# Copyright (C) 2020-2025 Motphys Technology Co., Ltd. All Rights Reserved. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. # ============================================================================== """ Widgets Demo - Camera Viewport Example This example demonstrates the widgets system with camera viewport widgets. Features demonstrated: - Creating multiple camera viewports with different layouts - Pixel-based, percentage-based, and auto layouts - Interactive viewport manipulation via keyboard controls - Real-time widget updates Controls: - 1/2/3: Switch vp1 camera (sensor_camera_index) - w/a/s/d: Move vp1 viewport (pixel-based movement) - +/-: Resize vp1 viewport - r: Reset all layouts - h: Toggle vp1 visibility (move off/on screen) - Delete: Remove vp3 from screen (requires restart to restore) """ from motrixsim import SceneData, load_model, run, step from motrixsim.render import Layout, RenderApp def main(): # Print instructions print("=" * 60) print("Widgets Demo - Camera Viewport Example") print("=" * 60) print("\nControls:") print(" 1/2/3 - Switch vp1 to camera 0/1/2") print(" w/a/s/d - Move vp1 viewport (up/left/down/right)") print(" +/- - Resize vp1 viewport (larger/smaller)") print(" r - Reset all layouts to default") print(" h - Toggle vp1 visibility") print(" k - Remove vp3 from screen (requires restart to restore)") print("\nLayout Formats:") print(" Pixels: Layout(left=50, top=50, width=200, height=150)") print(" Percentage: Layout(left='10%', top='10%', width='30%', height='30%')") print(" Auto: Layout(width='auto', height='auto')") print("=" * 60) print() # Create render app for visualization with RenderApp() as render: # Load the scene model path = "examples/assets/go1/scene.xml" model = load_model(path) # Configure cameras for rendering # The go1 scene has multiple cameras that can be used as sensor cameras cameras = model.cameras if len(cameras) >= 2: # Camera 0: RGB camera cameras[0].set_render_target("image", 320, 240) # Camera 1: Depth camera cameras[1].set_render_target("image", 320, 240) cameras[1].depth_only = True cameras[1].set_near_far(0.1, 1.0) # Launch the renderer render.launch(model) # Create simulation data data = SceneData(model) # ==================================================================== # Create Camera Viewport Widgets # ==================================================================== # Viewport 1: Top-left with pixel-based layout # Demonstrates fixed pixel positioning and sizing vp1 = render.widgets.create_camera_viewport( cameras[0], layout=Layout(left=10, top=10, width=240, height=180), sim_world_index=0 ) # Viewport 2: Top-right with percentage-based layout # Demonstrates responsive positioning using percentages vp2 = render.widgets.create_camera_viewport( cameras[1], layout=Layout(left="60%", top=10, width=240, height=180), sim_world_index=0 ) # Viewport 3: Bottom-left with mixed layout (pixels + percentage) # Demonstrates mixed layout values vp3 = render.widgets.create_camera_viewport( cameras[0], layout=Layout(left=10, top="60%", width=320, height=240), sim_world_index=0 ) # Store initial layouts for reset functionality initial_layouts = { "vp1": Layout(left=10, top=10, width=240, height=180), "vp2": Layout(left="60%", top=10, width=240, height=180), "vp3": Layout(left=10, top="60%", width=320, height=240), } # Track vp1 current position and size for movement controls vp1_left, vp1_top = 10, 10 vp1_width, vp1_height = 240, 180 vp1_visible = True print("Widgets created:") print(f" vp1: camera 0 at ({vp1_left}, {vp1_top}), size {vp1_width}x{vp1_height}") print(" vp2: camera 1 at (60%, 10), size 240x180") print(" vp3: camera 0 at (10, 60%), size 320x240") print() # ==================================================================== # Define