fe0a11d58d
Change Filament background color to black.
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PiperOrigin-RevId: 843152096
Change-Id: I2ef87ffffb9cc8662fa6353c6d38f1046f21b34b
2025-12-11 03:56:34 -08:00
caec236b2f
Make mj_loadModelBuffer a public API.
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PiperOrigin-RevId: 843105390
Change-Id: I4058471b4cf64995dd5ab43e9c8c24e322004b62
2025-12-11 01:24:17 -08:00
6bcb22730d
Minor clean-up of some visualization code.
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Move mjvGeom acquire/release into helper functions, where possible.
PiperOrigin-RevId: 842675435
Change-Id: Ie5aaf206927251e79b20cc4101a7017645d5dd4b
2025-12-10 05:09:53 -08:00
9c1b8d8cfb
Enable font loading for wasm builds.
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PiperOrigin-RevId: 842627994
Change-Id: I347f79ec668f31a8bbc4d26638a045e29084d715
2025-12-10 02:31:46 -08:00
f06aa45ea6
Consolidate ray normal functions.
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PiperOrigin-RevId: 842300829
Change-Id: Ic5e921084710cb044a4f49ea9b566d277838aaa1
2025-12-09 10:36:10 -08:00
85e6f6de3c
Ignore unsupported light types in GL3 renderer.
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PiperOrigin-RevId: 842271116
Change-Id: I632f7ed8e2a6488d5a8eb228928e26c8fcbdff66
2025-12-09 09:22:29 -08:00
32d7b87ba7
Improve studio 2D plots
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PiperOrigin-RevId: 842260702
Change-Id: I4644b69da92b9d015eb2d140b98f68c05d31a222
2025-12-09 08:56:51 -08:00
5b1fa666fb
Add mj_rayHfieldNormal (not exposed in public header)
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PiperOrigin-RevId: 842259581
Change-Id: I27d6c46024d55addbc22eed276331e2ef5acfa7d
2025-12-09 08:53:47 -08:00
7553541b4b
Use public mj_parseXml function.
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PiperOrigin-RevId: 842245812
Change-Id: I26e1f992f82050a36373ee3a3f2c97c399b4e788
2025-12-09 08:14:32 -08:00
97eb307ce9
First pass at mjSpec Explorer and Properties windows.
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Displays the list of bodies and joints from the mjSpec and displays
values for the selected element.
Functionality is very limited and a bit non-intuitive. However, we want
to get this into our users hands to start getting feedback.
PiperOrigin-RevId: 842228895
Change-Id: I2491cd5e0acaf622110e0f6b8406919024d3607a
2025-12-09 07:28:26 -08:00
c064abc3da
Change row-flipping logic for heightfields.
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Move row-flipping logic from `mjCModel::CopyBack` to `mjXWriter`.
PiperOrigin-RevId: 842220322
Change-Id: I6fb09db6c9e8689f6e435f82f58dd3e7c4314478
2025-12-09 07:02:21 -08:00
925c533580
Move playback speed control to the toolbar.
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Initialize playback speed based on the model's global.realtime setting.
Adjust layout and tweak colours of the status and tool bars.
PiperOrigin-RevId: 842214796
Change-Id: Iff9cda74178df28a0787693242fee81e011014fc
2025-12-09 06:47:38 -08:00
cc914c9ec7
Modify studio keyboard bindings to conform to MuJoCo API.
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PiperOrigin-RevId: 842197387
Change-Id: I6ee9b1f5050cb4a8c2f67253f37481c61c91fdbd
2025-12-09 05:53:14 -08:00
f65c1cdfd1
Add mj_raySdfNormal (not exposed in public header)
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PiperOrigin-RevId: 842178540
Change-Id: I5d2db555e9b6c0fa0daaa8bc14c7781663e4c94e
2025-12-09 04:43:39 -08:00
e1e2248925
Internal changes only.
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PiperOrigin-RevId: 842099953
Change-Id: Ia11feec323504976cdc3e6d7170435b74ed33fcd
2025-12-09 00:18:06 -08:00
99a90cb649
Don't do GUI rendering when rendering to texture.
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PiperOrigin-RevId: 842089364
Change-Id: Iaecebdc677e946c7fc618395205097462a56f2d1
2025-12-08 23:44:50 -08:00
735b31fc89
Fix triangle lighting in native renderer.
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PiperOrigin-RevId: 841796563
Change-Id: I778e0e02aa8b4033531d4fadc091610418ab909e
2025-12-08 09:27:04 -08:00
e238b65843
Support both 3 and 4 channel images and use a safer way to assign IDs to images.
