Matija Kecman
f1c8d3a58f
This change refactors the Python API to use the term "plugins" instead of "handlers" for classes containing decorated handler methods. The term handler is still used for an annotated method of a plugin class that handles a specific message type. Also improved some documentation. PiperOrigin-RevId: 962150099 Change-Id: I34a8cc410cd784b088605490cfa3baccea5c9e71
76 lines
2.6 KiB
Python
76 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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# 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 as _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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_MODEL = _flags.DEFINE_string('model', None, 'Path to model file.')
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_GFX = _flags.DEFINE_enum(
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'gfx', None, vp.GFX_MODES, 'Graphics mode ("web" launches Web Viewer).'
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)
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_PORT = _flags.DEFINE_integer(
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'port', 0, 'Web Viewer port (0 picks first free port >= 8080).'
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)
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_WIDTH = _flags.DEFINE_integer('width', 1200, 'Width of the output image.')
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_HEIGHT = _flags.DEFINE_integer('height', 800, 'Height of the output image')
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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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http_port=_PORT.value,
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)
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# Resolve model path, if provided.
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model_path = _MODEL.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_plugins=[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)) # pyrefly: ignore[bad-argument-type]
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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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