chenlin/Mujoco_WASM
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2417 Commits

Author SHA1 Message Date
Yuval Tassa 0402bae176 Replicate the controls from the toolbar into the collapsible options sections and provides an option to hide the toolbar. 
PiperOrigin-RevId: 937290592
Change-Id: I08f1f4880fd0b06123e817cb9ae7a3281daa8063
 2026-06-24 06:09:24 -07:00
Haroon Qureshi 3d09a46d61 Use bulbradius as the vsm_blur_width as well. 
PiperOrigin-RevId: 937286692
Change-Id: I03502da45951f90979b8f8d58915c80656a5eac7
 2026-06-24 06:00:31 -07:00
Haroon Qureshi 3e33f93ddc Remove unused material instances before rendering frame. 
Also ensure material texture hashes are unique so that the material
cleanup works correctly.

PiperOrigin-RevId: 937206048
Change-Id: Ibed53457ee271f4faae3bcac5fb479b5ce9fc352
 2026-06-24 02:46:33 -07:00
Haroon Qureshi 29b49991a2 Rename mjrf_getSamplerType to mjrf_getTextureSamplerType. 
PiperOrigin-RevId: 937193469
Change-Id: I56f856e257fa1cf99b643f794139ef85817a0bb9
 2026-06-24 02:18:07 -07:00
Yuval Tassa 080668df42 Add "(default)" to conflict warnings in user resolver. 
When reporting conflicts between parent and child elements during attachment, the warning message now indicates if a value is derived from the default rather than being explicitly authored in the XML. This improves clarity in conflict resolution warnings.

PiperOrigin-RevId: 936724265
Change-Id: I68c677b19020c19bf0260f5b3b77fe6ca3661bb9
 2026-06-23 09:44:29 -07:00
Haroon Qureshi 5637f74327 Add plugin for adding mjvGeoms to the scene. 
PiperOrigin-RevId: 936709560
Change-Id: I69a01fc50e2d4b013d260d524515719c434bbf5f
 2026-06-23 09:16:41 -07:00
Haroon Qureshi 557a2241f4 Add PreStep and PostStep plugin callbacks. 
PiperOrigin-RevId: 936665884
Change-Id: Ie04562b02bfd61a62f9de77b3cef0fff534bf547
 2026-06-23 07:49:29 -07:00
Haroon Qureshi 94a912d349 Allow plugins to request loading models by path. 
PiperOrigin-RevId: 936638157
Change-Id: If594c6a9abac5eb0d62e7d6dce4dc2f558989969
 2026-06-23 06:50:41 -07:00
Yuval Tassa c499f7f2b0 Add Nesterov momentum with O'Donoghue-Candès restarts to PGS solver (~2x speedup) 
Benchmark on `2humanoid100.xml` (nefc=1785, nv=654):

```
Convergence at fixed iteration count (mean relative error vs Newton):
  20 iters: 2.98e-03 vs 1.54e-02 (5.2x better)
  40 iters: 8.14e-05 vs 2.60e-03 (32x better)
  80 iters: 1.17e-07 vs 1.77e-04 (1500x better)

Pipeline throughput (tolerance=1e-8, islands disabled):
  Nesterov: 243 steps/s, 46 iters/step
  Baseline: 151 steps/s, 95 iters/step
  Solver speedup: 1.8x, overall step speedup: 1.6x

Pipeline throughput (tolerance=1e-8, islands enabled):
  Nesterov: 306 steps/s, 442 iters/step
  Baseline: 175 steps/s, 966 iters/step
  Solver speedup: 2.1x, overall step speedup: 1.7x
```

