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
522ff1cd80
Allow ImGui uploaded images to be resized or destroyed.
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PiperOrigin-RevId: 846354598
Change-Id: I86882813ab607945fffc763122248e167be856a8
2025-12-18 11:42:19 -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
05e1c452c7
Add VFS parameter to mjpDecoder decoding function.
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PiperOrigin-RevId: 846242734
Change-Id: I317e11e6fcd965f66416abcf690a3a65d043e9ee
2025-12-18 06:38:40 -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
7190bd4912
Add flag for depth rendering.
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PiperOrigin-RevId: 846203691
Change-Id: I5ec494446bcfc1f7c81536a87dd24f9967973563
2025-12-18 04:36:26 -08:00
47e35e632f
Add a test for equivalence of different solvers.
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PiperOrigin-RevId: 845777469
Change-Id: I76a162b71bea349cca3472001360181654a5d571
2025-12-17 08:21:52 -08:00
e95f46f84a
MuJoCo Warp documentation: sparse Jacobians.
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PiperOrigin-RevId: 845342391
Change-Id: I2167faca8a0a70e2c56a8cc329c09b1b9243e44c
2025-12-16 10:43:00 -08:00
08b4b4144d
Add tests for mju_cholUpdate and mju_cholUpdateSparse.
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PiperOrigin-RevId: 845229292
Change-Id: Ide1406f85e49fe5a5b339bedff7ff6dd8099e5e8
2025-12-16 05:59:40 -08:00
2b9940bc67
Add private function mju_fillInt
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PiperOrigin-RevId: 845217293
Change-Id: I604372ab7ea7f4d47d9427d36dc8cd78e60d84ca
2025-12-16 05:16:50 -08:00
477a14dcb2
Add WASM binding for mj_compile.
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It does not support model assets management via VFS yet.
PiperOrigin-RevId: 844864882
Change-Id: I422d7896ed024fc6f5c3fa923a58cdc9059f3bee
2025-12-15 11:58:26 -08:00
eef71832db
Remove usage of usdImaging tokens to avoid needing to build imaging.
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PiperOrigin-RevId: 844768270
Change-Id: Iba0a03646e56d9be5accf754f97ec37db8055425
2025-12-15 07:44:18 -08:00
52ca07e210
Decoder decode function should take a non-const pointer to mjResource.
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This is because mjcReadResource requires a non-const pointer.
PiperOrigin-RevId: 844737328
Change-Id: I88d217aa85a66023f6b222437403c136448cabfe
2025-12-15 06:04:05 -08:00
f0572c735a
MuJoCo Warp documentation: Collision sensors.
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PiperOrigin-RevId: 844695759
Change-Id: I98cc6f127527a8d05b02cf5b06038bba2d03fae0
2025-12-15 03:37:10 -08:00
b64b527e13
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 844675206
Change-Id: I02f75561eac3520d7107708dcece10cc82c106cd
2025-12-15 02:30:16 -08:00
ccbfc6c8bf
Improve line search initialization logic and first Newton step acceptance.
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PiperOrigin-RevId: 844316808
Change-Id: I0a7639a486c75f122db7f8b8c0df42ef810f060c
2025-12-14 01:50:52 -08:00
e7077b5a05
Fix testspeed argument count check
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PiperOrigin-RevId: 844128965
Change-Id: I3089c7e71efde1ee6fe7c24903d634ed44dfd6eb
2025-12-13 11:20:02 -08:00
e3a860de69
Update function signatures in engine_util_spatial.h to appease fussy GCC
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PiperOrigin-RevId: 843752024
Change-Id: I041efe6acc5a4a44488bb9ec09101681d47c37c5
2025-12-12 10:47:31 -08:00
942c2622ee
MuJoCo Warp documentation: update flex feature parity.
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PiperOrigin-RevId: 843711786
Change-Id: Ie392452b02d4894f04e826b74b558b2f7e9342d8
2025-12-12 08:59:37 -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
499291e5c2
Fix aliasing issues in engine_core_smooth.c
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PiperOrigin-RevId: 843699660
Change-Id: I21d4ed09284624ce80fcd5b1d572b9084e95e1f1
2025-12-12 08:25:06 -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
157d261701
Fix aliasing issues in engine_collision_primitive.c
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PiperOrigin-RevId: 843665186
Change-Id: I76cd479991f6083495e7ad95c2f57a8ef8fde925
2025-12-12 06:36:34 -08:00
9fc37a3be4
Fix aliasing violations in engine_collision_box.c
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PiperOrigin-RevId: 843647612
Change-Id: If8ad12c058a30ec475b9eb47d315019edbb8a7bb
2025-12-12 05:35:42 -08:00
600f0f20bc
Introduce private header engine_inline.h exploiting restrict and avoiding loops and copies in some commonly used utility functions.
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PiperOrigin-RevId: 843635464
Change-Id: I3b0553eea98424ccc7def77e3769e2994f3e9014
2025-12-12 04:49:29 -08:00
a0a56065e0
Use hex values instead of u8 string literals.
