0a6b631d4b
Make change non-breaking per haroonq's feedback
2026-07-15 11:53:22 -04:00
d43c3ed426
Move texture block copy out of render context so it can be modified online via mjmodel
2026-07-09 11:08:43 -04:00
ac29b596fb
Autogenerate src files for doc line numbers.
...
PiperOrigin-RevId: 945067341
Change-Id: I8980a6157e06d1c1e21c6aa45a389b2cca09a363
2026-07-09 05:50:55 -07:00
040872fd65
Copybara import of the project:
...
--
a5221e754c88580d103bfc7bfaf1ed32927ca499 by omar rayyan <olr7742@nyu.edu >:
Fix .mjz loading in simulate
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/3384 from omarrayyann:fix-mjz-simulate a5221e754c88580d103bfc7bfaf1ed32927ca499
PiperOrigin-RevId: 944573851
Change-Id: Ifba77ee9f9b97a7d8c0b0a47ac82d390a273672b
2026-07-08 10:30:54 -07:00
6608f1affa
MJX Data.where. Fixes #3377
...
PiperOrigin-RevId: 943875492
Change-Id: I963e4ad052ce9184a7548a468aa4aea722d10469
2026-07-07 07:15:36 -07:00
1ea2d884d2
Change mju_round to use standard round() function.
...
PiperOrigin-RevId: 942873144
Change-Id: I3fd0d630643c104ff464d619387ff36582c2a5d8
2026-07-05 10:48:13 -07:00
11f1da0c44
Migrate types in mjs structs.
...
PiperOrigin-RevId: 942546629
Change-Id: I46f2b24b53a43361fdc67dc32f2af1c0ce8b1de8
2026-07-04 11:27:27 -07:00
315bcfbf3a
Remove mjData.qM
...
PiperOrigin-RevId: 942520660
Change-Id: I422358e299ca0fcfe4c49cd0ee90c014a4c319d7
2026-07-04 09:38:45 -07:00
38f0ff3caa
Improvements to testspeed
...
Support named CLI flags, physics overrides, and refactor global state.
- **Named CLI Flags**: Replaced standard positional arguments with named flags (`--nstep`, `--nthread`, `--noisestd`, `--noiserate`, `--npoolthread`) and preserved Google-wide flags compatibility (via custom argv compacting and InitGoogle).
- **Physics Option Overrides**: Added support for configuring loaded model settings directly from the command line (`--solver`, `--cone`, `--jacobian`, `--integrator`, `--iterations`, `--tolerance`, `--sleep_tolerance`, `--noslip_iterations`).
- **Encapsulated Thread State**: Consolidated loose global variables and per-thread rollout statistics arrays into a single data structure, `RolloutRunner runner`, simplifying mutli-threaded data boundaries.
- **Readable Physics Options Printing**: Logged configured non-default options dynamically prior to rollout. Enums and active bitmask flags (e.g. disableflags/enableflags) are decoded into friendly strings (e.g., `Sleep : Enabled`).
- **Tests & Docs**: Added testspeed_test.sh running testspeed over dominos.xml to check all overrides, registered shell test target in BUILD and CMakeLists.txt, and updated samples.rst documentation.
PiperOrigin-RevId: 942285912
Change-Id: Idb966fadfa0ccba0f1862f9d62bf83458b61939a
2026-07-03 16:52:40 -07:00
7e9ac58ff9
Migrate mjd_inverseFD mass Jacobian from qM to M
...
PiperOrigin-RevId: 942268237
Change-Id: I0ecfe161867ce9930cd6366d778077df2cd3197f
2026-07-03 15:35:52 -07:00
5618666a7d
Add body/simple attribute to control simple body optimization.
...
PiperOrigin-RevId: 942164766
Change-Id: I1e83bb99b6a1955917eb9b2e9bed0dc7b8e6a161
2026-07-03 09:09:30 -07:00
14c0b0c92b
Recompute sameframe flags in mj_setConst.
