07d7bc95e3
Expose vsm blur width parameter.
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PiperOrigin-RevId: 875733943
Change-Id: Ic8cb423104d2e62ce295f6a2ab6fd67d548910a6
2026-02-26 08:23:30 -08:00
55d7226b06
Improve error handling of spec editor compilation.
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PiperOrigin-RevId: 875703124
Change-Id: Idf4a90a48d75185ad03e4469cee9098104751d67
2026-02-26 06:59:31 -08:00
137a504625
Add imgui stdlib target.
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PiperOrigin-RevId: 875686702
Change-Id: Ie8ba8349c70da3313a1896b14a30d076f2068368
2026-02-26 06:13:38 -08:00
a9675fbaa6
Add an Editor panel.
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The editor panel allows you to add, remove, and modify spec elements
as well as recompiling and loading the spec.
Also includes utilities for handling vertically split panels.
PiperOrigin-RevId: 875658785
Change-Id: I18b10971d587db5eb1e65a033e1dc042faac7f1d
2026-02-26 04:51:02 -08:00
b7e192e514
Expose VSM EL options.
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PiperOrigin-RevId: 875368470
Change-Id: Ic6e05c82b57ffa3b1ff49baf4e3cd2c9480c9ba2
2026-02-25 15:36:55 -08:00
42d843a0fd
Separate mjModel/mjData ImGui table helper from mjSpec ImGui table helper.
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There are enough differences between how the two are structured that
having separate implementations makes things easier to implement
despite some minor code duplication.
PiperOrigin-RevId: 875287973
Change-Id: Id49e089e5e1944291ce79e79f8cb71d048a942cc
2026-02-25 12:37:31 -08:00
abdea379af
Allow the shadow type and map size to be configured in data.
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PiperOrigin-RevId: 875179785
Change-Id: I638c8c8c9e45dd58f393684a09f2ab4871911f7a
2026-02-25 08:35:01 -08:00
757758dd2e
Rename all filament mjr_ functions to mjrf_.
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Rename stubs.cc to mjr_compat.cc. This library acts like a
"compatibility layer" that allows the filament renderer to
be implemented behind the mjr API.
PiperOrigin-RevId: 875114054
Change-Id: I5c47581cacbcadff4c78d2ad15728cc1c3a394ad
2026-02-25 05:43:50 -08:00
253494739a
Read the clear color from the model if available
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PiperOrigin-RevId: 875079722
Change-Id: Id5a9c359d19f46d1c0bb5fbf5043db0ee4b1b9b6
2026-02-25 04:09:27 -08:00
ae7efead09
Show MuJoCo version in the help menu.
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PiperOrigin-RevId: 875061430
Change-Id: I4d4ce32eebd8ca4af4622e9b4d1cd50d180d0b96
2026-02-25 03:11:13 -08:00
1d6ff2cece
Display Bodies as a tree in Spec Explorer.
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Display all other elements under "Elements" or "Assets" group.
Show properties for mjSpec, mjModel, and mjData for selected
elements.
PiperOrigin-RevId: 874614195
Change-Id: I128c2bec844983ac5d35a3a0b1e58b8a5b0109cb
2026-02-24 07:57:44 -08:00
7d4b615edb
Use correct WIN32 define, not WINDOWS.
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PiperOrigin-RevId: 872866601
Change-Id: I35bb5cc0fdef80cf816a63bb7fc1619ef424c0d0
2026-02-20 06:10:00 -08:00
8c9ba9bcf5
Disable plugin on windows.
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PiperOrigin-RevId: 872845569
Change-Id: I4d80c80a47358a2882b2c63c2d655fe374afe65d
2026-02-20 05:00:04 -08:00
f71e215c9a
Include missing header.
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PiperOrigin-RevId: 872835150
Change-Id: I670bddb907b594788bda143c5175bbcb4b427903
2026-02-20 04:23:59 -08:00
0083cf7fa8
Refactor the projectile launcher into a plugin.
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Add a simple GUI for it that allows users to enable/disable
the key binding as well as control some parameters.
PiperOrigin-RevId: 872816645
Change-Id: I8abb2803e17b4f6195d447220c436d4701b24db8
2026-02-20 03:19:53 -08:00
28ad603f6b
Use templates and macros to reduce boilerplate.
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PiperOrigin-RevId: 872805912
Change-Id: I6fc1abe283bc809a95d660abc072906b0810aaeb
2026-02-20 02:42:52 -08:00
f0bf403254
Add a delete button to the highlighted element.
