Matija Kecman
8196ca17f8
* Adds exception handler block to simulator samples to allow clean Ctrl+C exits. * Formats import statements inside code generator validator. PiperOrigin-RevId: 950821976 Change-Id: I283533d87619d5d9b54d9bec970cdefe538fd752
74 lines
2.5 KiB
Python
74 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
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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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_GFX = flags.DEFINE_enum('gfx', None, vp.GFX_MODES, 'Graphics mode.')
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_WIDTH = flags.DEFINE_integer('width', 1200, 'Width of output window.')
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_HEIGHT = flags.DEFINE_integer('height', 800, 'Height of output window.')
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_MJCF_PATH = flags.DEFINE_string('mjcf', None, 'Path to MJCF file.')
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_VIEWER = flags.DEFINE_enum_class(
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'viewer', vp.ViewerMode.NATIVE, vp.ViewerMode, 'Viewer mode.'
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)
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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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viewer_mode=_VIEWER.value,
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)
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# Resolve model path, if provided.
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model_path = _MJCF_PATH.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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