# Copyright 2026 DeepMind Technologies Limited
#
# 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.
# ==============================================================================
"""Render helpers for MJX."""
from typing import Any
import jax
import mujoco.mjx.warp as mjxw
# pylint: disable=g-importing-member
from mujoco.mjx._src.types import Data
from mujoco.mjx._src.types import Impl
from mujoco.mjx._src.types import Model
# pylint: enable=g-importing-member
def _require_segmentation_enabled(warp_rc) -> None:
"""Raises if the render context has no segmentation-enabled cameras."""
if not (warp_rc.seg_adr.numpy() >= 0).any():
raise ValueError(
'Render context was not configured with segmentation rendering. '
'Pass render_seg=True or enable it for at least one camera in '
'create_render_context.'
)
def _call_render(
m: Model,
d: Data,
ctx: Any,
require_seg: bool = False,
) -> tuple[jax.Array, jax.Array, jax.Array, Data]:
if m.impl == Impl.WARP and d.impl == Impl.WARP and mjxw.WARP_INSTALLED:
from mujoco.mjx.warp import render as mjxw_render # pylint: disable=g-import-not-at-top # pytype: disable=import-error
from mujoco.mjx.warp import render_context # pylint: disable=g-import-not-at-top # pytype: disable=import-error
warp_rc = render_context.get(ctx)
if require_seg:
_require_segmentation_enabled(warp_rc)
rgb, depth, seg, token_array = mjxw_render.render(m, d, ctx)
token = token_array.reshape(
d._impl._jax_token.shape # pytype: disable=attribute-error
)
d = d.tree_replace({'_impl._jax_token': token}) # pyrefly: ignore[bad-assignment]
return rgb, depth, seg, d
raise NotImplementedError('render only implemented for MuJoCo Warp.')
[docs]
def render(m: Model, d: Data, ctx: Any) -> tuple[jax.Array, jax.Array, Data]:
"""Render packed RGB and depth buffers.
Returns:
A tuple ``(rgb, depth, d)`` where ``rgb`` and ``depth`` are packed buffers
and ``d`` is the updated ``Data`` carrying the post-render execution token.
"""
rgb, depth, unused_seg, d = _call_render(m, d, ctx)
return rgb, depth, d
[docs]
def render_with_segmentation(
m: Model, d: Data, ctx: Any
) -> tuple[jax.Array, jax.Array, jax.Array, Data]:
"""Render and return RGB, depth, and packed segmentation outputs.
Returns:
A tuple ``(rgb, depth, seg, d)`` where the first three are packed buffers
and ``d`` is the updated ``Data`` carrying the post-render execution token.
"""
rgb, depth, seg, d = _call_render(m, d, ctx, require_seg=True)
return rgb, depth, seg, d