...
The `body_sameframe`, `geom_sameframe`, and `site_sameframe` flags are now recomputed within `mj_setConst` based on the current model geometry. This allows these flags to be updated if the model's body/geom/site frames are modified after the initial compilation. Tests are added to verify the correct recomputation and its effect on forward kinematics. The compiler also checks that its initial computation matches the result of `mj_setConst`.
Fixes #3029 , #1628 .
PiperOrigin-RevId: 941758649
Change-Id: I7b995f8c67ad305bca5b52732436ba578c905d73
2026-07-02 10:49:00 -07:00
2d283b5e9d
Allow self-attach in MJCF
...
PiperOrigin-RevId: 941676717
Change-Id: I9ff8fc89716bc14b438a41e2b4075bbe5fdb83cf
2026-07-02 06:51:46 -07:00
c6c3ec3149
Add "frame" attribute to <attach> element.
...
The `<attach>` element now supports a "frame" attribute, allowing users to specify either a "body" or a "frame" to attach to, but not both. The XML parser has been updated to handle this new attribute and the mutual exclusivity constraint.
PiperOrigin-RevId: 941245904
Change-Id: I4c0edeed5f3a9e456aed96c373b1647fe79841d9
2026-07-01 12:49:55 -07:00
1810051d16
MuJoCo Warp documentation: Large scenes
...
PiperOrigin-RevId: 940590426
Change-Id: I006e245b54cd4165928927bee76f44d730bdd895
2026-06-30 12:14:48 -07:00
4e1795b9a4
Add special case support for MJB and TXT files to mj_encode.
...
PiperOrigin-RevId: 939875974
Change-Id: I57fc753871b348a7f6342aca0a892e74acb74173
2026-06-29 09:32:50 -07:00
d83ef0b6b9
Change mj_encode return type to 64-bit (mjtSize)
...
This supports encoding files larger than 2GB.
PiperOrigin-RevId: 939828697
Change-Id: If60d36c61475ced20b4eb58408ffb37e25bf3db7
2026-06-29 07:41:52 -07:00
7c706b273a
Report nnz(J) for CG solver.
...
PiperOrigin-RevId: 939806054
Change-Id: Icb2955511e33be046a4665fb39bce2546d6d4e3d
2026-06-29 06:49:23 -07:00
2a5345ba8c
Add type attributes to help codegen.
...
PiperOrigin-RevId: 937935655
Change-Id: I14883a98b7b9b4bcc3dea8b60d839138c14ea444
2026-06-25 06:00:33 -07:00
c499f7f2b0
Add Nesterov momentum with O'Donoghue-Candès restarts to PGS solver (~2x speedup)
...
Benchmark on `2humanoid100.xml` (nefc=1785, nv=654):
```
Convergence at fixed iteration count (mean relative error vs Newton):
20 iters: 2.98e-03 vs 1.54e-02 (5.2x better)
40 iters: 8.14e-05 vs 2.60e-03 (32x better)
80 iters: 1.17e-07 vs 1.77e-04 (1500x better)
Pipeline throughput (tolerance=1e-8, islands disabled):
Nesterov: 243 steps/s, 46 iters/step
Baseline: 151 steps/s, 95 iters/step
Solver speedup: 1.8x, overall step speedup: 1.6x
Pipeline throughput (tolerance=1e-8, islands enabled):
Nesterov: 306 steps/s, 442 iters/step
Baseline: 175 steps/s, 966 iters/step
Solver speedup: 2.1x, overall step speedup: 1.7x
```
PiperOrigin-RevId: 936610759
Change-Id: I2978e8bd545971d9151005623967e5cf0ad125cc
2026-06-23 05:52:14 -07:00
0fd7bea973
Modernize struct and enum style in MuJoCo headers.
...
