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Author SHA1 Message Date
Taylor Howell 4e84671a15 MuJoCo Warp documentation: Determinism. 
PiperOrigin-RevId: 840630917
Change-Id: Ie5f3ac34cee8812f20d6ae4fa6004385c5b048e0
 2025-12-05 02:09:26 -08:00
Baruch Tabanpour fc109f0ab5 Small fix to testspeed 
PiperOrigin-RevId: 840607453
Change-Id: If913866cc0a3d4d3e6c39c7b5948fa167678ccad
 2025-12-05 01:28:33 -08:00
Gabe Oppenheimer 237a5e5c55 Revert the changelog to unreleased state, the 3.4.0 release will be delayed due to internal issues with CI. 
PiperOrigin-RevId: 840362346
Change-Id: Ic0fb5d6d521c5abc1b98d5242416eac6c7d056c8
 2025-12-04 12:53:02 -08:00
Haroon Qureshi 6ed9f2be7a Removed unused font uploading functionality. 
Font textures are handled directly through ImGui.

PiperOrigin-RevId: 840259537
Change-Id: I5b6b0dc5d2c1c7066b4a23f0106de34285f40e6c
 2025-12-04 08:38:58 -08:00
Haroon Qureshi da36e822a8 Allow material default classes to define texture layers. 
PiperOrigin-RevId: 840254100
Change-Id: I59f67fc4d1485cf80bbc005d1b35cda6224248ed
 2025-12-04 08:22:55 -08:00
Haroon Qureshi 5ee8b646f7 Move Style and Layout configuration to shared GUI library. 
PiperOrigin-RevId: 840246253
Change-Id: Ic4664b62e86e70fd6780cd9eb885978064c5f585
 2025-12-04 08:02:16 -08:00
Haroon Qureshi 5f59104877 Properly handle PBR materials where no color texture is provided. 
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
Haroon Qureshi 680e9a6b79 Update studio build script and instructions. 
Mujoco studio now works on Windows and MacOS.

PiperOrigin-RevId: 840235447
Change-Id: I66d3430d5d994de2eb13ee08ad3051c6c7187e12
 2025-12-04 07:27:37 -08:00
Haroon Qureshi c5cd276e1f Cleanup model loading flow. 
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
Haroon Qureshi 8823e9fedf Improve imgui texture management. 
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
Haroon Qureshi 54070fc71b Disable bent normals by default. 
PiperOrigin-RevId: 840216781
Change-Id: Icf24d73939fa138da46e2da7aa69a6574e6f98ec
 2025-12-04 06:28:53 -08:00
Sam Haves a942fd4875 Make filament segmentation shader distinct colors optional. 
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
Tom Power 4a6b9456aa Set default headlight intensity to zero if there are no physical lights in the scene. 
PiperOrigin-RevId: 839962392
Change-Id: I086d8135604982c42381a9b49cec53773c7fa362
 2025-12-03 16:31:11 -08:00
Sam Haves 8507b62556 Cache the rendering mode used to allow headless segmentation rendering. 
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
Haroon Qureshi 14513a04c2 Wait until previous render is finished before submitting another request. 
PiperOrigin-RevId: 839707507
Change-Id: Ib39538540ff6080d197c2ea853b7273cc56084e7
 2025-12-03 05:01:44 -08:00
Haroon Qureshi e409538831 Ensure window scale is initialized on creation. 
PiperOrigin-RevId: 839699437
Change-Id: I99e477ac49b56726b77389306aec49c895e160fa
 2025-12-03 04:29:52 -08:00
Yuval Tassa 55664b63e1 Fix broken cross-references in mjwarp/index.rst 
PiperOrigin-RevId: 839194214
Change-Id: Ia1aca7331bc5d77fb4ef6ce7efefc3d55a1d99b3
 2025-12-02 03:56:05 -08:00
Gabe Oppenheimer 951257ad54 Fix: Update changelog formatting 
PiperOrigin-RevId: 839126146
Change-Id: Ifa349b6fd013e4c23fd96b988eacaa7c9d44532c
 2025-12-02 00:26:56 -08:00
Yuval Tassa e095bb6d41 Improve rendering of dynamics pipeline schematic 
PiperOrigin-RevId: 838865159
Change-Id: I225e94508be7edb8f8217ec5abb2f609cbb39ae5
 2025-12-01 11:36:01 -08:00
Gabe Oppenheimer b663b7602b Final preparations for the v3.4.0 release 
PiperOrigin-RevId: 838824676
Change-Id: Icb5a825cb41be4d0730f4a6729b63531d649066f
 2025-12-01 10:06:33 -08:00
Haroon Qureshi 448fc0e4d5 Report the actual GPU framerate rather than the main thread submit rate when using the filament renderer. 
PiperOrigin-RevId: 838775463
Change-Id: If66644d284a4a9e0263cf31bfbd1785b18e0209b
 2025-12-01 08:02:38 -08:00
Yuval Tassa 4896e698f6 Update "mjModel changes" section in simulation.rst 
PiperOrigin-RevId: 838768328
Change-Id: I5c09186e52115df37e9412495ecc7dceddb2ed8a
 2025-12-01 07:40:09 -08:00
Yuval Tassa 19e2d0ae2f Add mj_fwdKinematics and a table improving documentation of the MuJoCo computation pipeline structure. 
PiperOrigin-RevId: 838768130
Change-Id: I1a22d5cdca7db704ba4cea1667fcbecb16b87005
 2025-12-01 07:39:00 -08:00
Google DeepMind 4c40d5938e Add type hints to tuple constants in codegen/generators/constants.py. 
`tuple` is better than `list`  for constants if we don't expect they get modified by other parts of the code

