49a3caf84c
Modify SimulationState proto to correspond to mj_getState.
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PiperOrigin-RevId: 823494487
Change-Id: Ib284e3165ca691f5b690a376f7b28e51122e1bc4
2025-10-24 05:51:07 -07:00
1fd9b47fea
Prefix assets path with "assets/".
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PiperOrigin-RevId: 823044312
Change-Id: I0bde4428bd1992d6d4356e107dac471fa7cdecc6
2025-10-23 08:07:33 -07:00
febe75d54b
Add tendon.cpp to mjcPhysics CMake
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PiperOrigin-RevId: 822694422
Change-Id: Ic2f7c7a3b85526d49eb98c19118e6936ccb4e0f7
2025-10-22 12:30:16 -07:00
ae33724de1
Set info string on wrap instead of tendon when wrapping a prim in the path.
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PiperOrigin-RevId: 822688877
Change-Id: I04f5f5576cc0ed43e0ec77d5fccb19d2d23d7349
2025-10-22 12:13:53 -07:00
160b9480f9
Add support for tendons to mjcPhysics.
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PiperOrigin-RevId: 822230926
Change-Id: I232a9fbfb473186ac742d210458ff0221a561126
2025-10-21 12:30:12 -07:00
25f5be82ff
Provide option to disable keyboard events for SDL.
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PiperOrigin-RevId: 822154396
Change-Id: Ie4c8537de2c4b01437aae00ed6d6af1a8f419a73
2025-10-21 09:36:16 -07:00
09682ade4b
Fix mjcPhysics island flag default.
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PiperOrigin-RevId: 822088739
Change-Id: If3a87976dd319502160fd886a1823c12d72bebf1
2025-10-21 06:27:28 -07:00
88ac02dad3
Add UI to visualize the State
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PiperOrigin-RevId: 821641514
Change-Id: I41fd5602d0d52162b374149fb0080f6c387d7847
2025-10-20 07:32:41 -07:00
e75c5aa83c
Fix various include paths.
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PiperOrigin-RevId: 821564663
Change-Id: Ic84489b7f3e1ba97810f60049dcf2f4a4d31edcf
2025-10-20 02:55:22 -07:00
87adb7e5d6
Use the ImGui OpenGL3 backend.
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PiperOrigin-RevId: 820249390
Change-Id: I43fc85bf75a2c01b76218a2ff67a1526ee9e2bdb
2025-10-16 08:39:51 -07:00
9174c87203
Minor fixes.
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PiperOrigin-RevId: 819680566
Change-Id: Ie2480eab3c974227268222190fdb84ed671303f2
2025-10-15 04:07:36 -07:00
9b7e7e471d
Add line and linebox geom primitives.
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PiperOrigin-RevId: 818570050
Change-Id: If02873dd878a23b442368ce69bc024e0310e9d02
2025-10-13 02:59:13 -07:00
b63252e4bb
Render labels for any geom with a label, not just label geoms.
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PiperOrigin-RevId: 817686605
Change-Id: I030626dd942e50eef33e0de7e9d0f314fd2f457d
2025-10-10 09:58:21 -07:00
ff7c613c79
Initial implementation of the filament rendering backend for mujoco.
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This is intended as a drop-in replacement for mjr_render to enable high
quality, physically-based rendering (PBR) using the filament render engine.
This is a work-in-progress and, as such, some features may be missing. This
is also a code-only drop; build files (including instructions on how to
generate the filament materials) will be provided at a later date.
This library is intended to be run with the experimental studio app.
PiperOrigin-RevId: 817593684
Change-Id: Ib9cd14c1881e4897c1111275bd749aa38ebb5317
2025-10-10 05:01:39 -07:00
59a5a7bf5f
Improve error messages in LoadMujocoModel
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PiperOrigin-RevId: 817565307
Change-Id: I367298cdf77d26b6f8deb5c6a0d5c3cab1e4d065
2025-10-10 03:24:50 -07:00
3a299c49ca
Remove use of usdaFileFormat from mjcf_file_format.
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Previously this was just used for the USDA file format token, which we can confidently just construct ourselves.
Since [this PR in OpenUSD](https://github.com/PixarAnimationStudios/OpenUSD/commit/5bb9ad1fb2a034e1f9b48c7db936f296b5b78e25 ) the file lives in a different place now and public usage will be deprecated anyways.
PiperOrigin-RevId: 816801204
Change-Id: I42e92d2af52b0f9ff0a679ecb96f3d2dbf623531
2025-10-08 11:54:44 -07:00
1335ec87e4
Move font assets data targets into toolbox library.
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PiperOrigin-RevId: 816654994
Change-Id: Ic56fab2b0af0c8d85682f8b233342a0d088d5cca
2025-10-08 05:09:42 -07:00
fbab761627
Cleanup how different rendering backends are selected.
