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Allow run/pause toggling from passive UI and handle, closes #2481 #2493

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Allow run/pause toggling from passive UI and handle, closes #2481 #2493

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6 changes: 4 additions & 2 deletions python/mujoco/simulate.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -277,8 +277,10 @@ PYBIND11_MODULE(_simulate, pymodule) {
.def_property_readonly("busywait",
GetIfNotNull(&mujoco::Simulate::busywait),
py::call_guard<py::gil_scoped_release>())
.def_property_readonly("run", GetIfNotNull(&mujoco::Simulate::run),
py::call_guard<py::gil_scoped_release>())
.def_property("run",
GetIfNotNull(&mujoco::Simulate::run),
SetIfNotNull(&mujoco::Simulate::run),
py::call_guard<py::gil_scoped_release>())

.def_property_readonly("exitrequest",
CallIfNotNull(+[](mujoco::Simulate& sim) {
Expand Down
15 changes: 15 additions & 0 deletions python/mujoco/viewer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -115,6 +115,21 @@ def viewport(self):
return sim.viewport
return None

@property
def run(self):
sim = self._sim()
if sim is not None:
return sim.run
return None

@run.setter
def run(self, value):
if value != 0 and value != 1:
raise ValueError('run must be 0 or 1')
sim = self._sim()
with sim.lock():
sim.run = value

def set_figures(self, viewports_figures):
sim = self._sim()
if sim is not None:
Expand Down
4 changes: 2 additions & 2 deletions simulate/simulate.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -1553,7 +1553,7 @@ void UiEvent(mjuiState* state) {
if (state->type==mjEVENT_KEY && state->key!=0) {
switch (state->key) {
case ' ': // Mode
if (!sim->is_passive_ && sim->m_) {
if (sim->m_ || sim->is_passive_) {
sim->run = 1 - sim->run;
sim->pert.active = 0;

Expand Down Expand Up @@ -2122,7 +2122,7 @@ void Simulate::Sync() {
// clear timers once profiler info has been copied
ClearTimers(d_);

if (this->run || this->is_passive_) {
if (this->run) {
// clear old perturbations, apply new
mju_zero(d_->xfrc_applied, 6*m_->nbody);
mjv_applyPerturbPose(m_, d_, &this->pert, 0); // mocap bodies only
Expand Down
2 changes: 1 addition & 1 deletion simulate/simulate.h
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Expand Up @@ -289,7 +289,7 @@ class Simulate {
// simulation section of UI
const mjuiDef def_simulation[14] = {
{mjITEM_SECTION, "Simulation", mjPRESERVE, nullptr, "AS"},
{mjITEM_RADIO, "", 5, &this->run, "Pause\nRun"},
{mjITEM_RADIO, "", 2, &this->run, "Pause\nRun"},
{mjITEM_BUTTON, "Reset", 2, nullptr, " #259"},
{mjITEM_BUTTON, "Reload", 5, nullptr, "CL"},
{mjITEM_BUTTON, "Align", 2, nullptr, "CA"},
Expand Down
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