4be4a539c4
Fix "Selected backend not supported in this build" error when running using WASM
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PiperOrigin-RevId: 884908229
Change-Id: I5515d1ffe8e7a4fd1f3c1eeee11a7f24196be780
2026-03-17 02:57:45 -07:00
9a0dd7d32d
Make planes semi-transparent from behind.
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PiperOrigin-RevId: 884896612
Change-Id: I00cc53e539fd1abccb43c7c6b89a7e063cb4848c
2026-03-17 02:27:34 -07:00
efae9157a7
Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y
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PiperOrigin-RevId: 884607673
Change-Id: If8088dbf37fed1055304778a7eb84dec52cba920
2026-03-16 13:25:25 -07:00
28def7d25d
Internal changes.
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PiperOrigin-RevId: 883932254
Change-Id: Ic93097dde6425e7de00001b8d74ecc61adcde321
2026-03-15 03:38:34 -07:00
b18657acde
Remove unused flag.
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PiperOrigin-RevId: 883113888
Change-Id: I098669f8a873694903159649567bc2f68397f955
2026-03-13 05:37:47 -07:00
b62aed86f9
Recreate swap chain when the window size changes.
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PiperOrigin-RevId: 882521107
Change-Id: I0d29d2e323e7830256c24eead439b3f2eb55de40
2026-03-12 04:56:50 -07:00
16d618e7b9
Ensure we have a valid vfs when loading a spec.
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PiperOrigin-RevId: 882503274
Change-Id: Iddbd6f00c0344bb34d68bb72a640c0a8e81076a2
2026-03-12 04:06:05 -07:00
ad57721e2c
Add missing state.
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PiperOrigin-RevId: 882072832
Change-Id: I6ad75af67edc7672350c775c1a560e3db6d16969
2026-03-11 10:06:43 -07:00
db9ab94555
Refactor parts of the toolbar GUI into the GUI library.
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PiperOrigin-RevId: 882024591
Change-Id: I3ac73247973666f4d60e9d8d028d20d3ef709bcc
2026-03-11 08:23:12 -07:00
ed2f34baa0
Fix logic for looking up root model within an archive.
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PiperOrigin-RevId: 881976329
Change-Id: I7771b84ff0aed83d55ee830deb2f92357355eb88
2026-03-11 06:18:14 -07:00
df02fe4bc0
BodyAddChild PopupContext needs to happen immediately upon triggering it.
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PiperOrigin-RevId: 881955422
Change-Id: I03675431d78c93550ff2ad6d562daf1a0e3d0d08
2026-03-11 05:20:39 -07:00
d6aac2041e
Make filament-opengl the default graphics mode for studio.
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PiperOrigin-RevId: 881362074
Change-Id: Iaa42ddf915b8b146775b2cf0263152b94c586c49
2026-03-10 04:59:03 -07:00
45c7376ab4
Set actuator limits correctly.
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PiperOrigin-RevId: 879012913
Change-Id: I3f03d09a98236ae9a4dc069564d14437ff5d0a2b
2026-03-05 05:35:14 -08:00
5506fbf506
Rename member history_ to sim_history_.
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PiperOrigin-RevId: 878906079
Change-Id: I1327f0216bc5042e62c598f2b7f15f6a26c192dc
2026-03-05 01:23:39 -08:00
64597f45d3
Move function that parses the graphics mode from a string into graphics_mode.cc.
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PiperOrigin-RevId: 878482669
Change-Id: I8b713bc740c5711b9c7cc9ea63c21bad42cd2943
2026-03-04 07:30:23 -08:00
c70b05e037
Make Renderer more self-contained.
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The Renderer should configure the context and flip the image when
in classic mode and not rely on the Window to do so.
PiperOrigin-RevId: 878480986
Change-Id: I1af899107647469659662abd85527cdf66f507f4
2026-03-04 07:26:34 -08:00
20efb8ee8d
Add missing files.
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PiperOrigin-RevId: 878445886
Change-Id: Ied34a5517c3aefc0985bef100431081a4cbfb640
2026-03-04 05:51:36 -08:00
13d164063c
Remove separate targets for classic and filament renderer.
