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1567 Commits

Author SHA1 Message Date
Yuval Tassa 5618666a7d Add body/simple attribute to control simple body optimization. 
PiperOrigin-RevId: 942164766
Change-Id: I1e83bb99b6a1955917eb9b2e9bed0dc7b8e6a161
 2026-07-03 09:09:30 -07:00
Yuval Tassa 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
Yuval Tassa 2d283b5e9d Allow self-attach in MJCF 
PiperOrigin-RevId: 941676717
Change-Id: I9ff8fc89716bc14b438a41e2b4075bbe5fdb83cf
 2026-07-02 06:51:46 -07:00
Yuval Tassa 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
Taylor Howell 1810051d16 MuJoCo Warp documentation: Large scenes 
PiperOrigin-RevId: 940590426
Change-Id: I006e245b54cd4165928927bee76f44d730bdd895
 2026-06-30 12:14:48 -07:00
Sam Haves 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
Sam Haves 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
Yuval Tassa 7c706b273a Report nnz(J) for CG solver. 
PiperOrigin-RevId: 939806054
Change-Id: Icb2955511e33be046a4665fb39bce2546d6d4e3d
 2026-06-29 06:49:23 -07:00
Haroon Qureshi 2a5345ba8c Add type attributes to help codegen. 
PiperOrigin-RevId: 937935655
Change-Id: I14883a98b7b9b4bcc3dea8b60d839138c14ea444
 2026-06-25 06:00:33 -07:00
Yuval Tassa 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
Kyle Bayes 0fd7bea973 Modernize struct and enum style in MuJoCo headers. 
PiperOrigin-RevId: 936485706
Change-Id: I31864acc4bd44573127d3d04c6b1a23f9d9c4cbc
 2026-06-23 00:48:11 -07:00
Michael Moss 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
Michael Moss 28009f9105 Update changelog for the 3.10.0 release. 
PiperOrigin-RevId: 936044016
Change-Id: I4b6e3205819b7bd0469415fe0b57990b68309d1b
 2026-06-22 07:22:23 -07:00
Kevin Zakka 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
Kevin Zakka b1e3753a1a Fix typo in github username in changelog. 
PiperOrigin-RevId: 935244857
Change-Id: I33159f2caa765be585e46cb1b8ccc8e37f103de3
 2026-06-20 03:22:50 -07:00
Haroon Qureshi d93c102190 Move mjrfilament.h to mujoco/include. 
PiperOrigin-RevId: 934931460
Change-Id: I63bf34b3a7197b277ea7a5caf3d84d840f6210a1
 2026-06-19 08:01:05 -07:00
Yuval Tassa 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
Yuval Tassa 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
Yuval Tassa 55d7ff49ec Fix broken link in docs. 
PiperOrigin-RevId: 933054777
Change-Id: Ic862992051200bff1b742025926961a7c2087ffa
 2026-06-16 06:24:16 -07:00
Copybara-Service 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
Yuval Tassa 67a1ea6dca Track authored flags for global attributes 
PiperOrigin-RevId: 931585539
Change-Id: Ifdc8c59de6c5a553daf6e0af09d8192aff6b0610
 2026-06-13 02:58:32 -07:00
Kevin Zakka 426aecc4bc Bump doc deps and restrict lint workflow permissions 2026-06-11 17:51:08 -07:00
Yuval Tassa 58f6d52491 Introduce new logging API, fixes #858 
PiperOrigin-RevId: 930744288
Change-Id: I6ec1203b55c031390f3eef23192e2337508ce886
 2026-06-11 14:36:57 -07:00
Matija Kecman 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
Haroon Qureshi 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
Yuval Tassa 986d73c062 Fix non-unit normals in mesh convex hull compiler. 
PiperOrigin-RevId: 928777934
Change-Id: I43d7adcf4c5781b57f0af9805a8ce01ebc2e3872
 2026-06-08 14:40:11 -07:00
Yuval Tassa 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
Alessio Quaglino 7a7dc7ccad Add support for loading 1D flex components from OBJ line segments. 
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
Yuval Tassa ea2d785e0a Improve quality of maxhullvert coarse convex hulls using Qhull's Q9 option. 
PiperOrigin-RevId: 928417339
Change-Id: I59ecd454f063f2e32e1c3ce08eb4a18506ddf8c8
 2026-06-08 01:56:24 -07:00
Taylor Howell 2e43279ac3 MuJoCo Warp documentation: remove parallel linesearch 
PiperOrigin-RevId: 927417172
Change-Id: I43f72ec0be89e9370b6e7699a8080d8ecf02b4ab
 2026-06-05 12:05:58 -07:00
Yuval Tassa 45d5f2ed5f Improve link in light/directional docs 
PiperOrigin-RevId: 926006386
Change-Id: Idfd3eae6c127f29919587ae88aa4291c290e2944
 2026-06-03 07:12:04 -07:00
Yuval Tassa 7b9b88060e Refactor mj_fullM. This change is part of the deprecation of mjData.qM. 