PiperOrigin-RevId: 936610759
Change-Id: I2978e8bd545971d9151005623967e5cf0ad125cc
 2026-06-23 05:52:14 -07:00
Haroon Qureshi 5cef2472d5 Remove custom step_fn for StepControl::Advance. 
PiperOrigin-RevId: 936609234
Change-Id: I606cf4d71d856cbd260900d63b22c719974c977d
 2026-06-23 05:49:20 -07:00
Taylor Howell 027cfd1201 simplify camera projection sensor 
PiperOrigin-RevId: 936571266
Change-Id: I5647e61fcc81ba6eb482dd95d3c40438f478bb18
 2026-06-23 04:17:38 -07:00
Haroon Qureshi da2f0ebd7b Add prestep/poststep callbacks to StepControl. 
PiperOrigin-RevId: 936567801
Change-Id: I62d4d657791fe68101e63c2050adb63929128acf
 2026-06-23 04:07:26 -07:00
Haroon Qureshi 7f66f42568 Make Renderer own the scenes. 
PiperOrigin-RevId: 936547976
Change-Id: Iec87426a9ae255cdbd3efadc7b602d4183679c81
 2026-06-23 03:15:48 -07:00
Haroon Qureshi 2800a682e4 Remove unused render_flags parameters. 
PiperOrigin-RevId: 936528056
Change-Id: Iae8545ec1d71bc7d5a20c46394104fb1db369d5d
 2026-06-23 02:29:25 -07:00
Yuval Tassa 5d043d8f72 Minor tweaks to studio GUI style parameters. 
PiperOrigin-RevId: 936508032
Change-Id: I93806ba3d0569b5ee01e95384f7f835a201b8253
 2026-06-23 01:46:31 -07:00
Yuval Tassa afccd36dd4 Add threading support to PGS 
PiperOrigin-RevId: 936252614
Change-Id: I6762245cc2dbdb95568f0a927c26b575dc494b51
 2026-06-22 14:29:17 -07:00
Michael Moss 5700829122 Update MuJoCo version to 3.10.1 following the 3.10.0 release 
PiperOrigin-RevId: 936044969
Change-Id: If0ebcc192419302da01741ebabb2b7dd3d7f7baf
 2026-06-22 07:25:02 -07:00
Yuval Tassa e2528cbd93 Rename "Stats" window to "Info" and remove "Stats" dock. 
PiperOrigin-RevId: 936026479
Change-Id: I72e4f2cba6df255d5446faedc81727b39ef735bc
 2026-06-22 06:38:03 -07:00
Yuval Tassa bf59ca6a1b Make the info overlay position fixed (bottom left) 
PiperOrigin-RevId: 935868629
Change-Id: I26b8d50f276b05c9869ea0f6cc5c3033ab6ef2f9
 2026-06-21 23:39:55 -07:00
Yuval Tassa d5db39c762 Fix various bugs related to value bounds in studio UI. 
PiperOrigin-RevId: 935855305
Change-Id: I14b41fc751dc04d35beada0dd5d1f0bfddf9af34
 2026-06-21 23:01:57 -07:00
Michael Moss 3cb05726c4 Add MuJoCo Studio icons to the Mac and Windows apps. 
PiperOrigin-RevId: 935655979
Change-Id: I4cb34a5592959c24764e8c63db0cac055d5c5dfb
 2026-06-21 09:40:01 -07:00
Yuval Tassa 2cacf17071 Defer texture destruction in ImguiBridge to prevent use-after-free. 
PiperOrigin-RevId: 935327326
Change-Id: I12a148b71abbe50581c7977a1f6dc5e220c40e81
 2026-06-20 09:46:52 -07:00
Yuval Tassa 9ac0b283dc Menu reorg in studio 
- Added "Info" and "Profiler" to the "View" menu.
- Deleted the obsolete "Charts" menu entirely
- Removed the "Stats" toggle item from the "Help" menu.