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PiperOrigin-RevId: 816169098
Change-Id: I915aa45fa3a6d45a5178d3ff7bfdd0f1b1e01789
2025-10-07 17:48:23 +01:00
431f96572e
Remove unused mjOption.apirate.
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PiperOrigin-RevId: 815633571
Change-Id: Ib98f3eb2df47f96fa1fe6e987a3a0cd23a9479f6
2025-10-06 02:51:17 -07:00
b5c35f87fc
Add material parsing path for colliders instead of strictly visual gprims.
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PiperOrigin-RevId: 814692421
Change-Id: If92a36d0382f60e0d92c7d90320dec51c20ea739
2025-10-03 07:52:55 -07:00
c439628f82
When parsing USD, infer gravity from stage metadata if UsdPhysicsScene missing or undefined.
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PiperOrigin-RevId: 813705210
Change-Id: I13741af6dc87ecd9efb83219e978f5f06c72d021
2025-10-01 05:19:31 -07:00
e1c7e19780
Add rendering flags to the studio UI.
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PiperOrigin-RevId: 812649785
Change-Id: I47c6f974b7336bdd63c088ccfd06b5835e77ebff
2025-09-28 23:58:33 -07:00
bb0878417e
Automated g4 rollback of changelist 810355812.
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*** Reason for rollback ***
mjv_makeScene does not call mjv_defaultScene directly. Instead, it calls mjv_freeScene which calls mjv_defaultScene. However, mjv_freeScene attempts to free pointers if they are not NULL and if you don't call mjv_defaultScene then you'll have garbage data in those pointers.
*** Original change description ***
Remove redundant mjv_defaultScene call since its called by mjv_makeScene
***
PiperOrigin-RevId: 810442645
Change-Id: Ica50493d6769a0afb086f9ead99d731cdf0d75d9
2025-09-23 08:05:40 -07:00
bf918ccf40
Remove redundant mjv_defaultScene call since its called by mjv_makeScene
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PiperOrigin-RevId: 810355812
Change-Id: I2bc112e24c3adaca616604ebc5c1e3e3c494eb59
2025-09-23 02:35:05 -07:00
6eea3d8ec0
Initial implementation of toolbox-based "Studio" app.
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PiperOrigin-RevId: 809966748
Change-Id: Ic6333259ca1d112a2e42d47ccc44326bfcea3bdd
2025-09-22 05:02:31 -07:00
eb96dd556c
Reduce ccd_iterations from 50 to 35.
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PiperOrigin-RevId: 808610578
Change-Id: I8755f9ba2902bf0805b7ded07ee6e048e404a31f
2025-09-18 09:16:52 -07:00
f9f3dd3c1d
Fix ImGui input processing
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PiperOrigin-RevId: 808555760
Change-Id: Ie443143d9c058058b99786e44f27715b05c9f8ed
2025-09-18 06:42:16 -07:00
6f5a7576f9
Move simlib into experimental folder and rename it toolbox.
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Also:
- update the namespace to `toolbox` (instead of `filament`)
- Add copyright notices to all files
PiperOrigin-RevId: 808474353
Change-Id: Id1fe86c5d183c8e91bec8509b6c0830b5fe84c1c
2025-09-18 02:15:23 -07:00
b092563cab
Remove mjDSBL_PASSIVE, split it into mjDSBL_SPRING and mjDSBL_DAMPING.
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PiperOrigin-RevId: 800870384
Change-Id: I273e0ceec090901e2620febb67e57914928e94bb
2025-08-29 06:06:28 -07:00
643dc5bf4f
Update USD schema formatting
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PiperOrigin-RevId: 800018484
Change-Id: I7677cd099415af1271c7475d80a660653199b984
2025-08-27 07:02:50 -07:00
ec94bb49aa
Make constraint island discovery on by default.
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Also fix latent bug in mjData serialization.
PiperOrigin-RevId: 799505349
Change-Id: I299e7cc8133fa2ec0b339a7ff3d02543e06778b1
2025-08-26 04:27:24 -07:00
4bad134ba2
Add proper handling of MJCF asset/mesh/texturedir compiler attributes to USD plugin.
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This allows the MJCF SdfFileFormat plugin to load MJCF files that specify assetdir, meshdir, or texturedir attributes. This is specifically important for resolver implementations that fetch assets into a local cache.
PiperOrigin-RevId: 796509754
Change-Id: Ib2b0c9cf9d6a3351ceea49d90c882edf94d0b880
2025-08-18 11:38:32 -07:00
e74cee652f
Add README to mjcPhysics.
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PiperOrigin-RevId: 791183563
Change-Id: I4383dcab12128a745e435ac7f2cea52cccc4ce60
2025-08-05 06:18:37 -07:00
4c288c19ac
Remove physics schema authoring toggle from MJCF SdfFileFormat plugin.
