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19e2d0ae2f5e6c094e6e0105045457075d2de2d0
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232 Commits

Author SHA1 Message Date
Yuval Tassa 19e2d0ae2f Add mj_fwdKinematics and a table improving documentation of the MuJoCo computation pipeline structure. 
PiperOrigin-RevId: 838768130
Change-Id: I1a22d5cdca7db704ba4cea1667fcbecb16b87005
 2025-12-01 07:39:00 -08:00
Gabe Oppenheimer b6e162d6fa Update MuJoCo version from 3.3.8 to 3.4.0 
PiperOrigin-RevId: 836719207
Change-Id: I28cbc90cee42aebfb5a4201561289ef6747cdc83
 2025-11-25 10:16:02 -08:00
Yuval Tassa 888d3a7b07 Add mj_copyState 
PiperOrigin-RevId: 836588419
Change-Id: I7609e121dc0ac697d4d015d4244bdd5962650def
 2025-11-25 03:10:30 -08:00
Yuval Tassa 86a77ff8eb Change mjtSize from uint64_t to int64_t. 
This change makes `mjtSize` a signed, rather than unsigned 64-bit integer. While sizes are non-negative, the type promotion rules for unsigned integers can lead to unituitive downstream bugs, and 8 billion terabytes are enough bytes.

PiperOrigin-RevId: 834292964
Change-Id: Iea9c47c2a5d80fde63851a543d59ed0549db0f01
 2025-11-19 07:55:54 -08:00
Yuval Tassa a66cf303f8 Clean up ray functions 
PiperOrigin-RevId: 833299985
Change-Id: I30aabe889ccc5900ff0e50a578e98e176d3effa4
 2025-11-17 05:47:44 -08:00
Haroon Qureshi 6c15c711ee Make mjv_cameraFrame and mjv_cameraFrustum public. 
PiperOrigin-RevId: 832187804
Change-Id: I74d05d7fe03bc81bd05a823c7c9791bca12e3079
 2025-11-14 00:03:18 -08:00
Yuval Tassa 252a0d73df Add sleep related data structures 
PiperOrigin-RevId: 829055431
Change-Id: I1ccbd77a57044a754ae7db611b4c2c0010fbda53
 2025-11-06 12:10:55 -08:00
Sam Haves 57f7145806 Create mjpDecoder, mj_parse, and mju_decodeResource 
- plugin system similar to mjpResourceProvider, but instead of loading a resource it converts an existing mjResource into an mjSpec.
  - The returned spec is then composed into the referencing spec.
  - This enables different file types to generate arbitrary specs, and allows us to separate format parsing from compilation code.

Follow up CLs will move some of the logic in src/engine for PNG, USD, KTX, OBJ loading into decoders.

The mj_parse function MjSpec from a given file, it's a more generic version of mj_parseXML.

In it's implementation, mj_parse as opposed to mj_parseXML will look for any registered decoder and
not assume we are striclty dealing with MJCF.

PiperOrigin-RevId: 826149497
Change-Id: I0ece26904280cb94bd5ded6dd5a565c539d60254
 2025-10-30 12:54:40 -07:00
Sam Haves ac2cd5dfd6 Add support for querying of MjsTendon path from Python. 
Fixes #2670

PiperOrigin-RevId: 822215254
Change-Id: Ice5a264e54f963776093511c6e4ac830aae6d4f8
 2025-10-21 11:51:24 -07:00
Saran Tunyasuvunakool 2f65e23779 Add mj_extractState as a public API function. 
This function allows the caller to extract a subset of components of a state previously obtained via `mj_getState` without having to first write it back into `mjData`.

PiperOrigin-RevId: 822165077
Change-Id: I6433261f4f5ec2e8d024bb7dee8f7dbf1e62666c
 2025-10-21 10:01:22 -07:00
Gabe Oppenheimer 48f10bfcb6 Update MuJoCo to v3.3.8 following the 3.3.7 release. 
PiperOrigin-RevId: 819919328
Change-Id: Ib34f959f6f8efd83362d49e784aa8e0594036899
 2025-10-15 14:39:05 -07:00
Gabe Oppenheimer ae1febd83f Automated g4 rollback of changelist 818694877. 
*** Reason for rollback ***

BEGIN_PUBLIC
Holding off on a minor version bump until the next release.

