- C++ Platform UX: Added a "Copy Camera" button to copy XML camera definitions to clipboard.
- C++ Platform UX: Extracted `SetSpeedIndex` and `GetExpectedLabelWidth` into reusable platform helpers.
- C++ Platform UX: Fixed combo box widths and removed auto-hide tab bar flag from dockspace.
- C++ Studio App: Deduplicated label width and speed index logic by adopting platform helpers.
- C++ Studio App: Updated the toolbar layout to use a 2-column table.
- Python Bindings: Added pybind definitions for `set_camera_index`, `set_speed_index`, and `camera_to_string`.
- Python Studio App: Aligned toolbar UI with C++ using a 2-column table and fixed immediate theme switching.
- Python Studio App: Added a Help menu displaying the MuJoCo version and Stats toggle.
- Python Events: Added `-`/`=` shortcuts for simulation speed and `Esc`/`[`/`]` shortcuts for camera selection.
PiperOrigin-RevId: 922097319
Change-Id: Iec74afe37bf5c7a1ebf1cab4141e47fff5fe9274
Support Ctrl+Option+Left Click Drag (maps to Ctrl+Alt+Left Click Drag in the application) to apply point force perturbations (translation) on the robot in the WebGL live viewer. This matches the Mac experience in the native MuJoCo simulate app and provides a fallback for Mac users where Right Click is difficult to trigger.
PiperOrigin-RevId: 919767954
Change-Id: I4a1d1c05784a8257d13f64f738af5b4841a615b3
Combines the "Solver" and "Performance" chart windows into a single "Profiler" window for better ergonomics and visual layout:
- Unified Dashboard: Groups the Solver block (Counts & Convergence) and the Performance block (Dimensions & CPU Time) in a single viewable window that scales cleanly without vertical scrollbars.
- Adaptive Stacking: Uses ImGui grouping so each block internally stacks its charts vertically, but tiles side-by-side horizontally when the window is stretched wide.
- Default Docking & Width: Integrates the Profiler into the default dockspace layout attached to the right of the main viewable area, with an optimized initial width scaling factor of 0.42.
- Shortcut and Menus: Adds a toggle shortcut bound to `F3`, updates the Help Shortcuts overlay, and replaces old separate entries in the Charts menu.
PiperOrigin-RevId: 912491435
Change-Id: I1f9215e5498866a01ce48b6aeb4a7461191fa01d
- allow reloading of files that failed to load
- clear errors on successful reload
PiperOrigin-RevId: 912458744
Change-Id: Ie6af87508f10e83461bc998c99c9c66e2d58312e
- RHS: Make Inspector be focused by default.
- RHS: Remove Noise pane, put the functionality in the Controls pane.
- Improve Frame and Label dropdowns.
PiperOrigin-RevId: 912434712
Change-Id: I2ee5b647febfc4a90a0cf9387b1d416f5a0dd4a1
- Remove hard-coded button sizes (48×32) from toolbar icons; buttons now use default ImGui sizing, matching the existing copy-camera button.
- Remove the Unload button (available via menu).
- Add ImGui_ColorButtonEx widget with per-corner rounding via ImDrawFlags, enabling segmented button-group visuals.
- Use segmented rounding for the pause/viscous/play triplet: rounded-left, square, rounded-right.
- Make pause and play buttons 40% wider than the viscous button for emphasis.
- Replace the theme combo dropdown with a cycling button.
- Reduce toolbar height from 48px to 34px and vertically center content via WindowPadding.
- Zero out table CellPadding in the toolbar for precise vertical centering.
- Remove the speed combo's inflated vertical padding.
PiperOrigin-RevId: 906853958
Change-Id: I6e4ec7243adb9e0f1f06f8779fa896a6865c46c7
* **Dynamic Full-Window Scaling**: Charts in the Performance and Solver panels now expand to fill the entire pane, automatically arranging side-by-side or stacked based on window orientation to eliminate scrollbars.
* **Responsive Decorators**: Added reusable C++ ImPlot helper functions that auto-hide titles, legends, and tick labels when the plot surface is small.
* **Cleaner Visualization**: Refined chart titles (e.g., "CPU msec vs frame", "Convergence vs iter") and removed redundant axis labels for improved scannability.
These changes were based on the plot behavior of //third_party/mujoco/src/experimental/py/sample/implot.py This is an incremental improvement, we can make the plots even nicer in future.
PiperOrigin-RevId: 906351914
Change-Id: I8cb19c19bf807f0107c717066250a71bcf7e325f
- Reorder Physics section, move Actuator Groups to end.
- Rename "Physics Settings" → "Physics", "Rendering Settings" → "Rendering".
- Reduce IndentSpacing from 20 to 6.
- Reduce FramePadding Y from 6 to 2 for narrower buttons and popups.
- Remove explicit Unindent/Indent overrides in Rendering and Visibility Groups
sections so buttons are naturally indented under their tree nodes.
- Dynamically adjust convergence and counts plot X-axis limits based on actual
solver iterations instead of hardcoded 20.
PiperOrigin-RevId: 906244477
Change-Id: Ic3e6e6e793395158c8cb6692af885884ca3f7f50
The SpecEditor improves spec editing by keeping
track of what's being edited and how it changes
over time.
PiperOrigin-RevId: 878410011
Change-Id: I7c323eeb30178dad31946095a727a21b3955f19a
The editor panel allows you to add, remove, and modify spec elements
as well as recompiling and loading the spec.
Also includes utilities for handling vertically split panels.
PiperOrigin-RevId: 875658785
Change-Id: I18b10971d587db5eb1e65a033e1dc042faac7f1d
Display all other elements under "Elements" or "Assets" group.
Show properties for mjSpec, mjModel, and mjData for selected
elements.
PiperOrigin-RevId: 874614195
Change-Id: I128c2bec844983ac5d35a3a0b1e58b8a5b0109cb
Add a simple GUI for it that allows users to enable/disable
the key binding as well as control some parameters.
PiperOrigin-RevId: 872816645
Change-Id: I8abb2803e17b4f6195d447220c436d4701b24db8
Viscous pause is like pause but the simulation continues with zero gravity, high viscosity and passive springs disabled. It is useful to move things like cabinets with shelves---just move the shelf and the drawers come along as well.
* Updated the simulation control widgets
* Added Ctrl-space shortcut to toggle play/viscous pause
PiperOrigin-RevId: 869810053
Change-Id: Icf649e1f2631c2a64a5d2f25af9537b6a12bdf2c
File resolution only checks local file system. Resource providers may still
be able to load from a path even if it is not resolved.
PiperOrigin-RevId: 867534134
Change-Id: I802566136b965ad839393f56a4d4924dda2e1973
This in preparation for an upcoming change that uses native file dialogs instead
of our very basic ImGui file dialog.
PiperOrigin-RevId: 861671041
Change-Id: I9b00c05efdda5e37ffe15048a2ccf66f6eca89d9
Yuval Tassa