07deca990a
Merge pull request #3006 from thowell:mujoco_warp_docs_modifying_fields
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PiperOrigin-RevId: 853619026
Change-Id: I5a5348e1cdbee22e40b516cf8ed649645f54bf6f
2026-01-08 01:32:50 -08:00
f4beb95212
Merge pull request #2990 from google-deepmind:mjwarp_doc_batched_model_field_warning
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PiperOrigin-RevId: 853420667
Change-Id: I540b36611485054851e497c8f74302ac0fbedd36
2026-01-07 14:46:36 -08:00
608115ab95
Add output attribute to camera elements.
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This attribute allows specifying the intended output types (e.g., RGB, depth, normal) for each camera in the XML. The output types are stored as bit flags in `mjModel`.
PiperOrigin-RevId: 853316261
Change-Id: I1ad2e94102593cf402756f8f4c80509371ca86d2
2026-01-07 10:22:27 -08:00
775c0698c3
MJCF schema: use responsive grids for attributes
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PiperOrigin-RevId: 853263519
Change-Id: I79cb6e6208061d9546f0dca7a941838caa6b1a91
2026-01-07 08:00:16 -08:00
4830f5a79e
Add missing documentation for the asset cache.
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Also improve `compile` sample timing logic and documentation.
PiperOrigin-RevId: 852855741
Change-Id: I9b2798208198ca68cf4cee9c968772954ada91c5
2026-01-06 11:07:42 -08:00
3868ed0382
Improve XML schema usability
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PiperOrigin-RevId: 852820889
Change-Id: I04eea45161f9e71f9ccf49afad57ff28fd099b35
2026-01-06 09:51:36 -08:00
47ea0e76ae
mujoco warp documentation: update modifying fields
2026-01-04 14:00:53 +00:00
fba2021091
MuJoCo Warp documentation: Modifying fields.
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PiperOrigin-RevId: 851709416
Change-Id: I48071a9dddd79b1e765f8ae170594d4687615877
2026-01-03 10:49:09 -08:00
28f14b3258
MuJoCo Warp documentation: Update Batched Model Fields code example.
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PiperOrigin-RevId: 851699741
Change-Id: I30d98db7ee6bfe2104408fb0f84e472da649887b
2026-01-03 09:57:11 -08:00
14e90f3897
MuJoCo Warp documentation: Array shapes.
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PiperOrigin-RevId: 850969970
Change-Id: I41dce50644c9a6521e0bab9c84fea63f78e7a6ce
2026-01-01 02:46:48 -08:00
70bc7be4bc
Add additional data fields that can be reported by rangefinder sensors.
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PiperOrigin-RevId: 848316991
Change-Id: Idbf7ba81b4da711a22c23302c8782ab2b0b98d82
2025-12-23 15:33:00 -08:00
f2e9097ed6
Change mjsCamera.resolution type from float to int.
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Resolution is inherently an integer quantity (pixels).
PiperOrigin-RevId: 848276456
Change-Id: I92ee1aa88fd552fd42cb3871442f020f26d6fa6a
2025-12-23 13:14:32 -08:00
9d646e6548
Extend rangefinder sensor to support cameras.
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PiperOrigin-RevId: 848255889
Change-Id: I6e1a9ed13d29d2242558625a47e24e47ad6e87db
2025-12-23 12:04:49 -08:00
7fddeeaff6
Minor fixes to mj_multiRay
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PiperOrigin-RevId: 847780959
Change-Id: I3588415f215bd5f1592bec6678a5bae45d5f0980
2025-12-22 08:52:36 -08:00
223ba99ec2
Add mju_rayFlexNormal (not exposed in public header)
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PiperOrigin-RevId: 847746174
Change-Id: Ia8f597d296bf6a3eed9bd48b1c39b2ff2b5fcf90
2025-12-22 06:49:22 -08:00
c7f5766345
Add frustum visualization for orthographic cameras.
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PiperOrigin-RevId: 847698917
Change-Id: I13633e8ba2d4718b127a5838c404ab74c6180e3d
2025-12-22 03:43:54 -08:00
158525269b
Refactor camera intrinsic parameter handling.
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Move logic from parser to compiler.
