Matija Kecman
7c22920720
- Move SimToView and ViewToSim dataclasses from async.py to viewer_protocol.py (adding a user_data field) to consolidate IPC protocol definitions. - Remove the simulated Network class and latency UI controls from async.py to simplify the example and focus on core multiprocessing communication. - Use parser.parse() in main() for cleaner and more direct MuJoCo model loading. - Add cancel_join_thread() to multiprocessing queues and a join timeout to prevent atexit handlers from blocking during process shutdown. PiperOrigin-RevId: 932327625 Change-Id: If91777dba934814b3f9faa17f9055869920575d7
78 lines
1.9 KiB
Python
78 lines
1.9 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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StudioApp uses the protocol for convenience methods that accept any viewer.
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"""
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import dataclasses
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from typing import Any
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from typing import 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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@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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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 stop(self) -> None:
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...
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def get_drop_file(self) -> str:
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...
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