8a5c52d395
Use a dedicated function for wrapper struct names
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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
9ca1598b23
Refactor MuJoCo WASM struct codegen.
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PiperOrigin-RevId: 837530063
Change-Id: I57518b2fbb536f356a5e15839d8e17f455bccde9
2025-11-27 07:42:41 -08:00
5163dfa823
Move UX drawing functions into a shared library.
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PiperOrigin-RevId: 837528296
Change-Id: I153a000cde424254384cf168606f32f7925ca076
2025-11-27 07:34:51 -08:00
23825a5bcf
Implement sensor chart.
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PiperOrigin-RevId: 837498928
Change-Id: I84b5911a44fe60a96b3ef34d514eb39702be7402
2025-11-27 05:38:24 -08:00
406062efaf
Remove TODO (charts have been implemented).
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PiperOrigin-RevId: 837151123
Change-Id: Iae37fdf4ed143e0523a1e4244e3a897211a5751b
2025-11-26 09:13:58 -08:00
9274a0014a
Fix UV scaling.
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PiperOrigin-RevId: 837147525
Change-Id: If54d069ddb3fec0852f1941788cb03d5604a252f
2025-11-26 09:01:56 -08:00
05f194c412
Reorganization of the WASM bindings.cc template
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* 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
c7e0c01e80
Prevent decorative elements from casting shadows.
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PiperOrigin-RevId: 837112208
Change-Id: I4ecc110eec1a2166df7a07d8bb9ec37df36b7c89
2025-11-26 07:27:41 -08:00
0425355efc
Use a switch statement for handling geometry types.
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PiperOrigin-RevId: 837097811
Change-Id: Ic473f9da3d4189430e98670afdae7bb3cca5ccbc
2025-11-26 06:40:41 -08:00
aa25075ea4
Implement triangle geoms.
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PiperOrigin-RevId: 837079122
Change-Id: If7aa0904c6f3e7c62477b75b17d67259fe2bdabb
2025-11-26 05:33:04 -08:00
ed69fe85f1
Only build fonts when using filament backend.
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PiperOrigin-RevId: 837054382
Change-Id: I7ef3b6b954738776f266533f4c48ac4e3c43b4bf
2025-11-26 04:00:34 -08:00
ae24034f24
Refactor hfield-convex collision code. This should be a no-op.
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PiperOrigin-RevId: 837045492
Change-Id: I82851615c7f69774da83cab361316e5a6e9982c6
2025-11-26 03:26:56 -08:00
fcad41a5b1
Implement solver stats charts.
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PiperOrigin-RevId: 837045292
Change-Id: I1dfe1e10bb6d62f4d994a82c9b645b471fca5500
2025-11-26 03:25:45 -08:00
011166a13a
Update the studio/README.md to summarize platform support.
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PiperOrigin-RevId: 837038187
Change-Id: I00882e0a9882947af7c684e2d5521356ad1468ce
2025-11-26 02:58:05 -08:00
4ce0ee2011
Update texture handling due to recent ImGui upgrade.
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PiperOrigin-RevId: 837030453
Change-Id: I042c4a7df7dc6c7e07c40eb5f32e5031e5b1d60a
2025-11-26 02:36:02 -08:00
f2823836a6
Updates for MuJoCo Warp documentation.
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PiperOrigin-RevId: 837027234
Change-Id: Idf7a69b14ce23d5ac5ed36367a14c77a00276846
2025-11-26 02:26:13 -08:00
a9fe8340bf
Remove extraneous colons in XMLreference
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PiperOrigin-RevId: 837017632
Change-Id: Ie89adf4fd3725cfa4b8eb0bcddedd4fa886ed8fb
2025-11-26 01:56:28 -08:00
a1579ac3e1
Use static_cast instead of reinterpret_cast.
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PiperOrigin-RevId: 836990495
Change-Id: I276b5d83e18cc87364f8f2cae0c585b6673c738e
2025-11-26 00:25:32 -08:00
d940b2b7f9
Update versions of imgui and implot.