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PiperOrigin-RevId: 872795277
Change-Id: I63afa9c87b425ebed5d20126e9909ad95532d559
2026-02-20 02:09:36 -08:00
82694b520b
Re-apply changes that were accidentally deleted.
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PiperOrigin-RevId: 872782055
Change-Id: If2f403835cd2d90c88abe9ed82380dfca5b3d9c8
2026-02-20 01:27:57 -08:00
ca0552c83b
Cleanup Studio toolbar
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PiperOrigin-RevId: 872618794
Change-Id: I2e8f99dc47937416c8516ed1df7821369211b12f
2026-02-19 16:34:38 -08:00
10524c28dd
Track and restore viscous pause state every frame.
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PiperOrigin-RevId: 872382150
Change-Id: I96bddcfb2a0a204c6505e9795dfff97f09834855
2026-02-19 07:06:38 -08:00
ab80bd0916
Allow model holder to release ownership of mujoco structs.
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PiperOrigin-RevId: 872242489
Change-Id: I055f54f4e111cc78c489c12d9ae5c02cfb57169d
2026-02-19 00:06:07 -08:00
fdf6f1017c
Remove enable_keyboard flag.
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PiperOrigin-RevId: 871823567
Change-Id: I1e307f366106aa542a66b68b8e057b35c25134c9
2026-02-18 05:43:33 -08:00
6b197e198a
Reset free camera when loading a new model.
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PiperOrigin-RevId: 871622663
Change-Id: I1f1a4681752f7436c7bc7adbe64dcea286c5620c
2026-02-17 20:08:02 -08:00
767e52fb5b
Fire projectiles when hitting "Ctrl+Shift+Enter".
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PiperOrigin-RevId: 871215312
Change-Id: Ie22699d5446a49ea6997594b2800cf72840554c1
2026-02-17 02:53:31 -08:00
4ce9fb53ee
Re-enable MJZ support.
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Disabled on Windows until we can make plugins work correctly.
PiperOrigin-RevId: 871214280
Change-Id: I831238704c2807e70f4347989d642a189764e53c
2026-02-17 02:51:14 -08:00
989b6e63c7
Add ability to delete bodies.
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PiperOrigin-RevId: 871200603
Change-Id: I08bc786ca8106ef13cfcbe89e8cc42e9ad2c99d5
2026-02-17 02:14:54 -08:00
1808079c62
Implement viscous pause in Studio
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Viscous pause is like pause but the simulation continues with zero gravity, high viscosity and passive springs disabled. It is useful to move things like cabinets with shelves---just move the shelf and the drawers come along as well.
* Updated the simulation control widgets
* Added Ctrl-space shortcut to toggle play/viscous pause
PiperOrigin-RevId: 869810053
Change-Id: Icf649e1f2631c2a64a5d2f25af9537b6a12bdf2c
2026-02-13 11:11:15 -08:00
6d8b6028e2
Tweak default lighting and specularity for non-PBR scenes.
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Most "classic" objects looked washed out. To "revert" to the old look, you can add the following to your XML files:
```
<custom>
<numeric name="filament.phong.specular_multiplier" data="0.1"/>
<numeric name="filament.fallback.scene_light_intensity" data="100000.0"/>
<numeric name="filament.fallback.environment_light_intensity" data="10000.0"/>
</custom>
```
PiperOrigin-RevId: 869725829
Change-Id: Icab0cedaa27915400497745db886c393709c14b1
2026-02-13 07:37:36 -08:00
5903d4826f
Sparse ten_J and ten_J_colind
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PiperOrigin-RevId: 869712136
Change-Id: Id2979684aa0c39552cb8453852483cbac55f0ea3
2026-02-13 06:57:22 -08:00
8e5436c335
Make phong-shading multipliers configurable.
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PiperOrigin-RevId: 869080920
Change-Id: I4eb7311b54270d596c09a01d6725c1efb931de4b
2026-02-12 01:09:30 -08:00
336e1026a4
Sparse ten_J and ten_J_colind memory
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PiperOrigin-RevId: 868834376
Change-Id: Iec92d9e09e3134666895e54a78cb02439d74a4de
2026-02-11 14:05:43 -08:00
d011285380
Sparse ten_J and ten_J_colind memory
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PiperOrigin-RevId: 868800229
Change-Id: Id83f9fd40dd9bece06fd99753e4202eea17ca884
2026-02-11 12:45:50 -08:00
730d494b7f
Focus default camera on the model if available.
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PiperOrigin-RevId: 868407477
Change-Id: Iac37bcfe8657dededeeecc70db3e4ac18f8ef151
2026-02-10 18:17:33 -08:00
e93a69ea01
Add MjcPhysicsEqualityConnectAPI to MjcPhysics for equality/connect parsing.
