2c4f710cf4
Ensure resource providers are correctly initialized.
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PiperOrigin-RevId: 854095105
Change-Id: I028265d7f51e6ab178f4f3a1d801ba773093214f
2026-01-09 02:07:24 -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
e1261ba5f1
Fix perturbation rendering in webdemo
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PiperOrigin-RevId: 853290958
Change-Id: Ifcea1091633597171c5268d5ee091bea3ddee45b
2026-01-07 09:18:45 -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
e3ddb126f5
Fix target name; should be PLATFORM not STUDIO.
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(This was caused by a bad merge on my end.)
PiperOrigin-RevId: 851315742
Change-Id: Ifd5afa7f6cbd566ef2c15603e91a7360ea65c86a
2026-01-02 06:03:13 -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
9f674b04a9
Fix ground plane rendering when using filament backend
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PiperOrigin-RevId: 848473849
Change-Id: I096b20c6a5538ff95396bdf09f84ed5f2d3015ed
2025-12-24 01:25:51 -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
44c8ef890d
When building with USD enabled, add functionality that automatically registers the mujoco USD plugins.
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PiperOrigin-RevId: 846767370
Change-Id: Ieedbe127353623c11150551c1409d340dbc57421
2025-12-19 09:39:03 -08:00
3d9c195e3c
Fix rpath for usd target shared libs.
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PiperOrigin-RevId: 846759676
Change-Id: I5b2a73b3f997d4d0d447e051c43069ae7418a7ec
2025-12-19 09:14:45 -08:00
9e150fe82c
Add separate build step for OpenUSD to third_party_deps.
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This will fetch and call the build_usd.py build helper for OpenUSD and build within the MuJoCo _deps folder. Simplifying the build process for MuJoCo with USD. Users can still provide their own USD build, but must now do so via pxr_DIR.
PiperOrigin-RevId: 846735578
Change-Id: I0da7eb2da6465e2d518084340e762bf370adb6d5
2025-12-19 08:00:15 -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
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
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
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
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
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
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
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
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
32d7b87ba7
Improve studio 2D plots
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PiperOrigin-RevId: 842260702
Change-Id: I4644b69da92b9d015eb2d140b98f68c05d31a222
2025-12-09 08:56:51 -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
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
e1e2248925
Internal changes only.
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PiperOrigin-RevId: 842099953
Change-Id: Ia11feec323504976cdc3e6d7170435b74ed33fcd
2025-12-09 00:18:06 -08:00
99a90cb649
Don't do GUI rendering when rendering to texture.
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PiperOrigin-RevId: 842089364
Change-Id: Iaecebdc677e946c7fc618395205097462a56f2d1
2025-12-08 23:44:50 -08:00
e238b65843
Support both 3 and 4 channel images and use a safer way to assign IDs to images.
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PiperOrigin-RevId: 841727607
Change-Id: I319db4291ecee27f4ceb7b7e952c6f68e7f8b96d
2025-12-08 05:55:00 -08:00
fcdacd0690
Fix crash when using image-based textures.
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Image lights are not normal lights, so use nullptr as a placeholder.
Add checks for nullness when iterating over the lights.
PiperOrigin-RevId: 840695579
Change-Id: I092515ae814523e85f4f5ce87b2bac2241f4ea35
2025-12-05 06:08:13 -08:00
6e7b2ba4c3
Reuse renderable entity instead of recreating every frame.
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PiperOrigin-RevId: 840680350
Change-Id: Ie26862f8993c4b1cf071ee867d89bcc8182d3dd2
2025-12-05 05:10:12 -08:00
f18c9996e6
Allow uploading textures for use with ImGui.
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PiperOrigin-RevId: 840669528
Change-Id: I7c5854d966dd024cd492953f86bca961cfaf88b8
2025-12-05 04:31:32 -08:00
e93786c161
Fix WebGL rendering for the webdemo
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PiperOrigin-RevId: 840640628
Change-Id: I4bac3bf634e66da01174927bf6096bc1df642e10
2025-12-05 02:39:54 -08:00
6ed9f2be7a
Removed unused font uploading functionality.
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Font textures are handled directly through ImGui.
PiperOrigin-RevId: 840259537
Change-Id: I5b6b0dc5d2c1c7066b4a23f0106de34285f40e6c
2025-12-04 08:38:58 -08:00
5ee8b646f7
Move Style and Layout configuration to shared GUI library.
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PiperOrigin-RevId: 840246253
Change-Id: Ic4664b62e86e70fd6780cd9eb885978064c5f585
2025-12-04 08:02:16 -08:00
5f59104877
Properly handle PBR materials where no color texture is provided.
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In this case, we'll use the mujoco material color which is then multiplied with a white fallback texture.
PiperOrigin-RevId: 840244521
Change-Id: I2134f45dcbaed7db268e5278ca8ac5429488943d
2025-12-04 07:57:24 -08:00
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
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
Haroon Qureshi