Introduces a new timeline widget in the Studio UI, replacing the previous integer slider for simulation history. The new widget displays the current and maximum simulation times, formatted with appropriate units (µs, ms, s), alongside the actual step number, and allows scrubbing through the history via a custom-drawn spine and knob.
This change also modifies the history recording logic to record every solver step rather than only every rendered frame. This enables the step forward/backward buttons to navigate exactly 1 solver step at a time.
This change also fixes `SimHistory::SetIndex()` range checks in `sim_history.cc` to clamp `offset_` against `1 - size_` (`Size()`) rather than total vector capacity (`history_.size()`).
PiperOrigin-RevId: 944671699
Change-Id: Iaa34668a1e257e5c0c1840c827370d81c4935b3d
The flexcomp compiler previously rejected pins on dim-2 flexes with
bending (elastic2d bend/both). Allow them: mj_flexPassiveBend treats a
pinned vertex (body without 3 free slide dofs) as static -- zero
velocity, and no bending force applied to it (the reaction is carried
by the pin) -- while its position still enters every neighbor's
bending force, which is exactly what the pin constrains.
PiperOrigin-RevId: 944410969
Change-Id: Ib0a69c8d5fb6f64d3e2a76af3b6b2c7be1898191
Testing on 50 million random doubles we have branchless clip is 1.14x faster than the branched version and branchless sign is 2.27x faster than the branched version.
PiperOrigin-RevId: 943812426
Change-Id: If8003a602365601a31bec1d8b080c44d16000a4e
This example demonstrates how to use Studio's `extra_geoms` feature to render semi-transparent, time-delayed copies of the model's geoms, creating a "ghost" effect.
PiperOrigin-RevId: 943672439
Change-Id: I8ae640672945b55dd25dd3d444f52d0b2fa7f0f8
ViewerApp is simplified, interacting with the endpoint and handlers through the Viewer instance. This change makes it possible to write simulation viewers without using the UI/UX provided by ViewerApp (which should be renamed StudioApp)
PiperOrigin-RevId: 943642660
Change-Id: Id8eb3d4e6a27ceda93833367fec4699fa6bc838e
There is a single remaining exception for mjb as it's a special case by bypassing mjSpec.
PiperOrigin-RevId: 943556676
Change-Id: Iaf480ea6d2d42a6007b35c23435b25c9eb24ead0
On Windows, std::filesystem::path::string() returns backslashes while
zip entries use forward slashes. This caused lookup mismatches making
MJZ decoding fail on Windows with 'could not decode content'.
Use generic_string() (which always returns forward slashes) for all
path operations used in zip entry lookups, and normalize the archive
name at construction time.
PiperOrigin-RevId: 943538265
Change-Id: I50cafff82fd7f5f315ccfc890f660e138e4448a2
When `from __future__ import annotations` is active or forward references are used as strings, type annotations are not directly class objects. This change uses `get_type_hints` to resolve these string annotations to their actual types, ensuring correct validation of message handler signatures.
PiperOrigin-RevId: 942608060
Change-Id: Ic2b214ee85e835616cc3a18ec2699eba6deebb6a
Deletes mj_factorI_legacy and mj_solveLD_legacy from the engine and headers.
Updates factorI, solveLD, and inertia benchmarks to remove legacy targets
and only benchmark CSR.
Rewrites engine_core_smooth_test to verify CSR solver against mj_mulM
instead of legacy solver.
PiperOrigin-RevId: 942507341
Change-Id: I4281decb7018cfa3e46cb446efd5fe1179f6ae1f
Support named CLI flags, physics overrides, and refactor global state.
- **Named CLI Flags**: Replaced standard positional arguments with named flags (`--nstep`, `--nthread`, `--noisestd`, `--noiserate`, `--npoolthread`) and preserved Google-wide flags compatibility (via custom argv compacting and InitGoogle).
- **Physics Option Overrides**: Added support for configuring loaded model settings directly from the command line (`--solver`, `--cone`, `--jacobian`, `--integrator`, `--iterations`, `--tolerance`, `--sleep_tolerance`, `--noslip_iterations`).
