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
This change replaces fixed callback protocols (e.g., ViewerGuiHook, ViewerUpdateHook, SimEventHandler) with a general-purpose, priority-based message and event handling mechanism.
Key changes:
- Handler decorator and registry: Introduced the `@messages.handler(priority=...)` decorator and `HandlerRegistry` (`handler_registry.py`). Methods marked as handlers are automatically discovered and dispatched by priority (CRITICAL, USER, LIBRARY, INTERNAL) or method resolution order.
- Local lifecycle events: Added `ViewerAppInitEvent`, `BuildGuiEvent`, and `UpdateEvent` to `messages.py`. Custom GUI rendering and per-frame update logic can now be implemented as standard event handlers without needing separate interface protocols.
- Streamlined launch and app APIs: Replaced individual hook and handler arguments in `launch_passive`, `ViewerApp`, and `ViewerHandle` with unified `viewer_handlers` and `sim_handlers` lists.
- Module restructuring: Extracted simulation-side message handling and `ViewerHandle` from `sim_app.py` into a dedicated `viewer_handle.py` module, removing `sim_app.py`.
- Sample updates: Migrated existing examples (such as `implot.py`) to use the new handler pattern and lifecycle events.
PiperOrigin-RevId: 941729322
Change-Id: I93e7c0edf0a13a8dc854f9e2083451f7c25a1825
Undo mistaken auto-format of the schema table, revert it to be more human-readable.
PiperOrigin-RevId: 941628625
Change-Id: Ifc51996da9a7df9d1a03392a0ade256fb8b1c151
The line search now requires a negative cost (improvement) in addition to a small derivative to declare convergence, preventing premature termination when no actual improvement has been made.
Follows the proposal in github.com/google-deepmind/mujoco_warp/pull/1471
PiperOrigin-RevId: 941579503
Change-Id: I8fcd20f7b959e50d77cd5d6de0a3c6d95f86b9e1
Similar to LightManager, the RenderableManager manages
renderables based on an mjModel and its mjData.
PiperOrigin-RevId: 941510745
Change-Id: I97b44cc857f136aa7c90ceb85a42e299fc759b73
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
The lazy init of log_config used a single atomic flag (env_checked) with
a load-then-store pattern, allowing two threads to both enter the init
path and concurrently write to the non-atomic log_config.topics field.
Replace with a two-phase atomic init: an atomic exchange on
env_init_claimed ensures exactly one thread enters the init, while
env_init_done (with acquire/release semantics) signals completion and
provides the happens-before edge that makes log_config writes visible to
other threads.
Also adds mj_atomic_exchange_bool to engine_crossplatform.h (both MSVC
and GCC/Clang variants).
PiperOrigin-RevId: 941202181
Change-Id: I59b6801c7b4b8b0e1647d82d2aeb534a90fb66fb
Deleted async examples since they add noise and are not particularly useful
PiperOrigin-RevId: 941117641
Change-Id: I4f621801f652e0b410a7acf905cda58143dc3fb0
Introduce a new header `gil.h` defining `MutexLockIfGilDisabled` to support thread-safety in both standard and free-threaded CPython builds.
Protect critical shared states and registries:
- Guard global Python callback pointers in `callbacks.cc` using a mutex. Move `gil_scoped_acquire` into local blocks around refcount modifications to prevent `longjmp` from bypassing destructors.
- Protect raw pointer maps in `structs_wrappers.cc` with static mutexes.
- Replace TOCTOU race in `mjcb_time` initialization with thread-safe `std::call_once`.
- Add synchronization to lazy indexer array cache initialization in `indexers.cc` and `indexer_xmacro.h`.
- Protect vector mutations in `StructListBase::PopulateUpTo` in `structs.h` with a mutex.
- Revert unnecessary atomic changes to threadpool counters.
- Declare free-threading compatibility by passing `pybind11::mod_gil_not_used()` to all extension modules.
Fixes#3259Fixes#3256Fixes#2978
PiperOrigin-RevId: 941101502
Change-Id: Iec4ce58afcbc75d4b0be6a9a21fc8a47854242e3
- `sim_app.py` provides a SimEventHook and a Handle class for the simulation process to interact with the viewer, including sending state snapshots and processing viewer events.
- `viewer_app.py` implements the main viewer application logic, handling user input, building the Dear ImGui GUI, and managing communication with the simulation process. It also includes hooks for custom viewer behavior.
PiperOrigin-RevId: 940994701
Change-Id: I82786872cd885b15454843b3a4d1160ff0b4be2b
The ViewerEndpoint can now send Snapshot messages to the SimEndpoint. The SimEndpoint has a new method, `get_viewer_snapshots`, to retrieve these. Thsi channel will be used for UI state needed for the simulation (e.g., `MjOption` and `StepControl`).
PiperOrigin-RevId: 940981799
Change-Id: Ib9bd6ad848cd5479bc49492a34fddd82569cb09f
StepControl methods SetSpeed, SetNoiseParameters, and SetPauseState now return a boolean indicating whether the state was actually changed. The GUI functions NoiseGui and StepControlGui also return a boolean reflecting if any parameters were modified. Noise parameters are now directly managed by StepControl rather than being stored in UxState. The StepControlEvent message has been expanded to include all step control parameters. Keyboard event handling has been slightly refactored to better align with event-based updates.
PiperOrigin-RevId: 940656342
Change-Id: I3701623a2fdcfc4c084b5db0ae19048669040de4
--
83a17d2844770fc2bbff37eda73b82df56076414 by Martin Schuck <martin.schuck@tum.de>:
Fix overflow cast
--
d12211c6665e1d791f77338daf8c62fa2374e3c8 by Martin Schuck <martin.schuck@tum.de>:
Prevent skipping warnings from cached jax functions by clearning the cache before invokation
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/3369 from amacati:fix.overflow_cast d12211c6665e1d791f77338daf8c62fa2374e3c8
PiperOrigin-RevId: 939914544
Change-Id: I0ab6e9ad1e7c45f352d2f49642049ad930955f0b
- `messages.py`: Defines base classes for `Message`, `Snapshot`, and `Event`, along with `SnapshotChannel` and `EventChannel` protocols. It also includes concrete message types for state, reset, model, perturbation, pause state, and exit events.
- `endpoints.py`: Provides `ViewerEndpoint` and `SimEndpoint` classes to manage message routing between the simulation and the viewer via the defined channels. A `make_endpoints` function is included to create both endpoints.
PiperOrigin-RevId: 939659912
Change-Id: I61a52a7d25431bc4ed38a184813882145eb421d1
Introduced a ViewerConfig dataclass to encapsulate common viewer window parameters. The NativeViewer now accepts a ViewerConfig and no longer requires a model at initialization. The Viewer protocol has been updated to include a close method (renamed from stop) and an upload_image method. Added checks for None models/data in studio event handling.
PiperOrigin-RevId: 939631378
Change-Id: Ibc07d0e775efa0d79ce5552ee52102e943a9b290
The `StepControl.advance` method now checks if the provided `model` or `data` Python objects are `None` before attempting to cast them to `MjModelWrapper` or `MjDataWrapper`, passing `nullptr` to the underlying C++ function if they are `None`.
This fixes an oversight in the python bindings, C++ code already supported null models.
PiperOrigin-RevId: 937243996
Change-Id: Ie67b8603517e7390fb54bfefbfed79ccf7b2bc5e
Also ensure material texture hashes are unique so that the material
cleanup works correctly.
PiperOrigin-RevId: 937206048
Change-Id: Ibed53457ee271f4faae3bcac5fb479b5ce9fc352
Taylor Howell