PiperOrigin-RevId: 936485706
Change-Id: I31864acc4bd44573127d3d04c6b1a23f9d9c4cbc
2026-06-23 00:48:11 -07:00
5700829122
Update MuJoCo version to 3.10.1 following the 3.10.0 release
...
PiperOrigin-RevId: 936044969
Change-Id: If0ebcc192419302da01741ebabb2b7dd3d7f7baf
2026-06-22 07:25:02 -07:00
28009f9105
Update changelog for the 3.10.0 release.
...
PiperOrigin-RevId: 936044016
Change-Id: I4b6e3205819b7bd0469415fe0b57990b68309d1b
2026-06-22 07:22:23 -07:00
a8eaccd2b6
Copybara import of the project:
...
--
6ab68a057443f038a3d844807f205b1c99cab944 by Kevin Zakka <kevinarmandzakka@gmail.com >:
Fix pickle code-execution vulnerability in sysid loaders
Serialize signal_mapping as JSON so the trajectory and time series loaders can use allow_pickle=False, preventing arbitrary code execution from untrusted .npz files.
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/3353 from kevinzakka:sysid-disable-pickle-load 6ab68a057443f038a3d844807f205b1c99cab944
PiperOrigin-RevId: 935400242
Change-Id: Iecd907174441fbcfd02c106b912a7ff375c9098c
2026-06-20 15:10:54 -07:00
b1e3753a1a
Fix typo in github username in changelog.
...
PiperOrigin-RevId: 935244857
Change-Id: I33159f2caa765be585e46cb1b8ccc8e37f103de3
2026-06-20 03:22:50 -07:00
d93c102190
Move mjrfilament.h to mujoco/include.
...
PiperOrigin-RevId: 934931460
Change-Id: I63bf34b3a7197b277ea7a5caf3d84d840f6210a1
2026-06-19 08:01:05 -07:00
410c73168c
Add policies for global attribute conflict resolution upon attach
...
For example when loading parent_merge.xml:
```
WARNING: Attach conflict when attaching 'child' to 'parent_merge', policy is 'merge'
timestep: parent has 0.005, child has 0.002, taking the minimum
iterations: parent has 50, child has 100, taking the maximum
flag 'Damper': added from child
```
When loading parent_error.xml:
```
XML Error: Attach conflict when attaching 'child' to 'parent_error', policy is 'error'
timestep: parent has 0.005, child has 0.002
iterations: parent has 50, child has 100
Element 'attach', line 10
```
PiperOrigin-RevId: 933620810
Change-Id: Ib477863b5ef763474d27fb4be5a4148be1d5d500
2026-06-17 03:36:10 -07:00
6f8bb5ef55
Refactor compiler warning handling.
...
Compiler warnings are now accumulated in a vector of strings within the mjSpec object. New API functions `mjs_numWarnings` and `mjs_getWarning` are added to access these warnings. The compiler's log handler now chains warnings to the global log handler, ensuring they are still displayed immediately. Call sites in `mj_loadXML`, `mj_compile`, and the Python and WASM bindings have been updated to use the new warning API.
PiperOrigin-RevId: 933361650
Change-Id: I47cab98a460c57b0898c0a1a43fce2a5b9648eb1
2026-06-16 16:28:33 -07:00
55d7ff49ec
Fix broken link in docs.
...
PiperOrigin-RevId: 933054777
Change-Id: Ic862992051200bff1b742025926961a7c2087ffa
2026-06-16 06:24:16 -07:00
eb6c2eea91
Merge pull request #3331 from kevinzakka:fix-dependabot-security-alerts
...
PiperOrigin-RevId: 932472549
Change-Id: Ib0830dfefca386ae338f427d675a9d5e148efd2e
2026-06-15 08:21:26 -07:00
67a1ea6dca
Track authored flags for global attributes
...