- **Encapsulated Thread State**: Consolidated loose global variables and per-thread rollout statistics arrays into a single data structure, `RolloutRunner runner`, simplifying mutli-threaded data boundaries.
- **Readable Physics Options Printing**: Logged configured non-default options dynamically prior to rollout. Enums and active bitmask flags (e.g. disableflags/enableflags) are decoded into friendly strings (e.g., `Sleep : Enabled`).
- **Tests & Docs**: Added testspeed_test.sh running testspeed over dominos.xml to check all overrides, registered shell test target in BUILD and CMakeLists.txt, and updated samples.rst documentation.
PiperOrigin-RevId: 942285912
Change-Id: Idb966fadfa0ccba0f1862f9d62bf83458b61939a
Also add manual `Py_GIL_DISABLED` macro definition in CMakeLists as well, since there are some STATIC libraries that aren't getting it automatically through pybind11. As originally proposed in PR #3259.
Co-authored-by: Devansh Raulo <151062727+devansh0703@users.noreply.github.com>
PiperOrigin-RevId: 942216446
Change-Id: I9ef5f457491ae776c452912fbfa8617b8509d47c
The `body_sameframe`, `geom_sameframe`, and `site_sameframe` flags are now recomputed within `mj_setConst` based on the current model geometry. This allows these flags to be updated if the model's body/geom/site frames are modified after the initial compilation. Tests are added to verify the correct recomputation and its effect on forward kinematics. The compiler also checks that its initial computation matches the result of `mj_setConst`.
Fixes#3029, #1628.
PiperOrigin-RevId: 941758649
Change-Id: I7b995f8c67ad305bca5b52732436ba578c905d73
This change replaces fixed callback protocols (e.g., ViewerGuiHook, ViewerUpdateHook, SimEventHandler) with a general-purpose, priority-based message and event handling mechanism.
Key changes:
- Handler decorator and registry: Introduced the `@messages.handler(priority=...)` decorator and `HandlerRegistry` (`handler_registry.py`). Methods marked as handlers are automatically discovered and dispatched by priority (CRITICAL, USER, LIBRARY, INTERNAL) or method resolution order.
- Local lifecycle events: Added `ViewerAppInitEvent`, `BuildGuiEvent`, and `UpdateEvent` to `messages.py`. Custom GUI rendering and per-frame update logic can now be implemented as standard event handlers without needing separate interface protocols.
- Streamlined launch and app APIs: Replaced individual hook and handler arguments in `launch_passive`, `ViewerApp`, and `ViewerHandle` with unified `viewer_handlers` and `sim_handlers` lists.
- Module restructuring: Extracted simulation-side message handling and `ViewerHandle` from `sim_app.py` into a dedicated `viewer_handle.py` module, removing `sim_app.py`.
- Sample updates: Migrated existing examples (such as `implot.py`) to use the new handler pattern and lifecycle events.
PiperOrigin-RevId: 941729322
Change-Id: I93e7c0edf0a13a8dc854f9e2083451f7c25a1825
Undo mistaken auto-format of the schema table, revert it to be more human-readable.
PiperOrigin-RevId: 941628625
Change-Id: Ifc51996da9a7df9d1a03392a0ade256fb8b1c151
The line search now requires a negative cost (improvement) in addition to a small derivative to declare convergence, preventing premature termination when no actual improvement has been made.
Follows the proposal in github.com/google-deepmind/mujoco_warp/pull/1471
PiperOrigin-RevId: 941579503
Change-Id: I8fcd20f7b959e50d77cd5d6de0a3c6d95f86b9e1
Similar to LightManager, the RenderableManager manages
renderables based on an mjModel and its mjData.
PiperOrigin-RevId: 941510745
Change-Id: I97b44cc857f136aa7c90ceb85a42e299fc759b73
The `<attach>` element now supports a "frame" attribute, allowing users to specify either a "body" or a "frame" to attach to, but not both. The XML parser has been updated to handle this new attribute and the mutual exclusivity constraint.
PiperOrigin-RevId: 941245904
Change-Id: I4c0edeed5f3a9e456aed96c373b1647fe79841d9
Pedro Morais