*** Original change description ***

#mujoco update the version to 3.4.0 ahead of the 3.4.0 release.

Bump the version to 3.4.0 ahead of the next release.

***

PiperOrigin-RevId: 818748143
Change-Id: I722e9beb80c61a48bd997da6a1840777a81d5036
 2025-10-13 11:14:42 -07:00
Gabe Oppenheimer 02d2d4d49a Bump the version to 3.4.0 ahead of the next release. 
PiperOrigin-RevId: 818694877
Change-Id: I42e261956a0219e549bec6a54cbf330a74f02f9f
 2025-10-13 09:22:49 -07:00
Sam Haves e4704cd28b Create list_dependencies sample to list all dependencies for an MCJF file. 
PiperOrigin-RevId: 814816067
Change-Id: Idc6232e5d1ef1ff0318aeacd0e3d4b4a5a303485
 2025-10-03 13:47:28 -07:00
Haroon Qureshi 6a7566872a Functions for printing the contents of mjvScene. 
PiperOrigin-RevId: 812699642
Change-Id: Iafff53c952c952624129ff01a8c1b0aa5d38eec5
 2025-09-29 02:47:17 -07:00
Rishi Krishnan 8e9eb2fa38 Update MuJoCo's version number following the 3.3.6 release. 
PiperOrigin-RevId: 808180152
Change-Id: I23de64cb0968b94c489b29622e4308d16513793a
 2025-09-17 09:13:04 -07:00
Kyle Bayes ea660f4c13 Expose minimal asset cache API. 
PiperOrigin-RevId: 803126923
Change-Id: Iabf63802572f7cb86864b5ece85f44b3f15a4ec0
 2025-09-04 12:18:36 -07:00
Yuval Tassa debfdf011e Add some missing Nullable annotations. 
PiperOrigin-RevId: 799527319
Change-Id: If84a3b2f19243ea9cf8b114d1421879d8186eb1d
 2025-08-26 05:52:01 -07:00
Yuval Tassa 2b45b39ce5 Move mjtConstraint from mjmodel.h to mjdata.h. 
PiperOrigin-RevId: 798987338
Change-Id: I3117742de7eb3c16366f266fe0c0651262717cb4
 2025-08-24 23:45:14 -07:00
Yuval Tassa d77ecb3f06 Move mjtConstraintState from mjmodel.h to mjdata.h. 
This is the correct location, this enum is only used in `mjData`, not `mjModel`.

PiperOrigin-RevId: 798860951
Change-Id: I48b9a2afc831bd9a6966cc9586429fd03605bdd2
 2025-08-24 12:37:54 -07:00
Yuval Tassa a230aa60c5 Improve mj_addM and associated test 
- Updated docs to clarify that only the lower triangle is touched
- The function was unnecessarily adding the upper triangle in the sparse case
- The test used an unnecessarily large model and stepping it leading to timeouts under ASAN

PiperOrigin-RevId: 798528736
Change-Id: I592cc17dfb62379bb0cd6b332a8eb7e8b0ef6355
 2025-08-23 03:56:47 -07:00
Google DeepMind a64a26c3ae No public description 
PiperOrigin-RevId: 798355907
Change-Id: I3a225e3200cbc60ccc3d93f21694a606a7ab296a
 2025-08-22 15:04:46 -07:00
Yuval Tassa 93c5665730 Add some missing Nullable annotations. 
PiperOrigin-RevId: 798298579
Change-Id: I773eda7deca10c820345a33835716072e0b9af5a
 2025-08-22 12:15:02 -07:00
Yuval Tassa 424226b640 Refactor mj_mulM to use CSR structure 
PiperOrigin-RevId: 796450207
Change-Id: I2a9d567732614674547c7ae02ff0d3d4bbf1b654
 2025-08-18 09:09:29 -07:00
Yuval Tassa 972ffd7b90 Improve mj_fullM documentation, add clarifying test. 
PiperOrigin-RevId: 796134559
Change-Id: I85ab3680d3545ccf83d0d3af8a7c21cb36e96d4e
 2025-08-17 11:02:14 -07:00
Yuval Tassa 1447711037 Rename spec to sig in state-related API functions. 
(to avoid confusion with mjSpec)