PiperOrigin-RevId: 935314037
Change-Id: I01ee30cbba5c1b4aa54c2940b0265401cc965c07
 2026-06-20 08:43:09 -07:00
Saran Tunyasuvunakool 6039d4680a Modify the UI appearance of MuJoCo Studio. 
PiperOrigin-RevId: 935247135
Change-Id: I4c35cf2f0cdfa36aa6d3c65c52a752edab266531
 2026-06-20 03:34:21 -07:00
Haroon Qureshi d93c102190 Move mjrfilament.h to mujoco/include. 
PiperOrigin-RevId: 934931460
Change-Id: I63bf34b3a7197b277ea7a5caf3d84d840f6210a1
 2026-06-19 08:01:05 -07:00
Michael Moss 0dc37fd77b Add RPATH to fix mujoco_studio library loading error on Linux. 
PiperOrigin-RevId: 934768602
Change-Id: I0b54ee1b3ed1a1ed85bcc88b36443539056275b1
 2026-06-19 00:21:48 -07:00
Haroon Qureshi 4ec843d70d Use int instead of mjtGeom for public API. 
PiperOrigin-RevId: 934766146
Change-Id: Iefaf32834ecbe12fe03c932ff593153277fc8f48
 2026-06-19 00:13:32 -07:00
Michael Moss e7ef6528b7 Enable MuJoCo Studio build and packaging on macos. 
Also:
- Packages MuJoCo Studio as MuJoCoStudio.app in the MuJoCo.dmg.
- Fixes a Filament compile issue.
- Patches libwebp to fix compile error related to universal builds and forces
  it to build as static.
- Removes the separate, obsolete "build_studio" step.
PiperOrigin-RevId: 934564785
Change-Id: I50c83283b5e138062e37d53926a5a77fdf99dbfa
 2026-06-18 15:03:20 -07:00
Yuval Tassa e2afec9153 Make decorations lit, Rename unlit_decor material to decor. 
PiperOrigin-RevId: 933693797
Change-Id: I37128b528296d978d4917ec65316d8d99ce017bb
 2026-06-17 06:43:37 -07:00
Haroon Qureshi 037bdfa519 Add edge and vertex rendering for flexes. 
PiperOrigin-RevId: 933675465
Change-Id: Ice3c3a35820588c732b73f1dbad22e346acc4046
 2026-06-17 05:56:18 -07:00
Yuval Tassa e76afa7160 Reduce the opacity of the Filament selection outline. 
PiperOrigin-RevId: 933665589
Change-Id: Ic55785568c0129c2f145bedc0cde7ec4bdc05dcf
 2026-06-17 05:29:04 -07:00
Yuval Tassa 38c3388046 Fix rotation Jacobian offset in mj_jacSum sparse path. 
PiperOrigin-RevId: 933640368
Change-Id: Ib30acd651b6022b0835e07b3f3b01e648791a511
 2026-06-17 04:24:00 -07:00
Yuval Tassa cffb077c4b Register atexit handler to clear GlobalModel. 
PiperOrigin-RevId: 933624252
Change-Id: Ib214514ac5390137dbf1034d113ff8aa9e9cdeb1
 2026-06-17 03:44:08 -07:00
Yuval Tassa 410c73168c Add policies for global attribute conflict resolution upon attach 
For example when loading parent_merge.xml:

```
WARNING: Attach conflict when attaching 'child' to 'parent_merge', policy is 'merge'
timestep: parent has 0.005, child has 0.002, taking the minimum
iterations: parent has 50, child has 100, taking the maximum
flag 'Damper': added from child
```

When loading parent_error.xml:

```
XML Error: Attach conflict when attaching 'child' to 'parent_error', policy is 'error'
timestep: parent has 0.005, child has 0.002
iterations: parent has 50, child has 100
Element 'attach', line 10
```
PiperOrigin-RevId: 933620810
Change-Id: Ib477863b5ef763474d27fb4be5a4148be1d5d500
 2026-06-17 03:36:10 -07:00
Kyle Bayes 386b45fb75 Add tolerance to upper > lower bound check on first iteration of EPA. 
PiperOrigin-RevId: 933615381
Change-Id: I175d3b97fa65f71a8f1cc34da5f6b9a23ab856d2
 2026-06-17 03:19:19 -07:00
Haroon Qureshi 6294e77907 Do not render flexes/skins with no geometry. 
PiperOrigin-RevId: 933604372
Change-Id: I80169ff09ec6908d101b5f10bbf8aa1a6e8b8249
 2026-06-17 02:54:11 -07:00
Haroon Qureshi e1711529f2 Add RGBA8 support to RenderTarget::ReadColorPixels. 
PiperOrigin-RevId: 933521511
Change-Id: Ic279fb8f86615cc4cfddef6ac27a502b22bafd79
 2026-06-16 23:30:04 -07:00
Yuval Tassa 6f8bb5ef55 Refactor compiler warning handling. 
Compiler warnings are now accumulated in a vector of strings within the mjSpec object. New API functions `mjs_numWarnings` and `mjs_getWarning` are added to access these warnings. The compiler's log handler now chains warnings to the global log handler, ensuring they are still displayed immediately. Call sites in `mj_loadXML`, `mj_compile`, and the Python and WASM bindings have been updated to use the new warning API.