PiperOrigin-RevId: 847689906
Change-Id: I844746081973205e1b33a3845add842e8b8c3c07
2025-12-22 03:08:18 -08:00
b77977a962
Update Programming/simulation chapter.
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PiperOrigin-RevId: 847424298
Change-Id: Icc6efb05dee5e67a5813ed04caa15a5703e59aee
2025-12-21 08:16:39 -08:00
b8a4ac5d48
Refactor camera orthographic attribute to projection enum.
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PiperOrigin-RevId: 847069028
Change-Id: I7f686fe654e9b56519cab8bd2f37c9cc40091d3f
2025-12-20 03:28:29 -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
e95f46f84a
MuJoCo Warp documentation: sparse Jacobians.
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PiperOrigin-RevId: 845342391
Change-Id: I2167faca8a0a70e2c56a8cc329c09b1b9243e44c
2025-12-16 10:43:00 -08:00
8e39d50496
mujoco warp documentation: batched model fields graph capture warning
2025-12-15 15:34:02 +00:00
f0572c735a
MuJoCo Warp documentation: Collision sensors.
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PiperOrigin-RevId: 844695759
Change-Id: I98cc6f127527a8d05b02cf5b06038bba2d03fae0
2025-12-15 03:37:10 -08:00
942c2622ee
MuJoCo Warp documentation: update flex feature parity.
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PiperOrigin-RevId: 843711786
Change-Id: Ie392452b02d4894f04e826b74b558b2f7e9342d8
2025-12-12 08:59:37 -08:00
3c19b63ed3
Refactor texture.data to be handled using py::bytes
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PiperOrigin-RevId: 843226742
Change-Id: I7ab920da3c387467b1fced27f557c6edd1af4bce
2025-12-11 08:06:12 -08:00
1ff74ba810
Change the type of state signature arguments from unsigned int to int
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PiperOrigin-RevId: 843162492
Change-Id: I51d3324f088e8055898e115bdd32267c5950a412
2025-12-11 04:34:36 -08:00
caec236b2f
Make mj_loadModelBuffer a public API.
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PiperOrigin-RevId: 843105390
Change-Id: I4058471b4cf64995dd5ab43e9c8c24e322004b62
2025-12-11 01:24:17 -08:00
d0cf2a3ca5
MuJoCo Warp documentation: named access / bind.
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PiperOrigin-RevId: 842689646
Change-Id: I5b7920dd5df5838497943da20da4aa61a68f0ec2
2025-12-10 06:01:22 -08:00
f150e72b34
MuJoCo Warp documentation: Tutorial notebook.
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PiperOrigin-RevId: 842685107
Change-Id: I354ab983b1f0061eb168d1ce86c12d974e5bb35e
2025-12-10 05:43:50 -08:00
c064abc3da
Change row-flipping logic for heightfields.
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Move row-flipping logic from `mjCModel::CopyBack` to `mjXWriter`.
PiperOrigin-RevId: 842220322
Change-Id: I6fb09db6c9e8689f6e435f82f58dd3e7c4314478
2025-12-09 07:02:21 -08:00
1483aefe5f
Make actuator_length, cdof and cdof_dot public.
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PiperOrigin-RevId: 842182467
Change-Id: Id14a1c8266e13a6f95e1c87ea07da993b614b62e
2025-12-09 04:57:42 -08:00
bf49fe3daa
Enable reading textures from spec in Python
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PiperOrigin-RevId: 842151742
Change-Id: I477d118cc7e2385d29b395b192fa89e9facb9c3e
2025-12-09 03:08:32 -08:00
15145c0098
MuJoCo Warp documentation: Compilation.
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PiperOrigin-RevId: 841761913
Change-Id: Ic1b1942a47299db48c424ad1f9e3709b05acc55e
2025-12-08 07:50:23 -08:00
96e376451c
Update MuJoCo version from 3.4.0 to 3.4.1 following the 3.4.0 release
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PiperOrigin-RevId: 840914696
Change-Id: Iffabc70dd174384ba1c535cafcd34982ff8e5712
2025-12-05 16:15:56 -08:00
e55fff5dea
CI issues resolved, we're going ahead with the 3.4.0 release.
