- Default rendering but without textures.
- Island coloring based on sleep state.
- Selected object highlighting.
PiperOrigin-RevId: 928482603
Change-Id: I5eda1307bc6e71a4b0b2933b5b941e945cb9de75
memcpy is more appropriate here as the source and destination buffers have the same size, ensuring the entire buffer is copied.
PiperOrigin-RevId: 927395770
Change-Id: Idbe9dade3160f593060fae5783743b28c0452695
mujoco.minimize.least_squares now supports x_scale natively, so the
sysid wrapper becomes a thin pass-through. 'jac' is adaptive per
iteration (was static at x0).
Renderables may be created/destroyed frequently causing issues with
the underlying RenderTargets used for reflections. Instead, use a
ReflectionManager (associated with a Scene) to manage the RenderTargets.
PiperOrigin-RevId: 926072766
Change-Id: I56c70000183417a92ab9297bc6fec5779f484cbd
Drag-and-drop uploads go through Module.loadFile and never reached the prefetcher. This is a guard for future provider schemes (e.g., vfs) that shouldn't be passed to fetch().
PiperOrigin-RevId: 926042158
Change-Id: I119d5b1a7512f8e84bb4c752414797593a1e98cd
Add function for getting the material. Remove unused/unneeded functions.
PiperOrigin-RevId: 925847769
Change-Id: Iefaf9112b7419830eb2dc4d1323e9c27725c4b16
This change allows users to provide an optional `step_fn` callable to `StudioApp.update` and `StudioApp.update_from_viewer`. When provided, this function is called to advance the physics simulation instead of the default `step_control.advance`.
PiperOrigin-RevId: 925439890
Change-Id: Ia833503f6dd0c22fb8d75af6c5f06757496853e5
The StepControl::Advance method now accepts an optional std::function to be used instead of mj_step. This allows for custom simulation logic to be executed within the stepping loop. The Python bindings for StepControl::advance have been updated to support passing a Python callable as the custom step function.
PiperOrigin-RevId: 925393132
Change-Id: Id2820c4b55cbdfee6b01adc2395e99a990d4e7a3
Following the export declarations in Dear ImGui and ImPlot METADATA, this change updates MuJoCo's Copybara configuration (copy.bara.sky) to export and transform the Python bindings. `//third_party/dear_imgui/google/py` exports to `python/mujoco/experimental/dear_imgui` and `//third_party/implot/google/py` exports to `python/mujoco/experimental/implot`.
PiperOrigin-RevId: 925293624
Change-Id: Ie6e32d247a6f7fc24bb36ae7060f2075d8efeb26
Previously shell mode required cellcount=1 along at least one axis. This CL
adds support for cellcount > 1 in all three axes by pinning interior grid nodes
to the parent body and reconstructing their positions from boundary nodes via
Transfinite Interpolation (TFI).
PiperOrigin-RevId: 924314800
Change-Id: I8c2438f4866dd4133feed65f535a1ab69f0c9188
The field now stores either an approximate or exact diagonal of the constraint matrix A, so the name is made more general.
PiperOrigin-RevId: 924244954
Change-Id: I62b2f76531fb88b7b3bf96e6769940197596702b
Yuval Tassa