bc1f9513be
Add flag for software rendering.
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This flag is currently unused.
PiperOrigin-RevId: 885453938
Change-Id: Ia2112410ff12c7b18ad154f18887d4d795bafa3d
2026-03-18 01:48:15 -07:00
db9ab94555
Refactor parts of the toolbar GUI into the GUI library.
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PiperOrigin-RevId: 882024591
Change-Id: I3ac73247973666f4d60e9d8d028d20d3ef709bcc
2026-03-11 08:23:12 -07:00
5506fbf506
Rename member history_ to sim_history_.
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PiperOrigin-RevId: 878906079
Change-Id: I1327f0216bc5042e62c598f2b7f15f6a26c192dc
2026-03-05 01:23:39 -08:00
84682a46b0
Refactor spec editing logic into its own class.
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The SpecEditor improves spec editing by keeping
track of what's being edited and how it changes
over time.
PiperOrigin-RevId: 878410011
Change-Id: I7c323eeb30178dad31946095a727a21b3955f19a
2026-03-04 04:01:56 -08:00
73f73d94f7
Merge renderer+offscreen mode into unified graphics mode.
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Allow Studio app to switch between graphics modes dynamically.
PiperOrigin-RevId: 878396966
Change-Id: I666fe3d2452de5404b9be2bd1d017eabec789aef
2026-03-04 03:19:58 -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
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
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
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
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
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
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
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
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
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
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
1a2bca4986
Use runtime enum for the renderer backend instead of preprocessor macros.
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TESTED:
studio:vulkan
studio:vulkan --offscreen_mode=true
studio:opengl
studio:opengl_egl
studio:classic
studio:classic --offscreen_mode=true
studio:server
robot_sim/frontend:debug_server
pyviewer:example
pyviewer:example --define=mujoco_gl=vulkan
PiperOrigin-RevId: 864768322
Change-Id: I4478e0115b3807060d60d98b4ddfd63da9389aac
2026-02-03 02:13:15 -08:00
9da834c12c
Tweak status bar layout.
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PiperOrigin-RevId: 863184918
Change-Id: Ibff6c71e6004f4dd2ad2b49cc889d2f9c2dfd41e
2026-01-30 05:07:11 -08:00
669e9b7484
Add an "offscreen" mode that allows users to render studio to a texture
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then uses SDL to blit the texture into the window.
PiperOrigin-RevId: 861697047
Change-Id: Ib949b4ade0c79d867ba74ce013bc2b6fa2571f56
2026-01-27 06:48:16 -08:00
75715ab966
Update logic for dealing with file dialogs.
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This in preparation for an upcoming change that uses native file dialogs instead
of our very basic ImGui file dialog.
PiperOrigin-RevId: 861671041
Change-Id: I9b00c05efdda5e37ffe15048a2ccf66f6eca89d9
2026-01-27 05:31:01 -08:00
fe16255602
Add mjz support to studio.
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PiperOrigin-RevId: 861627355
Change-Id: Iafd291965ca78d03fdc1efe0e40dabcd4f2dacc4
2026-01-27 03:22:58 -08:00
bdb553ff8a
Add a ModelPlugin that can be used to load and update models.
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PiperOrigin-RevId: 861077626
Change-Id: I3ef4989cfbfff3632c5915c00ebda1e7a48716e8
2026-01-26 01:24:43 -08:00
bab468703c
Display error message when requested file does not exist.
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PiperOrigin-RevId: 859583121
Change-Id: Id9969e486499a70769e325161c3cd2c204006d9a
2026-01-22 06:34:35 -08:00
98593259e7
Internal change
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PiperOrigin-RevId: 859578296
Change-Id: If4dd4ca68ab9750693e5f6ff20ea0c78d6b93464
2026-01-22 06:20:47 -08:00
2cc2e579f1
Refactor model loading APIs.
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There are three ways to load a model: from a file, from a buffer, or an
"empty" model. Instead of overloading a single function to do all three,
provide three separate functions.
Also disable model loading functions that will not work for emscripten.
PiperOrigin-RevId: 859051341
Change-Id: I71557d31d0e7c9c6882895c36116d300f19e255d
2026-01-21 05:25:08 -08:00
e2180ff744
First-pass of a plugin system for GUI elements.
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Refactor filament's debug drawing to be one such plugin.