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PiperOrigin-RevId: 841727607
Change-Id: I319db4291ecee27f4ceb7b7e952c6f68e7f8b96d
2025-12-08 05:55:00 -08:00
96e376451c
Update MuJoCo version from 3.4.0 to 3.4.1 following the 3.4.0 release
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PiperOrigin-RevId: 840914696
Change-Id: Iffabc70dd174384ba1c535cafcd34982ff8e5712
2025-12-05 16:15:56 -08:00
fcdacd0690
Fix crash when using image-based textures.
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Image lights are not normal lights, so use nullptr as a placeholder.
Add checks for nullness when iterating over the lights.
PiperOrigin-RevId: 840695579
Change-Id: I092515ae814523e85f4f5ce87b2bac2241f4ea35
2025-12-05 06:08:13 -08:00
6e7b2ba4c3
Reuse renderable entity instead of recreating every frame.
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PiperOrigin-RevId: 840680350
Change-Id: Ie26862f8993c4b1cf071ee867d89bcc8182d3dd2
2025-12-05 05:10:12 -08:00
f18c9996e6
Allow uploading textures for use with ImGui.
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PiperOrigin-RevId: 840669528
Change-Id: I7c5854d966dd024cd492953f86bca961cfaf88b8
2025-12-05 04:31:32 -08:00
e93786c161
Fix WebGL rendering for the webdemo
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PiperOrigin-RevId: 840640628
Change-Id: I4bac3bf634e66da01174927bf6096bc1df642e10
2025-12-05 02:39:54 -08:00
6ed9f2be7a
Removed unused font uploading functionality.
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Font textures are handled directly through ImGui.
PiperOrigin-RevId: 840259537
Change-Id: I5b6b0dc5d2c1c7066b4a23f0106de34285f40e6c
2025-12-04 08:38:58 -08:00
da36e822a8
Allow material default classes to define texture layers.
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PiperOrigin-RevId: 840254100
Change-Id: I59f67fc4d1485cf80bbc005d1b35cda6224248ed
2025-12-04 08:22:55 -08:00
5ee8b646f7
Move Style and Layout configuration to shared GUI library.
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PiperOrigin-RevId: 840246253
Change-Id: Ic4664b62e86e70fd6780cd9eb885978064c5f585
2025-12-04 08:02:16 -08:00
5f59104877
Properly handle PBR materials where no color texture is provided.
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In this case, we'll use the mujoco material color which is then multiplied with a white fallback texture.
PiperOrigin-RevId: 840244521
Change-Id: I2134f45dcbaed7db268e5278ca8ac5429488943d
2025-12-04 07:57:24 -08:00
680e9a6b79
Update studio build script and instructions.
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Mujoco studio now works on Windows and MacOS.
PiperOrigin-RevId: 840235447
Change-Id: I66d3430d5d994de2eb13ee08ad3051c6c7187e12
2025-12-04 07:27:37 -08:00
c5cd276e1f
Cleanup model loading flow.
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Inlines the platform::LoadMujocoModel into the App class which simplifies
the logic and allows us to correctly display loading errors.
Also updates shortcuts:
Load Model (Ctrl+L) -> Open File (Ctrl+O)
Reload Model (Ctrl+R) -> Reload Model (Ctrl+L)
PiperOrigin-RevId: 840232553
Change-Id: I957d29046ae681d2aeb69310c3a2eec64d042d49
2025-12-04 07:20:02 -08:00
8823e9fedf
Improve imgui texture management.
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Keep track of all textures and recreate them as needed. This makes imgui
textures robust to render context reinitialization.
PiperOrigin-RevId: 840228061
Change-Id: Ia4ac35ff93a41ac74020f334adc438df4b030f7c
2025-12-04 07:05:14 -08:00
54070fc71b
Disable bent normals by default.
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PiperOrigin-RevId: 840216781
Change-Id: Icf24d73939fa138da46e2da7aa69a6574e6f98ec
2025-12-04 06:28:53 -08:00
a942fd4875
Make filament segmentation shader distinct colors optional.
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Previously we were computing at material update time a color for the geom based of it's
segid. This made segids unrecoverable from the resulting buffer. With this change
we allow SceneView creators to specify if they want the segmentation buffer to be purely
for visualization with distinct colors.
PiperOrigin-RevId: 840016870
Change-Id: I5920f248ace0901023e6545c7d8dd2b23f9aa397
2025-12-03 19:26:20 -08:00
4a6b9456aa
Set default headlight intensity to zero if there are no physical lights in the scene.