PiperOrigin-RevId: 925669464
Change-Id: I4889c66591bc1df4c31135a13776052aad491f7a
 2026-06-02 17:22:55 -07:00
Yuval Tassa 062b0f1ea6 Remove deprecated mju_{error,warning}_{i,s} functions. 
PiperOrigin-RevId: 925204136
Change-Id: Ia877d08a135092db8037d04e6a237e81325a1d7c
 2026-06-02 01:59:05 -07:00
Yuval Tassa 4548e81e4d Rename efc_diagApprox -> efc_diagA. 
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
Yuval Tassa cd6db9ebe2 Improve CG solver precision and stability under float32 via line search refactor 
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
Yuval Tassa 96bf8aea81 Move island-specific sparse matrices from arena to stack. 
PiperOrigin-RevId: 923850345
Change-Id: I9683d7554b15b7cd8c45a8dce7814640aa266452
 2026-05-30 03:09:46 -07:00
Kyle Bayes b935d4153c Add new mju_threadpool API function, and delete old threading API. 
PiperOrigin-RevId: 922838541
Change-Id: Id9f7e0fb298ffde61fcc49a802dc78971858ce51
 2026-05-28 10:11:44 -07:00
Alessio Quaglino 4c381635e1 Add mjs_makeFlex to the MuJoCo C and Python APIs. 
- 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
Sam Haves b9fb817af8 Lexically normalize resource path in mjz_decoder resource provider. 
PiperOrigin-RevId: 922654438
Change-Id: Ieb46230a2aba46a5e711bc5b24aec982f71e56ca
 2026-05-28 02:56:45 -07:00
Google DeepMind af4be63cd8 Add xmacros for MjSpec. 
PiperOrigin-RevId: 922169069
Change-Id: I01426596e49196996dfa324d5ab3849a90de2e3a
 2026-05-27 09:12:35 -07:00
Michael Moss 79aeceeaa3 Update MuJoCo version to 3.10.0 following the 3.9.0 release 
PiperOrigin-RevId: 922027849
Change-Id: I52dd7fb5eeb962c2670ab5dbbe7ce192ac9332c5
 2026-05-27 03:50:22 -07:00
Michael Moss 237c17e485 Update changelog for the 3.9.0 release. 
PiperOrigin-RevId: 922002472
Change-Id: I92489261c59cff10b29def784698868e67aa43da
 2026-05-27 02:47:19 -07:00
Alessio Quaglino f6cd0234fd Change tactile sensor normal component to report penetration depth. 
The normal component of the tactile sensor now reports the maximum penetration depth at each taxel, instead of a derived normal force. The depth is negated so that positive values indicate penetration.

PiperOrigin-RevId: 921980899
Change-Id: Ide4103c0aff465e25a81cfdda650f6a0e2da9e0b
 2026-05-27 02:00:34 -07:00
Taylor Howell d63a89f896 MJX documentation: update feature parity section 
PiperOrigin-RevId: 921452813
Change-Id: Ic33c20688b9875e0d2be8563377a1e009da51fa6
 2026-05-26 07:23:24 -07:00
Yuval Tassa 393c1e4217 Migrate mjtByte to mjtBool for boolean-valued fields. 
PiperOrigin-RevId: 921408093
Change-Id: Icb00457836359779f0f72fc02d6a7c0dc9f6bd23
 2026-05-26 05:35:49 -07:00
Taylor Howell ddff7e3e2e MuJoCo Warp documentation: update feature parity section 
PiperOrigin-RevId: 921334977
Change-Id: I1c20e30cde81ae18830cae894ac5aee99ac0dcb8
 2026-05-26 02:37:05 -07:00
Yuval Tassa 7667e7110e Introduce mjtBool for boolean types. 
PiperOrigin-RevId: 920201340
Change-Id: I3b19c11a00357e06a1df08b8819832955c37f9ff
 2026-05-23 09:13:54 -07:00
Yuval Tassa ab0e0091d5 Standardize "DO NOT EDIT" comments in generated files. 
PiperOrigin-RevId: 919718422
Change-Id: I2cba07d75d37d45f3f30b23d049c944b080248ad
 2026-05-22 09:34:45 -07:00
Yuval Tassa 15d27b363f Compile-time size assertions for MuJoCo basic types 
PiperOrigin-RevId: 919107499
Change-Id: I07fcba4f33c77a2a1e68528dba6d399af94d0220
 2026-05-21 09:55:04 -07:00
Yuval Tassa 88a293b5e4 Update docs to correctly reference mjtype.h 
PiperOrigin-RevId: 919071817
Change-Id: I829de7a22a49e6df604b0acf601a13f67ef5fbab
 2026-05-21 08:44:11 -07:00