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PiperOrigin-RevId: 867736241
Change-Id: I2d4e9abcb14280dcfbbf63ff5f888fb57350cfb6
2026-02-09 13:02:42 -08:00
be93e8eeb2
Give Resource Providers a chance to load files.
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File resolution only checks local file system. Resource providers may still
be able to load from a path even if it is not resolved.
PiperOrigin-RevId: 867534134
Change-Id: I802566136b965ad839393f56a4d4924dda2e1973
2026-02-09 04:23:44 -08:00
8557cf201b
Allow root models to be in a subfolder.
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PiperOrigin-RevId: 867217045
Change-Id: Iae6f7c7f137c2b229b52d93aacea1a4c9e06003e
2026-02-08 08:08:09 -08:00
60b5b1d59d
Fix include path.
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PiperOrigin-RevId: 866348008
Change-Id: Ie67fc38ac108810c1ecbefbb8d26c394d988956b
2026-02-06 01:52:03 -08:00
3e8a81383a
Move mjSpec/mjModel/mjData management into a separate class.
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PiperOrigin-RevId: 866327584
Change-Id: I72f6ec656e193f67dee22214fe01c517432f87e5
2026-02-06 00:51:15 -08:00
eb7aaa2868
Internal changes.
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PiperOrigin-RevId: 866317956
Change-Id: Ic92c0f9b7005198025e388f83dff630253240b3b
2026-02-06 00:22:31 -08:00
c63ba211e5
Refactor MjcPhysics EqualityJointAPI polynomial coefficients.
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The single array attribute `mjc:polycoef` has been replaced by five individual double attributes: `mjc:coef0`, `mjc:coef1`, `mjc:coef2`, `mjc:coef3`, and `mjc:coef4`.
PiperOrigin-RevId: 865947359
Change-Id: If9d14a77b0a06e5dc712eeadd6e9402411570706
2026-02-05 07:56:11 -08:00
b37caf6d0c
Show save dialog (instead of open dialog) as needed.
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PiperOrigin-RevId: 865374467
Change-Id: I599333659b12b05b7c779115fa397302f4978751
2026-02-04 06:20:01 -08:00
c2ede20d08
Move model_, data_, and spec_ into private accessors.
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This is in preparation for an upcoming change.
PiperOrigin-RevId: 865332731
Change-Id: I74041b3caf5de841f583f76682e1ced049557202
2026-02-04 04:02:52 -08:00
0add985a15
Handle null camera and vis_option.
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PiperOrigin-RevId: 865088406
Change-Id: I4a3bf7f6cb696de1461bc53fd5d77b941ea0c0c5
2026-02-03 16:06:06 -08:00
1bd72428f1
Perform ImGui calls only when a context is available.
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PiperOrigin-RevId: 865072901
Change-Id: I4b35d953df2f686d2f02f8e0aede7109729b5e04
2026-02-03 15:29:44 -08:00
144a8a9e85
Make EGL utils conditional on EGL.h.
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PiperOrigin-RevId: 865064686
Change-Id: I3728de6e49e4c36d76b410c2458767f74df069c9
2026-02-03 15:09:51 -08:00
feb3abcccf
Fix paths.
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PiperOrigin-RevId: 864933655
Change-Id: I44f34b47fe4f6725de59c6565f6b2b557b80eaa6
2026-02-03 10:16:19 -08:00
ef8e6802ef
Move EGL initialization into a separate class.
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Initialize the EGL context in the Renderer when using the classic
rendering engine with no window.
PiperOrigin-RevId: 864884976
Change-Id: Ic6cc4637855a361e41f3bfb4b738c012ec93711f
2026-02-03 08:12:35 -08:00
7ec8b6e341
Pause sim when loading an empty model.
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PiperOrigin-RevId: 864855430
Change-Id: Ib8c2b0949ee6fda8dd1490017e146d792119e840
2026-02-03 06:49:58 -08:00
34add7bb32
Removing trailing newline in zenity file dialogs.
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PiperOrigin-RevId: 864842389
Change-Id: Ie4cc61a91732fcde0ef2c7eba927aede217b2e6d
2026-02-03 06:15:37 -08:00
e82253e86c
Prevent file dialog from reopening after being dismissed.
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PiperOrigin-RevId: 864842269
Change-Id: I91819a3418875fe06dbed0cf7777e1dc7d358079
2026-02-03 06:14:35 -08:00
Haroon Qureshi