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The platform::Renderer now supports both implementations at
runtime.
PiperOrigin-RevId: 878427862
Change-Id: I2997c197c6eddbe177c77b435cc5848fd80f1839
2026-03-04 04:56:15 -08:00
84682a46b0
Refactor spec editing logic into its own class.
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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
2026-03-04 04:01:56 -08:00
73f73d94f7
Merge renderer+offscreen mode into unified graphics mode.
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Allow Studio app to switch between graphics modes dynamically.
PiperOrigin-RevId: 878396966
Change-Id: I666fe3d2452de5404b9be2bd1d017eabec789aef
2026-03-04 03:19:58 -08:00
07d7bc95e3
Expose vsm blur width parameter.
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PiperOrigin-RevId: 875733943
Change-Id: Ic8cb423104d2e62ce295f6a2ab6fd67d548910a6
2026-02-26 08:23:30 -08:00
55d7226b06
Improve error handling of spec editor compilation.
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PiperOrigin-RevId: 875703124
Change-Id: Idf4a90a48d75185ad03e4469cee9098104751d67
2026-02-26 06:59:31 -08:00
137a504625
Add imgui stdlib target.
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PiperOrigin-RevId: 875686702
Change-Id: Ie8ba8349c70da3313a1896b14a30d076f2068368
2026-02-26 06:13:38 -08:00
a9675fbaa6
Add an Editor panel.
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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
2026-02-26 04:51:02 -08:00
b7e192e514
Expose VSM EL options.
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PiperOrigin-RevId: 875368470
Change-Id: Ic6e05c82b57ffa3b1ff49baf4e3cd2c9480c9ba2
2026-02-25 15:36:55 -08:00
42d843a0fd
Separate mjModel/mjData ImGui table helper from mjSpec ImGui table helper.
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There are enough differences between how the two are structured that
having separate implementations makes things easier to implement
despite some minor code duplication.
PiperOrigin-RevId: 875287973
Change-Id: Id49e089e5e1944291ce79e79f8cb71d048a942cc
2026-02-25 12:37:31 -08:00
abdea379af
Allow the shadow type and map size to be configured in data.
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PiperOrigin-RevId: 875179785
Change-Id: I638c8c8c9e45dd58f393684a09f2ab4871911f7a
2026-02-25 08:35:01 -08:00
757758dd2e
Rename all filament mjr_ functions to mjrf_.
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Rename stubs.cc to mjr_compat.cc. This library acts like a
"compatibility layer" that allows the filament renderer to
be implemented behind the mjr API.
PiperOrigin-RevId: 875114054
Change-Id: I5c47581cacbcadff4c78d2ad15728cc1c3a394ad
2026-02-25 05:43:50 -08:00
253494739a
Read the clear color from the model if available
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PiperOrigin-RevId: 875079722
Change-Id: Id5a9c359d19f46d1c0bb5fbf5043db0ee4b1b9b6
2026-02-25 04:09:27 -08:00
ae7efead09
Show MuJoCo version in the help menu.
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PiperOrigin-RevId: 875061430
Change-Id: I4d4ce32eebd8ca4af4622e9b4d1cd50d180d0b96
2026-02-25 03:11:13 -08:00
1d6ff2cece
Display Bodies as a tree in Spec Explorer.
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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
2026-02-24 07:57:44 -08:00
7d4b615edb
Use correct WIN32 define, not WINDOWS.
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PiperOrigin-RevId: 872866601
Change-Id: I35bb5cc0fdef80cf816a63bb7fc1619ef424c0d0
2026-02-20 06:10:00 -08:00
8c9ba9bcf5
Disable plugin on windows.
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PiperOrigin-RevId: 872845569
Change-Id: I4d80c80a47358a2882b2c63c2d655fe374afe65d
2026-02-20 05:00:04 -08:00
f71e215c9a
Include missing header.