PiperOrigin-RevId: 931585539
Change-Id: Ifdc8c59de6c5a553daf6e0af09d8192aff6b0610
2026-06-13 02:58:32 -07:00
426aecc4bc
Bump doc deps and restrict lint workflow permissions
2026-06-11 17:51:08 -07:00
58f6d52491
Introduce new logging API, fixes #858
...
PiperOrigin-RevId: 930744288
Change-Id: I6ec1203b55c031390f3eef23192e2337508ce886
2026-06-11 14:36:57 -07:00
edbe6a6f74
Fix memory and resource leaks in failing resource provider open callbacks
...
When an mjpResourceProvider's open callback returns 0 (failure), MuJoCo does
not invoke the corresponding close callback. Previously, several resource
provider implementations allocated heap memory or system file handles before
encountering an error, failing to clean them up before returning 0. This change addresses these leaks across the codebase and clarifies the API contract.
PiperOrigin-RevId: 929803942
Change-Id: Ib7344033726895cdf037a8d9356ffc183c78c2d3
2026-06-10 06:08:17 -07:00
e6e5229126
Format header to conform to style guide.
...
Also moves some types to the mjrender.h header.
PiperOrigin-RevId: 929189125
Change-Id: I19e5598210898c0defb663c60d7ecfb9a19bcd38
2026-06-09 07:43:16 -07:00
986d73c062
Fix non-unit normals in mesh convex hull compiler.
...
PiperOrigin-RevId: 928777934
Change-Id: I43d7adcf4c5781b57f0af9805a8ce01ebc2e3872
2026-06-08 14:40:11 -07:00
828052e6f4
CG solver: Replace PRP+ with Hager-Zhang update
...
Replace the Polak-Ribière-Plus (PRP+) conjugate direction update with the Hager-Zhang formula in `mj_solPrimal`.
While this change has negligible effect under float64, it leads to a significant 17.5% throughput speedup over PRP+ under float32 (measured via `engine_cg_convergence_test`). This performance gain is driven by:
* A 9.4% reduction in CG iterations per step.
* A 12.1% reduction in line search evaluations per step.
The full output of the comparison is
```
================================================================
1/4: HZ + float64
================================================================
CG Convergence: 2humanoid100.xml
1000 Newton steps, 100 evaluation points
nv = 654, nq = 756
metric: ||qacc_cg - qacc_newton|| / ||qacc_newton||
Warmstart (tolerance = 0):
Iters | Mean Err | Max Err | Mean Iters | LS evals
-------+-------------+-------------+------------+---------
5 | 3.8532e-01 | 1.4285e+00 | 5.00 | 22368
10 | 2.0809e-01 | 9.9315e-01 | 10.00 | 44591
20 | 6.4977e-02 | 2.3410e-01 | 20.00 | 89417
40 | 5.2839e-03 | 2.1916e-02 | 40.00 | 180984
80 | 3.9709e-05 | 3.0010e-04 | 80.00 | 364241
160 | 3.2498e-09 | 3.5480e-08 | 160.00 | 730131
-------+-------------+-------------+------------+---------
No warmstart (tolerance = 0):
Iters | Mean Err | Max Err | Mean Iters | LS evals
-------+-------------+-------------+------------+---------
5 | 9.0740e-01 | 5.0045e+00 | 5.00 | 22123
10 | 3.9506e-01 | 2.1927e+00 | 10.00 | 44879
20 | 1.2496e-01 | 6.8911e-01 | 20.00 | 90341
40 | 1.2846e-02 | 6.9533e-02 | 40.00 | 182869
80 | 1.0288e-04 | 8.6457e-04 | 80.00 | 368312
160 | 5.9820e-09 | 5.0903e-08 | 160.00 | 738479
