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Upstream: https://github.com/michaelgillett/mjlab Upstream-Commit: c19f713c415a699a79d71cd96aa13c3104a05047 Upstream-Branch: main
146 lines
7.4 KiB
Python
146 lines
7.4 KiB
Python
"""
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Interactive GUI viewer for MuJoCo.
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"""
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from __future__ import annotations
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import abc as abc
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import atexit as atexit
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import contextlib as contextlib
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import glfw as glfw
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import math as math
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import mujoco as mujoco
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from mujoco import _simulate
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from mujoco._simulate import Simulate as _Simulate
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import numpy as np
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import os as os
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import queue as queue
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import sys as sys
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import threading as threading
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import time as time
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import typing
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import weakref as weakref
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__all__: list[str] = ['CallbackType', 'Handle', 'KeyCallbackType', 'LoaderType', 'MAX_SYNC_MISALIGN', 'PERCENT_REALTIME', 'SIM_REFRESH_FRACTION', 'abc', 'atexit', 'contextlib', 'glfw', 'launch', 'launch_from_path', 'launch_passive', 'math', 'mujoco', 'np', 'os', 'queue', 'sys', 'threading', 'time', 'weakref']
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class Handle:
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"""
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A handle for interacting with a MuJoCo viewer.
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"""
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def __enter__(self):
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...
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def __exit__(self, exc_type, exc_val, exc_tb):
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...
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def __init__(self, sim: mujoco._simulate.Simulate, cam: mujoco._structs.MjvCamera, opt: mujoco._structs.MjvOption, pert: mujoco._structs.MjvPerturb, user_scn: typing.Optional[mujoco._structs.MjvScene]):
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...
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def _get_sim(self) -> typing.Optional[mujoco._simulate.Simulate]:
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...
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def clear_figures(self):
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...
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def clear_images(self):
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...
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def clear_texts(self):
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...
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def close(self):
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...
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def is_running(self) -> bool:
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...
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def lock(self):
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...
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def set_figures(self, viewports_figures: typing.Union[typing.Tuple[mujoco._structs.MjrRect, mujoco._structs.MjvFigure], typing.List[typing.Tuple[mujoco._structs.MjrRect, mujoco._structs.MjvFigure]]]):
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"""
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Overlay figures on the viewer.
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Args:
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viewports_figures: Single tuple or list of tuples of (viewport, figure)
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viewport: Rectangle defining position and size of the figure
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figure: MjvFigure object containing the figure data to display
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"""
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def set_images(self, viewports_images: typing.Union[typing.Tuple[mujoco._structs.MjrRect, numpy.ndarray], typing.List[typing.Tuple[mujoco._structs.MjrRect, numpy.ndarray]]]):
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"""
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Overlay images on the viewer.
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Args:
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viewports_images: Single tuple or list of tuples of (viewport, image)
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viewport: Rectangle defining position and size of the image
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image: RGB image with shape (height, width, 3)
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"""
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def set_texts(self, texts: typing.Union[typing.Tuple[typing.Optional[int], typing.Optional[int], typing.Optional[str], typing.Optional[str]], typing.List[typing.Tuple[typing.Optional[int], typing.Optional[int], typing.Optional[str], typing.Optional[str]]]]):
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"""
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Overlay text on the viewer.
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Args:
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texts: Single tuple or list of tuples of (font, gridpos, text1, text2)
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font: Font style from mujoco.mjtFontScale
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gridpos: Position of text box from mujoco.mjtGridPos
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text1: Left text column, defaults to empty string if None
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text2: Right text column, defaults to empty string if None
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"""
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def sync(self, state_only: bool = False):
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...
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def update_hfield(self, hfieldid: int):
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...
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def update_mesh(self, meshid: int):
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...
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def update_texture(self, texid: int):
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...
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@property
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def cam(self):
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...
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@property
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def d(self):
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...
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@property
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def m(self):
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...
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@property
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def opt(self):
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...
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@property
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def perturb(self):
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...
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@property
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def user_scn(self):
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...
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@property
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def viewport(self):
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...
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class _MjPythonBase:
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__abstractmethods__: typing.ClassVar[frozenset] # value = frozenset()
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_abc_impl: typing.ClassVar[_abc._abc_data] # value = <_abc._abc_data object>
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def launch_on_ui_thread(self, model: mujoco._structs.MjModel, data: mujoco._structs.MjData, handle_return: typing.Optional[ForwardRef('queue.Queue[Handle]')], key_callback: typing.Optional[typing.Callable[[int], NoneType]]):
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...
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def _file_loader(path: str) -> typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData, str]]:
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"""
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Loads an MJCF model from file path.
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"""
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def _launch_internal(model: typing.Optional[mujoco._structs.MjModel] = None, data: typing.Optional[mujoco._structs.MjData] = None, *, run_physics_thread: bool, loader: typing.Union[typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData]], typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData, str]], NoneType] = None, handle_return: typing.Optional[ForwardRef('queue.Queue[Handle]')] = None, key_callback: typing.Optional[typing.Callable[[int], NoneType]] = None, show_left_ui: bool = True, show_right_ui: bool = True) -> None:
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"""
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Internal API, so that the public API has more readable type annotations.
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"""
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def _physics_loop(simulate: mujoco._simulate.Simulate, loader: typing.Union[typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData]], typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData, str]], NoneType]):
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"""
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Physics loop for the GUI, to be run in a separate thread.
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"""
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def _reload(simulate: mujoco._simulate.Simulate, loader: typing.Union[typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData]], typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData, str]]], notify_loaded: typing.Optional[typing.Callable[[], NoneType]] = None) -> typing.Optional[typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData]]:
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"""
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Internal function for reloading a model in the viewer.
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"""
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def launch(model: typing.Optional[mujoco._structs.MjModel] = None, data: typing.Optional[mujoco._structs.MjData] = None, *, loader: typing.Optional[typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData]]] = None, show_left_ui: bool = True, show_right_ui: bool = True) -> None:
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"""
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Launches the Simulate GUI.
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"""
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def launch_from_path(path: str) -> None:
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"""
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Launches the Simulate GUI from file path.
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"""
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def launch_passive(model: mujoco._structs.MjModel, data: mujoco._structs.MjData, *, key_callback: typing.Optional[typing.Callable[[int], NoneType]] = None, show_left_ui: bool = True, show_right_ui: bool = True) -> Handle:
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"""
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Launches a passive Simulate GUI without blocking the running thread.
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"""
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CallbackType: typing._CallableGenericAlias # value = typing.Callable[[mujoco._structs.MjModel, mujoco._structs.MjData], NoneType]
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KeyCallbackType: typing._CallableGenericAlias # value = typing.Callable[[int], NoneType]
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LoaderType: typing._CallableGenericAlias # value = typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData]]
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MAX_SYNC_MISALIGN: float = 0.1
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PERCENT_REALTIME: tuple = (100, 80, 66, 50, 40, 33, 25, 20, 16, 13, 10, 8, 6.6, 5, 4, 3.3, 2.5, 2, 1.6, 1.3, 1, 0.8, 0.66, 0.5, 0.4, 0.33, 0.25, 0.2, 0.16, 0.13, 0.1)
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SIM_REFRESH_FRACTION: float = 0.7
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_InternalLoaderType: typing._UnionGenericAlias # value = typing.Union[typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData]], typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData, str]]]
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_LoaderWithPathType: typing._CallableGenericAlias # value = typing.Callable[[], typing.Tuple[mujoco._structs.MjModel, mujoco._structs.MjData, str]]
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_MJPYTHON = None
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