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PiperOrigin-RevId: 789321573
Change-Id: Ib29bb426f8598a58f7b34c048b154fa8ada589ef
2025-07-31 07:07:18 -07:00
b5368a3385
Add displayColor authoring to site geometry when converting MJCF to USD.
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PiperOrigin-RevId: 789311878
Change-Id: I70027cd5d8d02f4ee26043f3b9fb03311e38984b
2025-07-31 06:28:42 -07:00
a04e0385e4
Add USD content type support in MJCF.
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PiperOrigin-RevId: 788075561
Change-Id: If37cc254cab0411454de7663e0b3ff9f2b263281
2025-07-28 10:53:49 -07:00
541c56b46f
Create mjcPhysics ImageableAPI for visual, non physical visual entities.
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PiperOrigin-RevId: 786366034
Change-Id: Ifb72d2daf8f5963bb7007dda1685da94b456ff41
2025-07-23 11:48:17 -07:00
7da32d186f
Add basic visual material parsing support to USD interop.
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For this first iteration we only support simple UsdPreviewSurface spec node graphs.
PiperOrigin-RevId: 786309455
Change-Id: I2e5501a65b22aca6da570bc94394514c67bd100a
2025-07-23 09:21:56 -07:00
8383bd439c
Add support for parsing 'st' primvar from USD.
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PiperOrigin-RevId: 786277487
Change-Id: Id99e6bf6a656b623950c363597da3930ee4c00e3
2025-07-23 07:47:50 -07:00
c2820941aa
Convert UsdPhysicsRevoluteJoint from degres to radians if compiler option is set.
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PiperOrigin-RevId: 784574716
Change-Id: I58f65816edb782fcb41bbc721f7bed5a27741639
2025-07-18 07:18:17 -07:00
46b713ef2d
Remove pedantic designated initializers in USD parsing.
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PiperOrigin-RevId: 784544836
Change-Id: Ie36136b2a0b8105ccb4a4679883120638ec80699
2025-07-18 05:10:12 -07:00
e92ce30732
Account for scale authored on UsdMesh prims.
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PiperOrigin-RevId: 784231423
Change-Id: I82b363c6c40940982ebeb0b1949e0e1e8f92199d
2025-07-17 10:29:31 -07:00
c597434fc9
When UsdCollisionAPI is applied but collisionEnabled is false, treat it as a visual gprim.
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PiperOrigin-RevId: 784219782
Change-Id: If87e1cd7e1cc10b27a3d432585466e3aece71d26
2025-07-17 09:59:37 -07:00
f5df466ee5
Add support for visual gprims to USD parsing.
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PiperOrigin-RevId: 784197335
Change-Id: I8eb155b7942209f372487f8268ad76310cf510ac
2025-07-17 08:51:50 -07:00
2e13c64308
Simplify parsing from USD stage to kinematic tree for mjSpec population.
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Summary of changes:
- Move stage parsing from usd_to_mjspec to kinematic_tree
- A Node now has lists of paths for prims that we support parsing.
- When parsing the stage, we create a list of all the Nodes that we will place in our tree.
- Removed the need for expensive SdfPath maps and sorting of bodies in favor of indexed integer arrays.
- Simplifies usd_to_mjspec parsing as we can process each node and it's owned prims one at a time.
PiperOrigin-RevId: 784187799
Change-Id: I4907cfa1137014af21c45b10fa29ac53a49b6dac
2025-07-17 08:20:10 -07:00
3cc8d7f58a
Fix typo in mjcPhysics MjcMaterialAPI
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PiperOrigin-RevId: 783750052
Change-Id: Ib829ae7ead7a33572e94ee0fe221da778b623f10
2025-07-16 07:31:09 -07:00
6144a508b5
In Mujoco USD interop, only consider dynamic friction when writing to and parsing from USD.
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PiperOrigin-RevId: 783741987
Change-Id: I23c47a6e95c160c5c7d5c513e268c79e4236e2e4
2025-07-16 07:00:18 -07:00
b99d9e8f12
Fix inherit range pulling from act early attribute when parsing USD to MjSpec.
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PiperOrigin-RevId: 783735573
Change-Id: I988f16cd16e47caa84a30009c36a932ec3672429
2025-07-16 06:35:10 -07:00
ac0701d582
Add mujoco compiler settings to MjcSceneAPI in mjcPhysics.
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PiperOrigin-RevId: 783729333
Change-Id: Ic1c3e4fb47a901de4eebdc2e987d276f4202d9ed
2025-07-16 06:09:36 -07:00
cdf5bcb693
Add inheritrange attribute to mjcPhysics MjcActuator
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PiperOrigin-RevId: 783363012
Change-Id: I7d0476aae70c3acc3ed4808a8741b7eb12948dba
2025-07-15 09:30:16 -07:00
Saran Tunyasuvunakool