Total testspeed runtime for `2humanoids100.xml` reduced by 19.6% (49.5 -> 39.8s).
PiperOrigin-RevId: 910608140
Change-Id: Ided0ae5bdb8e4e8196f84e08354a9ae8cfa5b626
Also provide a header-only C++ library that wraps created objects into
unique_ptrs.
PiperOrigin-RevId: 910607824
Change-Id: I0427f6dedab6aa299b3128031b055bd4d0c8e497
This change introduces MjVFS, an explicit object to mirror the C mjVFS. This is meant to replace the MjSpec.assets dict. This latter while convenient guides users towards harmful authoring patterns with respect to data duplication and spec attachment workflows. Making VFS management explicit should encourage better memory usage and allow us to make better compile time optimizations.
From this change, `spec.assets` is deprecated. However we will temporarily support backwards compatibility due to the wide spread usage. An error will be thrown if calling code tries to use a spec that uses both the assets dict and the new MjVfs.
PiperOrigin-RevId: 908772050
Change-Id: I77c6d0369307fc300c954768fed17401261e18da
mjSENS_INSIDESITE uses xipos to test containment, but for massless flex
parent bodies xipos equals the static body frame origin and does not
track the actual flex position.
Fix: in the INSIDESITE sensor case, when the object is a massless body
with positive subtree mass (i.e., a flex parent), use subtree_com
instead of xipos. This correctly reflects the mass-weighted centroid of
the flex child bodies without changing the global semantics of xipos.
PiperOrigin-RevId: 908745144
Change-Id: I527f0efb7b419345188411c9da883505156ebeea
The `vert0` array, used for parametric vertex coordinates in flexes, is now computed in the flex's local, unrotated frame when using interpolation. This ensures that the parametric coordinates are independent of the flex's initial orientation. A new test confirms that `flex_vert0` is identical for an unrotated and a rotated flex grid.
PiperOrigin-RevId: 908196464
Change-Id: I47d6bcc2bc5df581479d485480e0e947ec6d3ffd
The code for computing passive forces for flex elements is moved into new static functions `mj_flexPassiveInterp`, `mj_flexPassiveBend`, and `mj_flexPassiveStretch`. This improves the structure of `mj_springdamper`.
PiperOrigin-RevId: 907671516
Change-Id: I6d1e781bbd370331ae645a954b78092ecb1925b9
When elastic2d="stretch" is set on an interpolated flexcomp, treat the bounding box boundary as membrane elements rather than volumetric cells. This computes plane-stress stiffness over the boundary faces and updates the runtime force/derivative kernels accordingly.
Interior vertex tracking (moving vertices that follow the deforming shell) is not yet implemented so all mesh vertices need to be on the bounding box surface or the background grid should have no interior nodes (i.e. cellcount should be 1 on at least one axis).
PiperOrigin-RevId: 907654080
Change-Id: I51b90e2f6a1d1b036f9604e42de20e377dc5d3f9
Moves all internal types and structs to the "public"
render_context_filament.h header file.
PiperOrigin-RevId: 906929736
Change-Id: I7e7c315fb99a3601b09841073eaeec795718b999
Total testspeed runtime for `2humanoids100.xml` reduced by 27.6% (63.4 -> 49.5s) due to early termination on small islands
PiperOrigin-RevId: 906910915
Change-Id: If55ad468c3680ef44eda7000455a77f8003b3122
- Remove hard-coded button sizes (48×32) from toolbar icons; buttons now use default ImGui sizing, matching the existing copy-camera button.
- Remove the Unload button (available via menu).
- Add ImGui_ColorButtonEx widget with per-corner rounding via ImDrawFlags, enabling segmented button-group visuals.
- Use segmented rounding for the pause/viscous/play triplet: rounded-left, square, rounded-right.
- Make pause and play buttons 40% wider than the viscous button for emphasis.
- Replace the theme combo dropdown with a cycling button.
- Reduce toolbar height from 48px to 34px and vertically center content via WindowPadding.
- Zero out table CellPadding in the toolbar for precise vertical centering.
- Remove the speed combo's inflated vertical padding.
PiperOrigin-RevId: 906853958
Change-Id: I6e4ec7243adb9e0f1f06f8779fa896a6865c46c7
* **Dynamic Full-Window Scaling**: Charts in the Performance and Solver panels now expand to fill the entire pane, automatically arranging side-by-side or stacked based on window orientation to eliminate scrollbars.
* **Responsive Decorators**: Added reusable C++ ImPlot helper functions that auto-hide titles, legends, and tick labels when the plot surface is small.
* **Cleaner Visualization**: Refined chart titles (e.g., "CPU msec vs frame", "Convergence vs iter") and removed redundant axis labels for improved scannability.
These changes were based on the plot behavior of //third_party/mujoco/src/experimental/py/sample/implot.py This is an incremental improvement, we can make the plots even nicer in future.
PiperOrigin-RevId: 906351914
Change-Id: I8cb19c19bf807f0107c717066250a71bcf7e325f
- Reorder Physics section, move Actuator Groups to end.
- Rename "Physics Settings" → "Physics", "Rendering Settings" → "Rendering".
- Reduce IndentSpacing from 20 to 6.
- Reduce FramePadding Y from 6 to 2 for narrower buttons and popups.
- Remove explicit Unindent/Indent overrides in Rendering and Visibility Groups
sections so buttons are naturally indented under their tree nodes.
- Dynamically adjust convergence and counts plot X-axis limits based on actual
solver iterations instead of hardcoded 20.
PiperOrigin-RevId: 906244477
Change-Id: Ic3e6e6e793395158c8cb6692af885884ca3f7f50
Texture IDs were assigned using textures_.size() + 1, which is not monotonic: after erasures the map shrinks and previously used IDs can be reassigned to new textures. This causes multiple ImGui images to reference the same underlying Filament texture, rendering them all with the same pixel data. This fix replaces the size-based scheme with a monotonically increasing counter (next_tex_id_) that never reuses IDs.
PiperOrigin-RevId: 906214496
Change-Id: I5a388861ad9565c8e00e27b39cc9c76c9750ca1e
This change modifies the Warp JAX FFI to register callbacks for both CUDA and CPU platforms, allowing Warp kernels to be launched on CPU devices. MJX's io.py is updated to allow Warp to use CPU devices if no CUDA GPU is available. Tests are adjusted to no longer skip when CUDA GPUs are absent. A minor fix for sorting precision in test_util.py is also included.
Kristian Hartikainen
- https://github.com/google-deepmind/mujoco/pull/2948
Github issue - https://github.com/google-deepmind/mujoco/issues/2947
PiperOrigin-RevId: 906018844
Change-Id: I9c026b4a4e2a0276d5d3af3954fd027cf75b6d7a
Haroon Qureshi