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

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PiperOrigin-RevId: 946298154
Change-Id: Ia06dd6346ac1002000f2d0b1cf9498ffb0d5f8bd
This commit is contained in:
Google DeepMind
2026-07-11 13:47:08 -07:00
committed by Copybara-Service
parent 94132c75c7
commit fbf031a7d5
6 changed files with 63 additions and 33 deletions
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python/mujoco/experimental/studio/studio_app_events.py
+9 -2
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@@ -157,8 +157,15 @@ def handle_step_control_keyboard_events(
pressed = imgui.IsKeyChordPressed
if pressed(imgui.Key.Space):
if step_control.get_pause_state() == sim.PauseState.UNPAUSED:
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):
step_control.set_pause_state(sim.PauseState.NORMAL_PAUSED)
else:
step_control.set_pause_state(sim.PauseState.UNPAUSED)