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PiperOrigin-RevId: 839962392
Change-Id: I086d8135604982c42381a9b49cec53773c7fa362
2025-12-03 16:31:11 -08:00
8507b62556
Cache the rendering mode used to allow headless segmentation rendering.
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This also moves the read call into the frame, per the recommendation in the filament documentation. We also don't need to flush and wait for the engine twice, just defer to the end of readPixels.
PiperOrigin-RevId: 839953612
Change-Id: I52205147794440322ca976c52fb4905207c21473
2025-12-03 16:06:39 -08:00
14513a04c2
Wait until previous render is finished before submitting another request.
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PiperOrigin-RevId: 839707507
Change-Id: Ib39538540ff6080d197c2ea853b7273cc56084e7
2025-12-03 05:01:44 -08:00
e409538831
Ensure window scale is initialized on creation.
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PiperOrigin-RevId: 839699437
Change-Id: I99e477ac49b56726b77389306aec49c895e160fa
2025-12-03 04:29:52 -08:00
448fc0e4d5
Report the actual GPU framerate rather than the main thread submit rate when using the filament renderer.
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PiperOrigin-RevId: 838775463
Change-Id: If66644d284a4a9e0263cf31bfbd1785b18e0209b
2025-12-01 08:02:38 -08:00
19e2d0ae2f
Add mj_fwdKinematics and a table improving documentation of the MuJoCo computation pipeline structure.
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PiperOrigin-RevId: 838768130
Change-Id: I1a22d5cdca7db704ba4cea1667fcbecb16b87005
2025-12-01 07:39:00 -08:00
94fb10bf3d
Internal changes
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PiperOrigin-RevId: 838741176
Change-Id: I9def07b3f7e963d2787d71019d303ba1eb75622c
2025-12-01 06:11:15 -08:00
9b7134b15b
Add OSX and WIN32 support for getting the native window pointer.
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PiperOrigin-RevId: 838720433
Change-Id: Id7123bcf456d0c2d32e67b204564fe8c495004cd
2025-12-01 04:57:24 -08:00
ad24889bb9
Add mj_rayMeshNormal (not exposed in public header)
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PiperOrigin-RevId: 838707353
Change-Id: If31d2454e0668f750bcba21ee42f81ef962e9097
2025-12-01 04:13:52 -08:00
139a5b6494
Rename toolbox to platform.
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PiperOrigin-RevId: 838701951
Change-Id: I339eafd35d919710cb47bb04e9a8e29f92739513
2025-12-01 03:58:34 -08:00
fe74ea2e7b
Match definition with declaration.
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PiperOrigin-RevId: 838682770
Change-Id: I537ae9652dc64a02d2e3de8ddda351102d3cec35
2025-12-01 02:49:18 -08:00
a7e62a6755
Set visual studio working directory to the bin directory.
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PiperOrigin-RevId: 838681802
Change-Id: I764809d2145688c8a353907dc599a604ae944d0b
2025-12-01 02:45:53 -08:00
ea78d83363
Use working directory if no HOME path specified.
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PiperOrigin-RevId: 838680600
Change-Id: I8869da40042bb0b4edcbfe1e626c3188d0631c5e
2025-12-01 02:42:14 -08:00
8f9250472e
Improve names of Free camera control modes.
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PiperOrigin-RevId: 837605181
Change-Id: I01b65706fc4f9857df4d025cd3f4587d24ee5af5
2025-11-27 13:34:09 -08:00
2ea403575e
studio: invert mouse scroll direction for camera zoom.
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PiperOrigin-RevId: 837603911
Change-Id: I193a1abc0a3317aa998e7f82b9ce4b282ae7a913
2025-11-27 13:28:24 -08:00
dc5c2faf91
Cosmetic cleanup in engine_collision_sdf.c
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PiperOrigin-RevId: 837554740
Change-Id: Ic962af6a2c5f9f4c7edd48cbdf110ed11bc5e378
2025-11-27 09:24:56 -08:00
5163dfa823
Move UX drawing functions into a shared library.
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PiperOrigin-RevId: 837528296
Change-Id: I153a000cde424254384cf168606f32f7925ca076
2025-11-27 07:34:51 -08:00
23825a5bcf
Implement sensor chart.
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PiperOrigin-RevId: 837498928
Change-Id: I84b5911a44fe60a96b3ef34d514eb39702be7402
2025-11-27 05:38:24 -08:00
Yuval Tassa