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_GFX = absl_flags.DEFINE_enum(
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'gfx', None, viewer_protocol.GFX_MODES, 'Rendering graphics mode.'
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)
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_WIDTH = absl_flags.DEFINE_integer('width', 1200, 'Width of the output image.')
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_HEIGHT = absl_flags.DEFINE_integer('height', 800, 'Height of the output image')
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def main(argv: list[str]) -> None:
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app = studio_app.StudioApp.from_argv(argv)
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# Initialize the viewer.
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config = viewer_protocol.ViewerConfig(
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width=_WIDTH.value,
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height=_HEIGHT.value,
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gfx=_GFX.value,
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)
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viewer = native_viewer.NativeViewer(config)
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# Main viewer loop.
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while viewer.is_running():
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if not app.update_from_viewer(viewer):
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break
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app.build_gui(viewer.camera, viewer.vis_options, viewer.render_flags)
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viewer.sync(app.model, app.data)
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viewer.stop()
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if __name__ == '__main__':
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absl_app.run(main)
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