-------+-------------+-------------+------------+---------
Tolerance sweep (iterations = 100, warmstart):
Tol | Mean Err | Max Err | Mean Iters | Max Iters | Solver us | LS evals
-----------+-------------+-------------+------------+------------+-------------+---------
1e-04 | 1.1297e-02 | 8.9331e-02 | 34.88 | 51 | 131002.94 | 12052
1e-06 | 1.0907e-03 | 7.7468e-03 | 50.87 | 72 | 184172.44 | 16700
1e-08 | 1.1485e-04 | 1.0085e-03 | 66.82 | 91 | 232189.34 | 20194
1e-10 | 1.1357e-05 | 8.1547e-05 | 81.97 | 100 | 276114.42 | 23264
1e-12 | 3.7695e-06 | 2.8592e-05 | 90.47 | 100 | 299526.58 | 24964
0 | 3.5019e-06 | 2.8592e-05 | 100.00 | 100 | 2062208.36 | 456276
-----------+-------------+-------------+------------+------------+-------------+---------
Total solver time: 3185214.08 us, avg time per iter: 74.9445 us
Pipeline mode (consecutive mj_step, tolerance = 1e-8):
1000 steps, nv = 654
Steps/s : 380
us/step (total) : 2630.0
us/step (constr) : 2103.7 (80.0%)
CG iters/step : 63.28
LS evals/step : 190.75
us/iter : 33.24
================================================================
2/4: PRP+ + float64
================================================================
CG Convergence: 2humanoid100.xml
1000 Newton steps, 100 evaluation points
nv = 654, nq = 756
metric: ||qacc_cg - qacc_newton|| / ||qacc_newton||
Warmstart (tolerance = 0):
Iters | Mean Err | Max Err | Mean Iters | LS evals
-------+-------------+-------------+------------+---------
5 | 3.8533e-01 | 1.4285e+00 | 5.00 | 22228
10 | 2.0808e-01 | 9.9315e-01 | 10.00 | 44873
20 | 6.4978e-02 | 2.3410e-01 | 20.00 | 89349
40 | 5.2895e-03 | 2.1916e-02 | 40.00 | 179827
80 | 4.0188e-05 | 3.0010e-04 | 80.00 | 363740
160 | 3.2891e-09 | 3.5480e-08 | 160.00 | 733905
-------+-------------+-------------+------------+---------
No warmstart (tolerance = 0):
Iters | Mean Err | Max Err | Mean Iters | LS evals
-------+-------------+-------------+------------+---------
5 | 9.0740e-01 | 5.0045e+00 | 5.00 | 22590
10 | 3.9506e-01 | 2.1927e+00 | 10.00 | 45093
20 | 1.2496e-01 | 6.8911e-01 | 20.00 | 90393
40 | 1.2846e-02 | 6.9533e-02 | 40.00 | 182422
80 | 1.0288e-04 | 8.6457e-04 | 80.00 | 367264
160 | 5.9811e-09 | 5.0903e-08 | 160.00 | 739556
-------+-------------+-------------+------------+---------
Tolerance sweep (iterations = 100, warmstart):
Tol | Mean Err | Max Err | Mean Iters | Max Iters | Solver us | LS evals
-----------+-------------+-------------+------------+------------+-------------+---------
1e-04 | 1.1325e-02 | 8.9941e-02 | 34.95 | 52 | 129456.81 | 12060
1e-06 | 1.0910e-03 | 7.7469e-03 | 50.85 | 72 | 181004.51 | 16687
1e-08 | 1.1488e-04 | 1.0085e-03 | 66.83 | 91 | 228183.13 | 20189
1e-10 | 1.1401e-05 | 8.1547e-05 | 81.98 | 100 | 269635.40 | 23259
1e-12 | 3.8040e-06 | 2.8592e-05 | 90.52 | 100 | 293811.25 | 24967
0 | 3.5543e-06 | 2.8592e-05 | 100.00 | 100 | 2051927.47 | 456000
-----------+-------------+-------------+------------+------------+-------------+---------
Total solver time: 3154018.57 us, avg time per iter: 74.1895 us