simulation and rendering callbacks # ==================================================================== def phys_step(): """Physics step callback - runs 4 substeps for stability""" step(model, data) def render_step(): """Render step callback - handles input and synchronization""" nonlocal vp1_left, vp1_top, vp1_width, vp1_height, vp1_visible # ==================================================================== # Interactive Controls # ==================================================================== # Switch vp1 camera if render.input.is_key_just_pressed("1"): vp1.update(camera=cameras[0]) print("vp1: switched to camera 0") if render.input.is_key_just_pressed("2"): vp1.update(camera=cameras[1]) print("vp1: switched to camera 1") if render.input.is_key_just_pressed("3"): if len(cameras) >= 3: vp1.update(camera=cameras[2]) print("vp1: switched to camera 2") else: print("vp1: camera 2 not available") # Move vp1 viewport (10 pixels per keypress) move_step = 10 if render.input.is_key_just_pressed("w"): vp1_top = max(0, vp1_top - move_step) if vp1_visible: vp1.update(layout=Layout(left=vp1_left, top=vp1_top, width=vp1_width, height=vp1_height)) print(f"vp1: moved to ({vp1_left}, {vp1_top})") if render.input.is_key_just_pressed("s"): vp1_top += move_step if vp1_visible: vp1.update(layout=Layout(left=vp1_left, top=vp1_top, width=vp1_width, height=vp1_height)) print(f"vp1: moved to ({vp1_left}, {vp1_top})") if render.input.is_key_just_pressed("a"): vp1_left = max(0, vp1_left - move_step) if vp1_visible: vp1.update(layout=Layout(left=vp1_left, top=vp1_top, width=vp1_width, height=vp1_height)) print(f"vp1: moved to ({vp1_left}, {vp1_top})") if render.input.is_key_just_pressed("d"): vp1_left += move_step if vp1_visible: vp1.update(layout=Layout(left=vp1_left, top=vp1_top, width=vp1_width, height=vp1_height)) print(f"vp1: moved to ({vp1_left}, {vp1_top})") # Resize vp1 viewport (20 pixels per keypress) resize_step = 20 if render.input.is_key_just_pressed("=") or render.input.is_key_just_pressed("+"): vp1_width += resize_step vp1_height += resize_step * 3 // 4 if vp1_visible: vp1.update(layout=Layout(left=vp1_left, top=vp1_top, width=vp1_width, height=vp1_height)) print(f"vp1: resized to {vp1_width}x{vp1_height}") if render.input.is_key_just_pressed("-") or render.input.is_key_just_pressed("_"): vp1_width = max(100, vp1_width - resize_step) vp1_height = max(75, vp1_height - resize_step * 3 // 4) if vp1_visible: vp1.update(layout=Layout(left=vp1_left, top=vp1_top, width=vp1_width, height=vp1_height)) print(f"vp1: resized to {vp1_width}x{vp1_height}") # Reset all layouts if render.input.is_key_just_pressed("r"): vp1.update(layout=initial_layouts["vp1"]) vp2.update(layout=initial_layouts["vp2"]) vp3.update(layout=initial_layouts["vp3"]) vp1_left, vp1_top = 10, 10 vp1_width, vp1_height = 240, 180 vp1_visible = True print("All layouts reset to default") # Toggle vp1 visibility if render.input.is_key_just_pressed("h"): vp1_visible = not vp1_visible if vp1_visible: vp1.update(layout=Layout(left=vp1_left, top=vp1_top, width=vp1_width, height=vp1_height)) print(f"vp1: visible at ({vp1_left}, {vp1_top})") else: # Move off-screen to hide vp1.update(layout=Layout(left=-500, top=-500, width=vp1_width, height=vp1_height)) print("vp1: hidden") # Remove vp3 from screen if render.input.is_key_just_pressed("k"): vp3.remove() print("vp3: removed from screen") # Sync render with simulation render.sync(data) # ==================================================================== # Run the main simulation loop # ==================================================================== run.render_loop(model.options.timestep, 60, phys_step, render_step) if __name__ == "__main__": main()