studio

[thowell]

add studio to the viewer

---

with pip install mujoco==3.10.0

mjwarp-viewer benchmarks/humanoid/humanoid.xml --nconmax=64 --njmax=256 --viewer=studio

terminal output

Compiling physics step...done (0.48s).
  nbody: 17 nv: 27 ngeom: 20 nu: 21 is_sparse: False
  broadphase: NXN broadphase_filter: PLANE|SPHERE|OBB
  solver: NEWTON cone: PYRAMIDAL iterations: 100 linesearch iterations: 50
  integrator: EULER graph_conditional: True
Data
  nworld: 1 nconmax: 64 njmax: 256

MuJoCo Warp simulating with dt = 0.005...
FEngine (64 bits) created at 0x1aa9e860 (threading is enabled)
FEngine resolved backend: OpenGL
[Mesa], [llvmpipe (LLVM 19.1.7, 256 bits)], [4.5 (Core Profile) Mesa 25.2.3-1], [4.50]
Feature level: 3
Active workarounds: 
allow_read_only_ancillary_feedback_loop
rebind_buffer_after_deletion
disable_framebuffer_fetch_extension
Backend feature level: 3
FEngine feature level: 1

mjw-viewer-studio-v0.mp4