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PiperOrigin-RevId: 836844278
Change-Id: If0a522fcb7637df9cd422df6cb5bef641e675b0b
2025-11-25 16:08:13 -08:00
c07e3cb8a8
Internal changes only.
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PiperOrigin-RevId: 836814927
Change-Id: I18bde7ae47b5c106ab9c85e434a8b491c8d79d04
2025-11-25 14:36:57 -08:00
181dcab6be
Combine markers and content and reorganize parts of the WASM template file
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PiperOrigin-RevId: 836729951
Change-Id: Ib3bb25a23325cfbd84fd0439243db37ca8236bf3
2025-11-25 10:40:44 -08:00
b6e162d6fa
Update MuJoCo version from 3.3.8 to 3.4.0
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PiperOrigin-RevId: 836719207
Change-Id: I28cbc90cee42aebfb5a4201561289ef6747cdc83
2025-11-25 10:16:02 -08:00
6e59f61c70
Make WASM codegen output to be alphabetically ordered.
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PiperOrigin-RevId: 836680575
Change-Id: I7ddb7267c0db4911b2e84528f948dee6fccdf81d
2025-11-25 08:29:30 -08:00
6208730744
MuJoCo Warp documentation: Option.contact_sensor_maxmatch information.
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PiperOrigin-RevId: 836670031
Change-Id: I29b11784998d3461ad1d460a6c23cad66df22202
2025-11-25 07:58:08 -08:00
5d7b2bd7ca
MuJoCo Warp documentation: update information about setting both nconmax and naconmax.
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PiperOrigin-RevId: 836666389
Change-Id: I766c717d4c6b98f4383fa396fd9cceaac4b5b561
2025-11-25 07:45:06 -08:00
893882171e
MuJoCo Warp documentation: Does MJWarp work with multiple GPUs?.
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PiperOrigin-RevId: 836642204
Change-Id: I559642b2cb902a704257e7e0344f768b690678a1
2025-11-25 06:26:55 -08:00
d8712808b9
Allow users to access mjrContext.
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PiperOrigin-RevId: 836641787
Change-Id: I2f2aee30a047336d1adbe33b7996fee3ec845213
2025-11-25 06:25:14 -08:00
f28bcc4346
Allow binding to arbitrary textures.
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PiperOrigin-RevId: 836625847
Change-Id: If02ea708f49bdfd9be5be7d9a273340ba2f082f0
2025-11-25 05:26:04 -08:00
589e013d9b
Fonts should have const data.
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PiperOrigin-RevId: 836624808
Change-Id: I984c94cc34ef22b875ddda87c59893aa7f38a8a3
2025-11-25 05:22:54 -08:00
bdaec5758b
Generate MuJoCo Warp documentation with modified types.py.
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PiperOrigin-RevId: 836617034
Change-Id: Ia925b88679744267b34504b146fa712d4195eda4
2025-11-25 04:54:01 -08:00
b98379372e
Refactor epaWitness.
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PiperOrigin-RevId: 836597852
Change-Id: Ib75dae07bda47764f937f32a9476ef3266f02056
2025-11-25 03:44:57 -08:00
9b0f8dd963
Update CMakeLists.txt to add/remove files.
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PiperOrigin-RevId: 836591285
Change-Id: I17745ad5055b861721c10daec33adc1f6f11ea32
2025-11-25 03:18:57 -08:00
888d3a7b07
Add mj_copyState
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PiperOrigin-RevId: 836588419
Change-Id: I7609e121dc0ac697d4d015d4244bdd5962650def
2025-11-25 03:10:30 -08:00
eac8e60037
Merge Physics functionality into App.
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The Physics class is no longer needed. This makes Studio similar to
other toolbox-based apps (like web demo and python viewer) which
manage their own mjModel and mjData instances.
PiperOrigin-RevId: 836588076
Change-Id: I3f695b49bf6a7bba1a2b639d3d75d0c996582f06
2025-11-25 03:09:21 -08:00
67b09f9afb
Refactor simulation state history tracking into a SimHistory class.