Pipeline mode (consecutive mj_step, tolerance = 1e-8):
1000 steps, nv = 654
Steps/s : 382
us/step (total) : 2616.6
us/step (constr) : 2091.8 (79.9%)
CG iters/step : 63.57
LS evals/step : 193.35
us/iter : 32.91
================================================================
3/4: HZ + float32
================================================================
CG Convergence: 2humanoid100.xml
1000 Newton steps, 100 evaluation points
nv = 654, nq = 756
metric: ||qacc_cg - qacc_newton|| / ||qacc_newton||
Warmstart (tolerance = 0):
Iters | Mean Err | Max Err | Mean Iters | LS evals
-------+-------------+-------------+------------+---------
5 | 3.6748e-01 | 1.2281e+00 | 5.00 | 19239
10 | 2.0034e-01 | 6.8689e-01 | 10.00 | 39001
20 | 6.1972e-02 | 1.9859e-01 | 20.00 | 80112
40 | 4.0704e-03 | 1.5797e-02 | 40.00 | 168211
80 | 2.4380e-05 | 1.5803e-04 | 79.45 | 347735
160 | 7.7413e-07 | 4.4732e-06 | 157.27 | 704210
-------+-------------+-------------+------------+---------
No warmstart (tolerance = 0):
Iters | Mean Err | Max Err | Mean Iters | LS evals
-------+-------------+-------------+------------+---------
5 | 9.3385e-01 | 4.9648e+00 | 5.00 | 19272
10 | 3.6117e-01 | 1.9618e+00 | 10.00 | 37982
20 | 9.7490e-02 | 5.1451e-01 | 20.00 | 76502
40 | 9.5924e-03 | 5.5088e-02 | 40.00 | 162782
80 | 6.7689e-05 | 5.1113e-04 | 79.91 | 344281
160 | 1.5541e-06 | 7.6955e-06 | 157.30 | 697076
-------+-------------+-------------+------------+---------
Tolerance sweep (iterations = 100, warmstart):
Tol | Mean Err | Max Err | Mean Iters | Max Iters | Solver us | LS evals
-----------+-------------+-------------+------------+------------+-------------+---------
1e-04 | 1.5891e-02 | 1.2929e-01 | 32.56 | 50 | 136254.00 | 10980
1e-06 | 1.5719e-03 | 1.0990e-02 | 47.42 | 68 | 193566.00 | 15418
1e-08 | 1.6260e-04 | 1.0680e-03 | 62.70 | 86 | 252661.00 | 20162
1e-10 | 1.5664e-05 | 1.0999e-04 | 78.10 | 100 | 311535.00 | 24509
1e-12 | 2.8152e-06 | 1.5236e-05 | 90.39 | 100 | 356814.00 | 27902
0 | 2.4989e-06 | 1.5025e-05 | 99.05 | 100 | 1980580.00 | 436825
-----------+-------------+-------------+------------+------------+-------------+---------
Total solver time: 3231410.00 us, avg time per iter: 78.7726 us
Pipeline mode (consecutive mj_step, tolerance = 1e-8):
1000 steps, nv = 654
Steps/s : 349
us/step (total) : 2862.7
us/step (constr) : 2379.3 (83.1%)
CG iters/step : 61.97
LS evals/step : 199.01
us/iter : 38.39
================================================================
4/4: PRP+ + float32
================================================================
CG Convergence: 2humanoid100.xml
1000 Newton steps, 100 evaluation points
nv = 654, nq = 756
metric: ||qacc_cg - qacc_newton|| / ||qacc_newton||
Warmstart (tolerance = 0):
Iters | Mean Err | Max Err | Mean Iters | LS evals
-------+-------------+-------------+------------+---------
5 | 3.6753e-01 | 1.2281e+00 | 5.00 | 19052
10 | 2.0028e-01 | 6.8689e-01 | 10.00 | 38761
20 | 6.1737e-02 | 1.9863e-01 | 20.00 | 79937
40 | 4.0915e-03 | 1.5821e-02 | 39.99 | 168159
