Update SetFrameBuffer to allow users to customize which swap chain
(window or offscreen) to use for rendering both the main mjvScene
as well as the GUI.
PiperOrigin-RevId: 861624061
Change-Id: Ife7bfc447afb007016300438fc5f88a8e4cfa0f6
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
The ImGui table API cell padding variables can be used to adjust the positioning of the UI in the box.
PiperOrigin-RevId: 858137824
Change-Id: I1ce1519c0abd67bc5fafc30f9a18dfcf18c2a313
This change introduces two new USD API schema:
* MjcEqualityAPI - base API for representing MuJoCo equality constraints in USD, this will typically be applied to joints such as UsdPhysicsFixedJoint.
* MjcEqualityWeldAPI - extends MjcEqualityAPI for MuJoCo's weld equality constraints with an attribute for torqueScale.
The usd_decoder is updated to parse UsdPhysicsFixedJoints and convert the new schema attributes into the appropriate mjsEquality data fields.
PiperOrigin-RevId: 856723634
Change-Id: I0982fd3168b643f8e91d87bb5ae5933e526b63a1
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
Since relationships in USD can only contain a single instance of a path, it was previously impossible to have a tendon path that visits the same wrap target more than once. This is a fairly common occurence when dealing with tendons that have pulleys.
With this change, if mjc:path:indices is not defined then the behaviour is as it was and the mjc:path is considered to be ordered. If it is authored then the parser will use the indices into mjc:path as the order. This mirrors other similar concepts in USD such as face vertex indices.
PiperOrigin-RevId: 856339887
Change-Id: I6b9503973de377acdb0689be168c16e4aa19b70b
Add usd_decoder to mujoco/plugin.
- Previously was src/experimental/usd/usd_to_mjspec.cc, now that same spec is returned by the plugin.
PiperOrigin-RevId: 854350962
Change-Id: Ia980190a557c50ce8197980922a2594b613859b4
(We may consider splitting this class up into specialized subclasses at a later date.)
PiperOrigin-RevId: 851290789
Change-Id: Iee00b8e906eeb911de5799f784475ac6916ab55b
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
A future CL will allow users to specify search paths in their settings.
PiperOrigin-RevId: 846240293
Change-Id: I1a1a4027d0fc85004a12fe01a406f50fd929f3e4
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
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
Haroon Qureshi