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PiperOrigin-RevId: 836578736
Change-Id: I94a852b2d2a36cdd081371f25385dbb466dd8d4b
2025-11-25 02:38:09 -08:00
6d9d59cb98
Move pause handling into StepControl.
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Also moves perturbation handling up to the App.
Combined, this makes Physics::Update only about advancing the StepControl and resonding to its Status.
PiperOrigin-RevId: 836569506
Change-Id: I148c787f0e1c18baac3e3038ee6ad0e337eb92a8
2025-11-25 02:08:08 -08:00
711a388b3d
Sort and generate optional struct bindings in WASM.
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PiperOrigin-RevId: 836273537
Change-Id: I2af2401969a4780f593df86dc9336adcc285fd1b
2025-11-24 10:18:09 -08:00
217317ccba
Change WASM generators from classes to functions.
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PiperOrigin-RevId: 836257289
Change-Id: I7a3c1d7bb545353a3d278330582e33c0551792cb
2025-11-24 09:36:36 -08:00
1c910875d2
MuJoCo Warp documentation: Differentiability.
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PiperOrigin-RevId: 836250165
Change-Id: I40c21674c896ed4108f17192f16aaaf2664f03be
2025-11-24 09:13:28 -08:00
2ca56179a7
Add Frequently Asked Questions: Learning frameworks to MuJoCo Warp documentation.
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PiperOrigin-RevId: 836231961
Change-Id: If3d00e7dfb9ebe49a034ea8936d2ac1dd33d0979
2025-11-24 08:14:53 -08:00
cb391962ca
MuJoCo Warp documentation: Orientation representation.
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PiperOrigin-RevId: 836127570
Change-Id: I0f381e57cfb53e1cb623f9c4178d258dfc1f75b6
2025-11-24 02:03:41 -08:00
a105042734
Tidy up primitive support functions.
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PiperOrigin-RevId: 835329730
Change-Id: I5ad5e85b5e8284bf5e3769ab504686b7859a6ea4
2025-11-21 13:00:49 -08:00
a359780ca1
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 835230315
Change-Id: Ifa4f8f66c4e3de1a3074f0897daf93f88e469f06
2025-11-21 08:17:49 -08:00
bb488fec29
Remove MPR from comment.
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PiperOrigin-RevId: 835224192
Change-Id: I659231b30d4c00d9bf586f0efdac138331862df7
2025-11-21 07:58:26 -08:00
f8b92410d4
Add test explaining body_rootid and body_weldid semantics
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PiperOrigin-RevId: 835197910
Change-Id: If85ca80d3b576e2469cf0d9900441ddb9fd64462
2025-11-21 06:25:22 -08:00
7e6cb642a3
Improve formatting of percent real time selection
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PiperOrigin-RevId: 835192366
Change-Id: I17057f61b96d6380dea6156dcef867b1845e6abf
2025-11-21 06:05:53 -08:00
a2002eb3d7
Various UX improvements including:
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- Add Toolbar and StatusBar.
- Reconfigure sections into Settings and Inspector groupings.
- Use docking for Settings/Inspector panels.
- Rename "Free" camera to "Tumble"; add WASD-based free camera.
- More dynamic layout of table-based elements.
- Remove "non-classic" UX mode.
- Switch to light mode by default.
PiperOrigin-RevId: 835174573
Change-Id: I1855caa79f00002e44ed2516631675727bdcb9f6
2025-11-21 04:58:20 -08:00
ae8272787f
Rollback of 7cb2e31f4b
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PiperOrigin-RevId: 834865905
Change-Id: Iade490754ca30a97f696bcb09525f9b4c37dbeff
2025-11-20 12:30:48 -08:00
c2e9bfa3e8
Clarify semantic of body_rootid and body_weldid
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PiperOrigin-RevId: 834827589
Change-Id: I562e0aa374ce59d8b769e8d003e4c63ee434a1fc
2025-11-20 10:54:59 -08:00
7cb2e31f4b
Annotate GlobalModel for LSAN
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PiperOrigin-RevId: 834784936
Change-Id: I9381a062956df6cd7724402b72c2d2a2d8c49998
2025-11-20 09:03:48 -08:00
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