80 | 2.4360e-05 | 1.5808e-04 | 79.59 | 348385
160 | 7.8367e-07 | 4.1549e-06 | 157.04 | 700760
-------+-------------+-------------+------------+---------
No warmstart (tolerance = 0):
Iters | Mean Err | Max Err | Mean Iters | LS evals
-------+-------------+-------------+------------+---------
5 | 9.3385e-01 | 4.9648e+00 | 5.00 | 19494
10 | 3.6117e-01 | 1.9618e+00 | 10.00 | 38480
20 | 9.7485e-02 | 5.1451e-01 | 20.00 | 77213
40 | 9.5904e-03 | 5.5078e-02 | 40.00 | 162472
80 | 6.7647e-05 | 5.1087e-04 | 79.87 | 342990
160 | 1.4979e-06 | 7.2291e-06 | 157.92 | 699052
-------+-------------+-------------+------------+---------
Tolerance sweep (iterations = 100, warmstart):
Tol | Mean Err | Max Err | Mean Iters | Max Iters | Solver us | LS evals
-----------+-------------+-------------+------------+------------+-------------+---------
1e-04 | 1.5998e-02 | 1.3172e-01 | 32.49 | 50 | 135111.00 | 10953
1e-06 | 1.5878e-03 | 1.1052e-02 | 47.33 | 67 | 190914.00 | 15418
1e-08 | 1.5901e-04 | 1.0680e-03 | 62.65 | 84 | 250609.00 | 20215
1e-10 | 1.5953e-05 | 1.1116e-04 | 78.01 | 100 | 307067.00 | 24562
1e-12 | 2.8520e-06 | 1.5174e-05 | 90.27 | 100 | 353010.00 | 27931
0 | 2.5161e-06 | 1.5129e-05 | 99.39 | 100 | 1999478.00 | 438790
-----------+-------------+-------------+------------+------------+-------------+---------
Total solver time: 3236189.00 us, avg time per iter: 78.9045 us
Pipeline mode (consecutive mj_step, tolerance = 1e-8):
1000 steps, nv = 654
Steps/s : 298
us/step (total) : 3352.8
us/step (constr) : 2832.0 (84.5%)
CG iters/step : 68.43
LS evals/step : 226.33
us/iter : 41.39
```
PiperOrigin-RevId: 928590104
Change-Id: I1a96730f50f444d6141d8978feb3519009daf320
2026-06-08 08:54:07 -07:00
7a7dc7ccad
Add support for loading 1D flex components from OBJ line segments.
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The obj_decoder plugin is updated to parse line segments ('l') from OBJ files and represent them as degenerate triangles. The user_flexcomp compiler now supports flex dimensions of 1, using these parsed line segments to define the 1D flex elements. The compile sample's error reporting is also improved.
PiperOrigin-RevId: 928566870
Change-Id: I6920729d1b1d5aeb391401c3245ebb1d4784c190
2026-06-08 08:03:30 -07:00
ea2d785e0a
Improve quality of maxhullvert coarse convex hulls using Qhull's Q9 option.
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PiperOrigin-RevId: 928417339
Change-Id: I59ecd454f063f2e32e1c3ce08eb4a18506ddf8c8
2026-06-08 01:56:24 -07:00
2e43279ac3
MuJoCo Warp documentation: remove parallel linesearch
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PiperOrigin-RevId: 927417172
Change-Id: I43f72ec0be89e9370b6e7699a8080d8ecf02b4ab
2026-06-05 12:05:58 -07:00
45d5f2ed5f
Improve link in light/directional docs
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PiperOrigin-RevId: 926006386
Change-Id: Idfd3eae6c127f29919587ae88aa4291c290e2944
2026-06-03 07:12:04 -07:00
7b9b88060e
Refactor mj_fullM. This change is part of the deprecation of mjData.qM.
