Add usd_decoder to mujoco/plugin.
- Previously was src/experimental/usd/usd_to_mjspec.cc, now that same spec is returned by the plugin.
PiperOrigin-RevId: 854350962
Change-Id: Ia980190a557c50ce8197980922a2594b613859b4
(We may consider splitting this class up into specialized subclasses at a later date.)
PiperOrigin-RevId: 851290789
Change-Id: Iee00b8e906eeb911de5799f784475ac6916ab55b
This will fetch and call the build_usd.py build helper for OpenUSD and build within the MuJoCo _deps folder. Simplifying the build process for MuJoCo with USD. Users can still provide their own USD build, but must now do so via pxr_DIR.
PiperOrigin-RevId: 846735578
Change-Id: I0da7eb2da6465e2d518084340e762bf370adb6d5
A future CL will allow users to specify search paths in their settings.
PiperOrigin-RevId: 846240293
Change-Id: I1a1a4027d0fc85004a12fe01a406f50fd929f3e4
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
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
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
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
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
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
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
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
Yuval Tassa