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Replace functionally opaque Viscous Pause with functionally transparent "Viscous posing mode" toggle.

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PiperOrigin-RevId: 946286636
Change-Id: I3e542b12bb57c67f3f194d7bcfdffe39de4f2b94
This commit is contained in:
Yuval Tassa
2026-07-11 13:00:13 -07:00
committed by Copybara-Service
parent 892d889793
commit 724a6c6623
6 changed files with 33 additions and 63 deletions
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python/mujoco/experimental/studio/studio_app_events.py
+2 -9
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@@ -157,15 +157,8 @@ def handle_step_control_keyboard_events(
pressed = imgui.IsKeyChordPressed
if pressed(int(imgui.Key.Ctrl) | int(imgui.Key.Space)):
if step_control.get_pause_state() == sim.PauseState.VISCOUS_PAUSED:
step_control.set_pause_state(sim.PauseState.UNPAUSED)
else:
step_control.set_pause_state(sim.PauseState.VISCOUS_PAUSED)
return True
elif pressed(imgui.Key.Space):
pause = step_control.get_pause_state()
if pause in (sim.PauseState.VISCOUS_PAUSED, sim.PauseState.UNPAUSED):
if pressed(imgui.Key.Space):
if step_control.get_pause_state() == sim.PauseState.UNPAUSED:
step_control.set_pause_state(sim.PauseState.NORMAL_PAUSED)
else:
step_control.set_pause_state(sim.PauseState.UNPAUSED)