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
113 lines
2.9 KiB
Python
113 lines
2.9 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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"""Structural protocol defining the common viewer interface.
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ViewerApp uses the protocol for convenience methods that accept any viewer.
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"""
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import dataclasses
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import enum
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from typing import Any, Protocol
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import mujoco
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from mujoco.experimental.studio import ux
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import numpy as np
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GFX_MODES = (
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'classic',
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'classic_headless',
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'opengl',
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'opengl_headless',
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'opengl_software',
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'vulkan',
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'vulkan_software',
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'webgl',
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)
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class ViewerMode(enum.StrEnum):
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"""Determines where the viewer is rendered."""
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NATIVE = 'native'
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WEB = 'web'
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# -----------------------------------------------------------------------------
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# Viewer configuration.
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# -----------------------------------------------------------------------------
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@dataclasses.dataclass
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class ViewerConfig:
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"""Common configuration for creating a viewer window."""
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title: str = ''
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width: int = 1200
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height: int = 800
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gfx: str = ''
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viewer_mode: ViewerMode = ViewerMode.NATIVE
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# Legacy message types kept for backward compatibility.
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# Will be removed when callers are migrated.
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@dataclasses.dataclass
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class SimToView:
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"""A message sent from the simulation to the viewer."""
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model: mujoco.MjModel | None = None
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state: np.ndarray | None = None
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state_sig: int = 0
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user_data: dict[str, Any] = dataclasses.field(default_factory=dict)
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@dataclasses.dataclass
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class ViewToSim:
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"""A message sent from the viewer to the simulation."""
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state: np.ndarray | None = None
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state_sig: int = 0
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reset: bool = False
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send_rate: float = 60.0
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user_data: dict[str, Any] = dataclasses.field(default_factory=dict)
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# -----------------------------------------------------------------------------
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# Structural interface for any viewer.
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# -----------------------------------------------------------------------------
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class Viewer(Protocol):
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"""Structural interface for any viewer."""
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camera: mujoco.MjvCamera
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perturb: mujoco.MjvPerturb
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vis_options: mujoco.MjvOption
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render_flags: ux.RenderFlags
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def is_running(self) -> bool:
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...
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def sync(self, model: mujoco.MjModel, data: mujoco.MjData) -> None:
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...
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def close(self) -> None:
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...
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def get_drop_file(self) -> str:
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...
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def upload_image(
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self, tex_id: int, img: str | bytes, width: int, height: int, bpp: int
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) -> int:
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...
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