PiperOrigin-RevId: 838748519
Change-Id: Ic950a78be7ad7518361c046d7e4542607070d3a2
 2025-12-01 06:37:03 -08:00
Yuval Tassa d3c858ed32 Make table shadows visible in dark theme, add a table type with smaller text. 
Add a light box-shadow to docutils tables (excluding mjcf-attributes) when in dark mode or auto mode with dark preference, so that the table boundaries are visible against the dark background.

PiperOrigin-RevId: 838741947
Change-Id: Ic788f9669ea65d290f927927b389fcb51227a55a
 2025-12-01 06:13:39 -08:00
Haroon Qureshi 94fb10bf3d Internal changes 
PiperOrigin-RevId: 838741176
Change-Id: I9def07b3f7e963d2787d71019d303ba1eb75622c
 2025-12-01 06:11:15 -08:00
Haroon Qureshi 9b7134b15b Add OSX and WIN32 support for getting the native window pointer. 
PiperOrigin-RevId: 838720433
Change-Id: Id7123bcf456d0c2d32e67b204564fe8c495004cd
 2025-12-01 04:57:24 -08:00
Yuval Tassa ad24889bb9 Add mj_rayMeshNormal (not exposed in public header) 
PiperOrigin-RevId: 838707353
Change-Id: If31d2454e0668f750bcba21ee42f81ef962e9097
 2025-12-01 04:13:52 -08:00
Haroon Qureshi 139a5b6494 Rename toolbox to platform. 
PiperOrigin-RevId: 838701951
Change-Id: I339eafd35d919710cb47bb04e9a8e29f92739513
 2025-12-01 03:58:34 -08:00
Haroon Qureshi c6b587b515 Use cmake FILE(COPY) for deploying custom CMakeLists.txt. 
PiperOrigin-RevId: 838696575
Change-Id: I3c61bda9d1d89185f257797c2e0c0f4ef2c7cb95
 2025-12-01 03:37:37 -08:00
Haroon Qureshi fe74ea2e7b Match definition with declaration. 
PiperOrigin-RevId: 838682770
Change-Id: I537ae9652dc64a02d2e3de8ddda351102d3cec35
 2025-12-01 02:49:18 -08:00
Haroon Qureshi a7e62a6755 Set visual studio working directory to the bin directory. 
PiperOrigin-RevId: 838681802
Change-Id: I764809d2145688c8a353907dc599a604ae944d0b
 2025-12-01 02:45:53 -08:00
Haroon Qureshi ea78d83363 Use working directory if no HOME path specified. 
PiperOrigin-RevId: 838680600
Change-Id: I8869da40042bb0b4edcbfe1e626c3188d0631c5e
 2025-12-01 02:42:14 -08:00
Matija Kecman 69179ead48 Internal change. 
PiperOrigin-RevId: 837829087
Change-Id: I110f2f9d1dff2aff8bcad7ac22ea8ed82323185f
 2025-11-28 06:36:01 -08:00
Yuval Tassa 7caa3d6703 Add names to some sensors in sleep test XML. 
PiperOrigin-RevId: 837611931
Change-Id: Ib077765d795037bdd0d32d19e1c7d5bf9b256d51
 2025-11-27 14:09:21 -08:00
Yuval Tassa 8f9250472e Improve names of Free camera control modes. 
PiperOrigin-RevId: 837605181
Change-Id: I01b65706fc4f9857df4d025cd3f4587d24ee5af5
 2025-11-27 13:34:09 -08:00
Yuval Tassa 2ea403575e studio: invert mouse scroll direction for camera zoom. 
PiperOrigin-RevId: 837603911
Change-Id: I193a1abc0a3317aa998e7f82b9ce4b282ae7a913
 2025-11-27 13:28:24 -08:00
Yuval Tassa dc5c2faf91 Cosmetic cleanup in engine_collision_sdf.c 
PiperOrigin-RevId: 837554740
Change-Id: Ic962af6a2c5f9f4c7edd48cbdf110ed11bc5e378
 2025-11-27 09:24:56 -08:00
Google DeepMind 8a5c52d395 Use a dedicated function for wrapper struct names 
This change introduces a `wrapper_struct_name` function in `structs.py` to consistently generate the name of the C++ wrapper struct from a C struct name. All call sites in `functions.py` and `structs.py` that previously used `common.capitalize` for this purpose now call `wrapper_struct_name`.