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PiperOrigin-RevId: 843583709
Change-Id: Ib55cfd472de2f83b0455ebf95f6826c887f6dd70
2025-12-12 01:45:13 -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
3c19b63ed3
Refactor texture.data to be handled using py::bytes
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PiperOrigin-RevId: 843226742
Change-Id: I7ab920da3c387467b1fced27f557c6edd1af4bce
2025-12-11 08:06:12 -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
1ff74ba810
Change the type of state signature arguments from unsigned int to int
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PiperOrigin-RevId: 843162492
Change-Id: I51d3324f088e8055898e115bdd32267c5950a412
2025-12-11 04:34:36 -08:00
fe0a11d58d
Change Filament background color to black.
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PiperOrigin-RevId: 843152096
Change-Id: I2ef87ffffb9cc8662fa6353c6d38f1046f21b34b
2025-12-11 03:56:34 -08:00
caec236b2f
Make mj_loadModelBuffer a public API.
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PiperOrigin-RevId: 843105390
Change-Id: I4058471b4cf64995dd5ab43e9c8c24e322004b62
2025-12-11 01:24:17 -08:00
d0cf2a3ca5
MuJoCo Warp documentation: named access / bind.
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PiperOrigin-RevId: 842689646
Change-Id: I5b7920dd5df5838497943da20da4aa61a68f0ec2
2025-12-10 06:01:22 -08:00
f150e72b34
MuJoCo Warp documentation: Tutorial notebook.
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PiperOrigin-RevId: 842685107
Change-Id: I354ab983b1f0061eb168d1ce86c12d974e5bb35e
2025-12-10 05:43:50 -08:00
6bcb22730d
Minor clean-up of some visualization code.
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Move mjvGeom acquire/release into helper functions, where possible.
PiperOrigin-RevId: 842675435
Change-Id: Ie5aaf206927251e79b20cc4101a7017645d5dd4b
2025-12-10 05:09:53 -08:00
11f0997edf
Internal change.
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PiperOrigin-RevId: 842636101
Change-Id: I5fc8e1f5e4caee9d909963ebe396572b13b455b7
2025-12-10 02:58:38 -08:00
9c1b8d8cfb
Enable font loading for wasm builds.
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PiperOrigin-RevId: 842627994
Change-Id: I347f79ec668f31a8bbc4d26638a045e29084d715
2025-12-10 02:31:46 -08:00
f06aa45ea6
Consolidate ray normal functions.
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PiperOrigin-RevId: 842300829
Change-Id: Ic5e921084710cb044a4f49ea9b566d277838aaa1
2025-12-09 10:36:10 -08:00
85e6f6de3c
Ignore unsupported light types in GL3 renderer.
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PiperOrigin-RevId: 842271116
Change-Id: I632f7ed8e2a6488d5a8eb228928e26c8fcbdff66
2025-12-09 09:22:29 -08:00
32d7b87ba7
Improve studio 2D plots
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PiperOrigin-RevId: 842260702
Change-Id: I4644b69da92b9d015eb2d140b98f68c05d31a222
2025-12-09 08:56:51 -08:00
5b1fa666fb
Add mj_rayHfieldNormal (not exposed in public header)
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PiperOrigin-RevId: 842259581
Change-Id: I27d6c46024d55addbc22eed276331e2ef5acfa7d
2025-12-09 08:53:47 -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
97eb307ce9
First pass at mjSpec Explorer and Properties windows.
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Displays the list of bodies and joints from the mjSpec and displays
values for the selected element.
Functionality is very limited and a bit non-intuitive. However, we want
to get this into our users hands to start getting feedback.
PiperOrigin-RevId: 842228895
Change-Id: I2491cd5e0acaf622110e0f6b8406919024d3607a
2025-12-09 07:28:26 -08:00
c064abc3da
Change row-flipping logic for heightfields.
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Move row-flipping logic from `mjCModel::CopyBack` to `mjXWriter`.
PiperOrigin-RevId: 842220322
Change-Id: I6fb09db6c9e8689f6e435f82f58dd3e7c4314478
2025-12-09 07:02:21 -08:00
925c533580
Move playback speed control to the toolbar.
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Initialize playback speed based on the model's global.realtime setting.
Adjust layout and tweak colours of the status and tool bars.
PiperOrigin-RevId: 842214796
Change-Id: Iff9cda74178df28a0787693242fee81e011014fc
2025-12-09 06:47:38 -08:00
cc914c9ec7
Modify studio keyboard bindings to conform to MuJoCo API.
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PiperOrigin-RevId: 842197387
Change-Id: I6ee9b1f5050cb4a8c2f67253f37481c61c91fdbd
2025-12-09 05:53:14 -08:00
1483aefe5f
Make actuator_length, cdof and cdof_dot public.
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PiperOrigin-RevId: 842182467
Change-Id: Id14a1c8266e13a6f95e1c87ea07da993b614b62e
2025-12-09 04:57:42 -08:00
f65c1cdfd1
Add mj_raySdfNormal (not exposed in public header)
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PiperOrigin-RevId: 842178540
Change-Id: I5d2db555e9b6c0fa0daaa8bc14c7781663e4c94e
2025-12-09 04:43:39 -08:00
bf49fe3daa
Enable reading textures from spec in Python
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PiperOrigin-RevId: 842151742
Change-Id: I477d118cc7e2385d29b395b192fa89e9facb9c3e
2025-12-09 03:08:32 -08:00
e1e2248925
Internal changes only.
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PiperOrigin-RevId: 842099953
Change-Id: Ia11feec323504976cdc3e6d7170435b74ed33fcd
2025-12-09 00:18:06 -08:00
Haroon Qureshi