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PiperOrigin-RevId: 925669464
Change-Id: I4889c66591bc1df4c31135a13776052aad491f7a
2026-06-02 17:22:55 -07:00
062b0f1ea6
Remove deprecated mju_{error,warning}_{i,s} functions.
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PiperOrigin-RevId: 925204136
Change-Id: Ia877d08a135092db8037d04e6a237e81325a1d7c
2026-06-02 01:59:05 -07:00
4548e81e4d
Rename efc_diagApprox -> efc_diagA.
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The field now stores either an approximate or exact diagonal of the constraint matrix A, so the name is made more general.
PiperOrigin-RevId: 924244954
Change-Id: I62b2f76531fb88b7b3bf96e6769940197596702b
2026-05-31 04:54:11 -07:00
cd6db9ebe2
Improve CG solver precision and stability under float32 via line search refactor
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Fixes #2313
This CL combines two complementary improvements to the Conjugate Gradient (CG) solver, significantly improving numerical precision, stability, and efficiency, particularly in single precision (float32).
1. Line Search Cost Evaluation Refactor: Previously, solver improvement was calculated by subtracting absolute costs: cost(alpha) - cost(0). In highly converged states or single precision, this is susceptible to catastrophic cancellation. We refactor PrimalSearch to compute the cost delta directly, dramatically improving precision.
2. Improved Solver Termination Condition: Near the float32 precision limit, line search deltas can occasionally be slightly negative due to numerical noise. Previously, any value below m->opt.tolerance (including negative values) triggered termination, halting the solver and locking in destabilizing steps. We update the termination condition to require positive improvement (0 < improvement < m->opt.tolerance), allowing the solver to continue iterating and recover stability.
Together, these changes yield substantial improvements, see reduced tolerances herein.
PiperOrigin-RevId: 924229669
Change-Id: Ic0bbefaed090f3a8b1e79ab8d45422c3e86fb56c
2026-05-31 04:00:09 -07:00
96bf8aea81
Move island-specific sparse matrices from arena to stack.
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PiperOrigin-RevId: 923850345
Change-Id: I9683d7554b15b7cd8c45a8dce7814640aa266452
2026-05-30 03:09:46 -07:00
b935d4153c
Add new mju_threadpool API function, and delete old threading API.
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PiperOrigin-RevId: 922838541
Change-Id: Id9f7e0fb298ffde61fcc49a802dc78971858ce51
2026-05-28 10:11:44 -07:00
4c381635e1
Add mjs_makeFlex to the MuJoCo C and Python APIs.
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- Add mjs_makeFlex C API that wraps mjCFlexcomp::Make(), creating
a flex with auto-generated bodies, joints, and equality constraints
from parameters (type, dim, dof, count, cellcount, spacing, scale,
radius, mass, inertiabox, equality, rigid, flatskin, elastic2d,
pos, quat, origin, file, vfs).
- Add Python binding body.make_flex() in specs.cc with keyword args.
- Refactor flex_spec_provision.py to use make_flex() instead of XML
string templating + separate spec + attach. Eliminates textwrap
dependency.
- Merge user_flexcomp into user_model BUILD target to resolve
circular dependency.
PiperOrigin-RevId: 922725304
Change-Id: Ice13787c45f3173407fec659f9590a6453bc65dd
2026-05-28 05:59:20 -07:00
b9fb817af8
Lexically normalize resource path in mjz_decoder resource provider.
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PiperOrigin-RevId: 922654438
Change-Id: Ieb46230a2aba46a5e711bc5b24aec982f71e56ca
2026-05-28 02:56:45 -07:00
af4be63cd8
Add xmacros for MjSpec.
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PiperOrigin-RevId: 922169069
Change-Id: I01426596e49196996dfa324d5ab3849a90de2e3a
2026-05-27 09:12:35 -07:00
Pedro Morais