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PiperOrigin-RevId: 840763554
Change-Id: Ib50b00ec43d8713821f98a131fb19640810ea777
2025-12-05 09:37:40 -08:00
4e84671a15
MuJoCo Warp documentation: Determinism.
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PiperOrigin-RevId: 840630917
Change-Id: Ie5f3ac34cee8812f20d6ae4fa6004385c5b048e0
2025-12-05 02:09:26 -08:00
237a5e5c55
Revert the changelog to unreleased state, the 3.4.0 release will be delayed due to internal issues with CI.
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PiperOrigin-RevId: 840362346
Change-Id: Ic0fb5d6d521c5abc1b98d5242416eac6c7d056c8
2025-12-04 12:53:02 -08:00
da36e822a8
Allow material default classes to define texture layers.
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PiperOrigin-RevId: 840254100
Change-Id: I59f67fc4d1485cf80bbc005d1b35cda6224248ed
2025-12-04 08:22:55 -08:00
55664b63e1
Fix broken cross-references in mjwarp/index.rst
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PiperOrigin-RevId: 839194214
Change-Id: Ia1aca7331bc5d77fb4ef6ce7efefc3d55a1d99b3
2025-12-02 03:56:05 -08:00
951257ad54
Fix: Update changelog formatting
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PiperOrigin-RevId: 839126146
Change-Id: Ifa349b6fd013e4c23fd96b988eacaa7c9d44532c
2025-12-02 00:26:56 -08:00
e095bb6d41
Improve rendering of dynamics pipeline schematic
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PiperOrigin-RevId: 838865159
Change-Id: I225e94508be7edb8f8217ec5abb2f609cbb39ae5
2025-12-01 11:36:01 -08:00
b663b7602b
Final preparations for the v3.4.0 release
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PiperOrigin-RevId: 838824676
Change-Id: Icb5a825cb41be4d0730f4a6729b63531d649066f
2025-12-01 10:06:33 -08:00
4896e698f6
Update "mjModel changes" section in simulation.rst
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PiperOrigin-RevId: 838768328
Change-Id: I5c09186e52115df37e9412495ecc7dceddb2ed8a
2025-12-01 07:40:09 -08:00
19e2d0ae2f
Add mj_fwdKinematics and a table improving documentation of the MuJoCo computation pipeline structure.
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PiperOrigin-RevId: 838768130
Change-Id: I1a22d5cdca7db704ba4cea1667fcbecb16b87005
2025-12-01 07:39:00 -08:00
d3c858ed32
Make table shadows visible in dark theme, add a table type with smaller text.
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Add a light box-shadow to docutils tables (excluding mjcf-attributes) when in dark mode or auto mode with dark preference, so that the table boundaries are visible against the dark background.
PiperOrigin-RevId: 838741947
Change-Id: Ic788f9669ea65d290f927927b389fcb51227a55a
2025-12-01 06:13:39 -08:00
f2823836a6
Updates for MuJoCo Warp documentation.
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PiperOrigin-RevId: 837027234
Change-Id: Idf7a69b14ce23d5ac5ed36367a14c77a00276846
2025-11-26 02:26:13 -08:00
a9fe8340bf
Remove extraneous colons in XMLreference
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PiperOrigin-RevId: 837017632
Change-Id: Ie89adf4fd3725cfa4b8eb0bcddedd4fa886ed8fb
2025-11-26 01:56:28 -08:00
b6e162d6fa
Update MuJoCo version from 3.3.8 to 3.4.0
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PiperOrigin-RevId: 836719207
Change-Id: I28cbc90cee42aebfb5a4201561289ef6747cdc83
2025-11-25 10:16:02 -08:00
6208730744
MuJoCo Warp documentation: Option.contact_sensor_maxmatch information.
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PiperOrigin-RevId: 836670031
Change-Id: I29b11784998d3461ad1d460a6c23cad66df22202
2025-11-25 07:58:08 -08:00
5d7b2bd7ca
MuJoCo Warp documentation: update information about setting both nconmax and naconmax.
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PiperOrigin-RevId: 836666389
Change-Id: I766c717d4c6b98f4383fa396fd9cceaac4b5b561
2025-11-25 07:45:06 -08:00
Copybara-Service