680e9a6b79
Update studio build script and instructions.
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Mujoco studio now works on Windows and MacOS.
PiperOrigin-RevId: 840235447
Change-Id: I66d3430d5d994de2eb13ee08ad3051c6c7187e12
2025-12-04 07:27:37 -08:00
c5cd276e1f
Cleanup model loading flow.
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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
8823e9fedf
Improve imgui texture management.
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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
54070fc71b
Disable bent normals by default.
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PiperOrigin-RevId: 840216781
Change-Id: Icf24d73939fa138da46e2da7aa69a6574e6f98ec
2025-12-04 06:28:53 -08:00
a942fd4875
Make filament segmentation shader distinct colors optional.
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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
4a6b9456aa
Set default headlight intensity to zero if there are no physical lights in the scene.
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PiperOrigin-RevId: 839962392
Change-Id: I086d8135604982c42381a9b49cec53773c7fa362
2025-12-03 16:31:11 -08:00
8507b62556
Cache the rendering mode used to allow headless segmentation rendering.
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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
14513a04c2
Wait until previous render is finished before submitting another request.
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PiperOrigin-RevId: 839707507
Change-Id: Ib39538540ff6080d197c2ea853b7273cc56084e7
2025-12-03 05:01:44 -08:00
e409538831
Ensure window scale is initialized on creation.
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PiperOrigin-RevId: 839699437
Change-Id: I99e477ac49b56726b77389306aec49c895e160fa
2025-12-03 04:29:52 -08:00
448fc0e4d5
Report the actual GPU framerate rather than the main thread submit rate when using the filament renderer.
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PiperOrigin-RevId: 838775463
Change-Id: If66644d284a4a9e0263cf31bfbd1785b18e0209b
2025-12-01 08:02:38 -08:00
19e2d0ae2f
Add mj_fwdKinematics and a table improving documentation of the MuJoCo computation pipeline structure.
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PiperOrigin-RevId: 838768130
Change-Id: I1a22d5cdca7db704ba4cea1667fcbecb16b87005
2025-12-01 07:39:00 -08:00
94fb10bf3d
Internal changes
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PiperOrigin-RevId: 838741176
Change-Id: I9def07b3f7e963d2787d71019d303ba1eb75622c
2025-12-01 06:11:15 -08:00
9b7134b15b
Add OSX and WIN32 support for getting the native window pointer.
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PiperOrigin-RevId: 838720433
Change-Id: Id7123bcf456d0c2d32e67b204564fe8c495004cd
2025-12-01 04:57:24 -08:00
ad24889bb9
Add mj_rayMeshNormal (not exposed in public header)
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PiperOrigin-RevId: 838707353
Change-Id: If31d2454e0668f750bcba21ee42f81ef962e9097
2025-12-01 04:13:52 -08:00
139a5b6494
Rename toolbox to platform.
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PiperOrigin-RevId: 838701951
Change-Id: I339eafd35d919710cb47bb04e9a8e29f92739513
2025-12-01 03:58:34 -08:00
fe74ea2e7b
Match definition with declaration.
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PiperOrigin-RevId: 838682770
Change-Id: I537ae9652dc64a02d2e3de8ddda351102d3cec35
2025-12-01 02:49:18 -08:00
a7e62a6755
Set visual studio working directory to the bin directory.
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PiperOrigin-RevId: 838681802
Change-Id: I764809d2145688c8a353907dc599a604ae944d0b
2025-12-01 02:45:53 -08:00
ea78d83363
Use working directory if no HOME path specified.
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PiperOrigin-RevId: 838680600
Change-Id: I8869da40042bb0b4edcbfe1e626c3188d0631c5e
2025-12-01 02:42:14 -08:00
8f9250472e
Improve names of Free camera control modes.
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PiperOrigin-RevId: 837605181
Change-Id: I01b65706fc4f9857df4d025cd3f4587d24ee5af5
2025-11-27 13:34:09 -08:00
2ea403575e
studio: invert mouse scroll direction for camera zoom.
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PiperOrigin-RevId: 837603911
Change-Id: I193a1abc0a3317aa998e7f82b9ce4b282ae7a913
2025-11-27 13:28:24 -08:00
dc5c2faf91
Cosmetic cleanup in engine_collision_sdf.c
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PiperOrigin-RevId: 837554740
Change-Id: Ic962af6a2c5f9f4c7edd48cbdf110ed11bc5e378
2025-11-27 09:24:56 -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
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
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
c07e3cb8a8
Internal changes only.
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PiperOrigin-RevId: 836814927
Change-Id: I18bde7ae47b5c106ab9c85e434a8b491c8d79d04
2025-11-25 14:36:57 -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
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
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
a105042734
Tidy up primitive support functions.
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PiperOrigin-RevId: 835329730
Change-Id: I5ad5e85b5e8284bf5e3769ab504686b7859a6ea4
2025-11-21 13:00:49 -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
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
Haroon Qureshi