PiperOrigin-RevId: 837544242
Change-Id: Ibe5fea8294283dae63bb8d064fd8beb8cfd3f2fe
 2025-11-27 08:42:33 -08:00
Matias Manevi 9ca1598b23 Refactor MuJoCo WASM struct codegen. 
PiperOrigin-RevId: 837530063
Change-Id: I57518b2fbb536f356a5e15839d8e17f455bccde9
 2025-11-27 07:42:41 -08:00
Haroon Qureshi 5163dfa823 Move UX drawing functions into a shared library. 
PiperOrigin-RevId: 837528296
Change-Id: I153a000cde424254384cf168606f32f7925ca076
 2025-11-27 07:34:51 -08:00
Haroon Qureshi 23825a5bcf Implement sensor chart. 
PiperOrigin-RevId: 837498928
Change-Id: I84b5911a44fe60a96b3ef34d514eb39702be7402
 2025-11-27 05:38:24 -08:00
Haroon Qureshi 406062efaf Remove TODO (charts have been implemented). 
PiperOrigin-RevId: 837151123
Change-Id: Iae37fdf4ed143e0523a1e4244e3a897211a5751b
 2025-11-26 09:13:58 -08:00
Haroon Qureshi 9274a0014a Fix UV scaling. 
PiperOrigin-RevId: 837147525
Change-Id: If54d069ddb3fec0852f1941788cb03d5604a252f
 2025-11-26 09:01:56 -08:00
Matija Kecman 05f194c412 Reorganization of the WASM bindings.cc template 
* Move all bindings into a single EMSCRIPTEN_BINDINGS block
* Move all auto generated bindings line to the start of the block
* Alphabetically sort the constants binding lines

PiperOrigin-RevId: 837142009
Change-Id: I218a37dbc0ca6c6f16a455718889c08fe1b41d56
 2025-11-26 08:43:51 -08:00
Haroon Qureshi c7e0c01e80 Prevent decorative elements from casting shadows. 
PiperOrigin-RevId: 837112208
Change-Id: I4ecc110eec1a2166df7a07d8bb9ec37df36b7c89
 2025-11-26 07:27:41 -08:00
Haroon Qureshi 0425355efc Use a switch statement for handling geometry types. 
PiperOrigin-RevId: 837097811
Change-Id: Ic473f9da3d4189430e98670afdae7bb3cca5ccbc
 2025-11-26 06:40:41 -08:00
Haroon Qureshi aa25075ea4 Implement triangle geoms. 
PiperOrigin-RevId: 837079122
Change-Id: If7aa0904c6f3e7c62477b75b17d67259fe2bdabb
 2025-11-26 05:33:04 -08:00
Haroon Qureshi ed69fe85f1 Only build fonts when using filament backend. 
PiperOrigin-RevId: 837054382
Change-Id: I7ef3b6b954738776f266533f4c48ac4e3c43b4bf
 2025-11-26 04:00:34 -08:00
Kyle Bayes ae24034f24 Refactor hfield-convex collision code. This should be a no-op. 
PiperOrigin-RevId: 837045492
Change-Id: I82851615c7f69774da83cab361316e5a6e9982c6
 2025-11-26 03:26:56 -08:00