PiperOrigin-RevId: 859002002
Change-Id: Ibe9000dec19fce648eef6d57170ce435b9a8c6ff
2026-01-21 02:47:09 -08:00
bf05bb1885
Make quit button work.
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PiperOrigin-RevId: 858624789
Change-Id: Ibdd572b60273424f3b7e9bb6a9d117d2a0538227
2026-01-20 09:28:48 -08:00
a0accc493a
Fix camera select logic.
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PiperOrigin-RevId: 858599199
Change-Id: I25f1a74ac145c73bb225d6df8e86aa82d88ebb4b
2026-01-20 08:18:29 -08:00
77d1ac10fe
Fix scaling issues on HDPI monitors.
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PiperOrigin-RevId: 857024487
Change-Id: I7d3db9ff754374053bcd33ba93c7466253afb58c
2026-01-16 01:17:38 -08:00
c92746641d
Implement picture-in-picture mode.
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Adds a new window that allows the user to display one or more renders from
the different cameras in the scene.
PiperOrigin-RevId: 856607089
Change-Id: I7268ffd3ef62b9b4d62ce8d004fdbbec92b42af4
2026-01-15 04:42:27 -08:00
2f2f9a30ba
When loading models use mj_parse instead of mj_parseXML, and allow non-xml file types.
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PiperOrigin-RevId: 853730923
Change-Id: I1c107daafd558bedb99338779c8174ee3e4d07e2
2026-01-08 07:22:51 -08:00
9743c2d385
Use mjResourceProvider instead of custom LoadAsset callbacks.
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PiperOrigin-RevId: 853172824
Change-Id: I60ef1207611c4da119cc3f0a7819088cffca6e4f
2026-01-07 03:03:23 -08:00
b9fa8ee6e9
Move all specialized rendering logic into Renderer class.
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(We may consider splitting this class up into specialized subclasses at a later date.)
PiperOrigin-RevId: 851290789
Change-Id: Iee00b8e906eeb911de5799f784475ac6916ab55b
2026-01-02 04:25:07 -08:00
a3e66cd5df
Combine performance charts; add fullscreen mode.
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PiperOrigin-RevId: 847751915
Change-Id: I819eb8d36224ddba38ef8532a038a2ef350890c8
2025-12-22 07:08:20 -08:00
d1fd11bccd
Refactor SaveScreenshot into a more useful RenderToTexture function.
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Removes a few unused functions from helpers library.
PiperOrigin-RevId: 846661437
Change-Id: I815ffe1990098dedb71f694af088d85294f9c7de
2025-12-19 03:33:59 -08:00
b5b654f00c
Correctly handle segmentation and ID_COLOR flag in filament.
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PiperOrigin-RevId: 846319715
Change-Id: I244ae52c34079b79d3179fafdf6aa506cc89e1ff
2025-12-18 10:14:13 -08:00
bebdd62943
Allow studio to search for models in predetermined search paths.
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A future CL will allow users to specify search paths in their settings.
PiperOrigin-RevId: 846240293
Change-Id: I1a1a4027d0fc85004a12fe01a406f50fd929f3e4
2025-12-18 06:32:24 -08:00
43bcbb158c
Load last saved GUI configuration on first load.
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Also save theme to the configuration.
PiperOrigin-RevId: 843710929
Change-Id: I7ce9ce0f026d2cb5f79addf6c16c9b540bf11954
2025-12-12 08:56:53 -08:00
3da421afaa
First-pass implementation of web-based studio app.
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PiperOrigin-RevId: 843685213
Change-Id: I2642a21d5573ef548eece0eb9a2c634e4881eec5
2025-12-12 07:42:42 -08:00
e07adc387a
Update themes to differentiate from default dear_imgui themes and add a classic theme that's similar to simulate.
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PiperOrigin-RevId: 843313013
Change-Id: Id01841097f32a5b01acd8fcf59392a73acad8f27
2025-12-11 11:46:12 -08:00
87d333c64a
Allow MJB and XML content to be loaded directly.
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PiperOrigin-RevId: 843180720
Change-Id: Id4f2bf81507b971dfbbf250d775d7fdfc76517df
2025-12-11 05:41:43 -08:00
7553541b4b
Use public mj_parseXml function.
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PiperOrigin-RevId: 842245812
Change-Id: I26e1f992f82050a36373ee3a3f2c97c399b4e788
2025-12-09 08:14:32 -08:00
Haroon Qureshi