Baruch Tabanpour
466d068089
Support Ctrl+Option+Left Click Drag (maps to Ctrl+Alt+Left Click Drag in the application) to apply point force perturbations (translation) on the robot in the WebGL live viewer. This matches the Mac experience in the native MuJoCo simulate app and provides a fallback for Mac users where Right Click is difficult to trigger. PiperOrigin-RevId: 919767954 Change-Id: I4a1d1c05784a8257d13f64f738af5b4841a615b3
MuJoCo Studio
MuJoCo Studio is the next iteration of the simulate application. The UI has been reimplemented using Dear ImGui and the default renderer has been switched to Filament. The application is still WIP, see the Future Work section for details.
Usage
Configure and build MuJoCo Studio by running this command from the top-level directory. Then follow the printed instructions to run the executable.
bash build.sh
Note
For now
build.shscript works on windows in a git bash shell.
Development
The build.sh script is intended to get you up and running quickly.
If you intend to develop the application you may prefer to work from an IDE:
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Clion. You should be able to set this up to work with the cmake files we provide.
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VSCode. We have found that Microsoft's CMake Tools extension works well.
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Visual Studio. Follow these instructions.
Known Bugs
- MuJoCo Studio does not yet work using Wayland on Linux, use X11 instead.
Future Work
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Stability and Robustness. We need user feedback to find and fix bugs.
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UI/UX improvements. We have ported the simulate UI to make it easier to users to switch. We will be making further changes to make use of the flexibility offered by Dear ImGui (examples).
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Python integration. As with simulate, we would like to make Studio usable via Python.