PiperOrigin-RevId: 933361650
Change-Id: I47cab98a460c57b0898c0a1a43fce2a5b9648eb1
 2026-06-16 16:28:33 -07:00
Kyle Bayes 0eec09dd60 Add runtime assertions to mji functions. 
PiperOrigin-RevId: 933106771
Change-Id: I523cdceb89c90611f27983731c49fd4887034431
 2026-06-16 08:36:32 -07:00
Kyle Bayes d9b677b49b Refactor remaining primitive and convex collision code to use mjPreContact instead of mjContact. Introduce internal struct mjcPair in engine_collision_driver.c for readability and extensibility for flex objects. This is a no-op. 
PiperOrigin-RevId: 933105275
Change-Id: Id862b01774df63dcdb42629a5b7dd12019f12ffd
 2026-06-16 08:33:09 -07:00
Kyle Bayes b469144a81 Modify mjc_FlexSDF to support mjPreContact directly. 
PiperOrigin-RevId: 933068825
Change-Id: I328d64bb05270067ce146908b0df3ca83f10ed9b
 2026-06-16 07:04:16 -07:00
Yuval Tassa 8efb396b26 Reorder and adjust GUI physics options. 
PiperOrigin-RevId: 933007222
Change-Id: Ia6944744112baa309de165144179ad96d914a734
 2026-06-16 04:06:35 -07:00
Haroon Qureshi c0fa33f97f Rename mjrFilamentConfig to mjrfContextConfig. 
PiperOrigin-RevId: 932996526
Change-Id: Ia81ee074471ab4ff41e0829fa5ba70203599fdb6
 2026-06-16 03:36:22 -07:00
Haroon Qureshi ecee1e0c53 Rename nattributes to num_attributes for consistency. 
PiperOrigin-RevId: 932973447
Change-Id: Idbf9a52c89e24f34ae360d1617cb72dfaa92aa4e
 2026-06-16 02:40:13 -07:00
Copybara-Service c9ba1e452d Merge pull request #3338 from devshahofficial:devshahofficial/filament-emissive-factors 
PiperOrigin-RevId: 932483570
Change-Id: If8ff968d2650551118a38ea4837063796bd85f66
 2026-06-15 08:45:48 -07:00
Haroon Qureshi 7472440dbd Make mjrfilament.h conform to C standards. 
PiperOrigin-RevId: 932424719
Change-Id: I1f8d8d91041ea1c2b77010761404bf0e519bcc29
 2026-06-15 06:33:18 -07:00
Haroon Qureshi 9e45ce9801 Use num_ prefix consistently in API. 
PiperOrigin-RevId: 932391786
Change-Id: I71c7f300fdb84ce1129ea3da6336df2fcffc5712
 2026-06-15 05:08:34 -07:00
devshahofficial 7646a56e82 Fix Filament emissive material factors 2026-06-13 15:58:30 -07:00
Yuval Tassa 67a1ea6dca Track authored flags for global attributes 
PiperOrigin-RevId: 931585539
Change-Id: Ifdc8c59de6c5a553daf6e0af09d8192aff6b0610
 2026-06-13 02:58:32 -07:00
Haroon Qureshi 0ea9c7cb3a Expose function for determining if tendons should be drawn using a catenary. 
PiperOrigin-RevId: 931170146
Change-Id: Ia3352a3e2bdc5e4df932e9d476e1e34200b62df1
 2026-06-12 08:45:22 -07:00