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PiperOrigin-RevId: 872835150
Change-Id: I670bddb907b594788bda143c5175bbcb4b427903
2026-02-20 04:23:59 -08:00
0083cf7fa8
Refactor the projectile launcher into a plugin.
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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
2026-02-20 03:19:53 -08:00
28ad603f6b
Use templates and macros to reduce boilerplate.
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PiperOrigin-RevId: 872805912
Change-Id: I6fc1abe283bc809a95d660abc072906b0810aaeb
2026-02-20 02:42:52 -08:00
f0bf403254
Add a delete button to the highlighted element.
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PiperOrigin-RevId: 872795277
Change-Id: I63afa9c87b425ebed5d20126e9909ad95532d559
2026-02-20 02:09:36 -08:00
82694b520b
Re-apply changes that were accidentally deleted.
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PiperOrigin-RevId: 872782055
Change-Id: If2f403835cd2d90c88abe9ed82380dfca5b3d9c8
2026-02-20 01:27:57 -08:00
ca0552c83b
Cleanup Studio toolbar
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PiperOrigin-RevId: 872618794
Change-Id: I2e8f99dc47937416c8516ed1df7821369211b12f
2026-02-19 16:34:38 -08:00
10524c28dd
Track and restore viscous pause state every frame.
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PiperOrigin-RevId: 872382150
Change-Id: I96bddcfb2a0a204c6505e9795dfff97f09834855
2026-02-19 07:06:38 -08:00
ab80bd0916
Allow model holder to release ownership of mujoco structs.
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PiperOrigin-RevId: 872242489
Change-Id: I055f54f4e111cc78c489c12d9ae5c02cfb57169d
2026-02-19 00:06:07 -08:00
fdf6f1017c
Remove enable_keyboard flag.
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PiperOrigin-RevId: 871823567
Change-Id: I1e307f366106aa542a66b68b8e057b35c25134c9
2026-02-18 05:43:33 -08:00
6b197e198a
Reset free camera when loading a new model.
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PiperOrigin-RevId: 871622663
Change-Id: I1f1a4681752f7436c7bc7adbe64dcea286c5620c
2026-02-17 20:08:02 -08:00
767e52fb5b
Fire projectiles when hitting "Ctrl+Shift+Enter".
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PiperOrigin-RevId: 871215312
Change-Id: Ie22699d5446a49ea6997594b2800cf72840554c1
2026-02-17 02:53:31 -08:00
4ce9fb53ee
Re-enable MJZ support.
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Disabled on Windows until we can make plugins work correctly.
PiperOrigin-RevId: 871214280
Change-Id: I831238704c2807e70f4347989d642a189764e53c
2026-02-17 02:51:14 -08:00
989b6e63c7
Add ability to delete bodies.
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PiperOrigin-RevId: 871200603
Change-Id: I08bc786ca8106ef13cfcbe89e8cc42e9ad2c99d5
2026-02-17 02:14:54 -08:00
1808079c62
Implement viscous pause in Studio
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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
2026-02-13 11:11:15 -08:00
6d8b6028e2
Tweak default lighting and specularity for non-PBR scenes.
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Most "classic" objects looked washed out. To "revert" to the old look, you can add the following to your XML files:
```
<custom>
<numeric name="filament.phong.specular_multiplier" data="0.1"/>
<numeric name="filament.fallback.scene_light_intensity" data="100000.0"/>
<numeric name="filament.fallback.environment_light_intensity" data="10000.0"/>
</custom>
```
PiperOrigin-RevId: 869725829
Change-Id: Icab0cedaa27915400497745db886c393709c14b1
2026-02-13 07:37:36 -08:00
5903d4826f
Sparse ten_J and ten_J_colind
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PiperOrigin-RevId: 869712136
Change-Id: Id2979684aa0c39552cb8453852483cbac55f0ea3
2026-02-13 06:57:22 -08:00
8e5436c335
Make phong-shading multipliers configurable.
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PiperOrigin-RevId: 869080920
Change-Id: I4eb7311b54270d596c09a01d6725c1efb931de4b
2026-02-12 01:09:30 -08:00
Matija Kecman