PiperOrigin-RevId: 795848898
Change-Id: I0b64eb85f5c7a3ee889a746c751d9f5561650277
 2025-08-16 08:38:25 -07:00
Rishi Krishnan ed3ff15870 Update MuJoCo's version number following the 3.3.5 release. 
PiperOrigin-RevId: 792806341
Change-Id: Ic68ecceacc48ddbd6b0c741ae8f0791551e1b4dd
 2025-08-08 16:45:12 -07:00
Yuval Tassa 32c7d3f085 Tag nullable arguments in main header. Fixes #309 
Nullable arguments will be added to the `introspect` datastructures in a future change.

PiperOrigin-RevId: 789350522
Change-Id: I0bfd12fab5121f94b937264570f907593b63cf64
 2025-07-31 08:39:16 -07:00
Matija Kecman 23fa7c00d5 Remove usage of size_t types in mjModel, use mjtSize (uint64_t) instead to improve portabilty of MJB files to WASM. 
PiperOrigin-RevId: 789321991
Change-Id: Ic25fab876c347fc75f5ca24cad09e8fd972f035f
 2025-07-31 07:08:33 -07:00
Alessio Quaglino 89f4789085 Add mjs_makeMesh to create a builtin mesh. 
PiperOrigin-RevId: 788538127
Change-Id: I999733399a1a0da07b0f915f34d31364ab8b3b52
 2025-07-29 11:31:18 -07:00
Yuval Tassa 46dc67b7eb Add function mjs_sensorDim to user API. 
Note: change to (unreleased) contact sensor mjSpec API
PiperOrigin-RevId: 788507423
Change-Id: Ie639afb7ed01dc3f7bab43a3e812e8e0b0c67d07
 2025-07-29 10:20:27 -07:00
Yuval Tassa a771fc6c09 Increase mjNSENS to 3 
PiperOrigin-RevId: 788468705
Change-Id: Id22f131bebb6accc9a29c9aa285efa75fa8b2c16
 2025-07-29 08:38:13 -07:00
Yuval Tassa 83435361fa Increase max points in 2D plot from 1000 to 1001. 
PiperOrigin-RevId: 787513580
Change-Id: I573c779932fa7411b132020213637a25fa859844
 2025-07-26 12:46:31 -07:00
Yuval Tassa d0e4771c8c Add contact sensor. 
PiperOrigin-RevId: 783011982
Change-Id: Ica56fe9d520fa1d1ee7338e09148b1a55a049912
 2025-07-14 13:03:35 -07:00
Rishi Krishnan 3c99705f85 Update MuJoCo's version number following the 3.3.4 release. 
PiperOrigin-RevId: 781596261
Change-Id: Iac050c4b9cb65542b52fa6b8c54ff2537bc6a648
 2025-07-10 10:47:26 -07:00
Yuval Tassa a3d251f552 Add mjModel.sensor_intprm, integer parameters of sensors 
PiperOrigin-RevId: 781053754
Change-Id: I90e5ef1cab3f87b894dbc70dccfc8bf0046ce1b6
 2025-07-09 08:00:21 -07:00
Alessio Quaglino 67f9ffddbd Delete outdated mjs_delete doc. 
PiperOrigin-RevId: 778912984
Change-Id: I2c09c67706679e9e85ea29fd63e698cddb0ef6ca
 2025-07-03 09:54:52 -07:00
Yuval Tassa 7548d370ed Add missing changelog item and enum documentation, clarify breaking changes. 
PiperOrigin-RevId: 778842895
Change-Id: I53f7f639ce8f1d3d5066fa7364bc1b74f2ed14ef
 2025-07-03 04:24:23 -07:00
Alessio Quaglino 564c51ddb9 Check for duplicated names when setting element names. 
PiperOrigin-RevId: 778827590
Change-Id: I77a208c1571cf735cae80840ea830aa347681f71
 2025-07-03 03:20:55 -07:00
Alessio Quaglino 594e17074a Replace name attribute with setters and getters in the C API of mjSpec. 
PiperOrigin-RevId: 778816015
Change-Id: Ieffb7a5bce37e887ff009f9a02d2434435e79ca1
 2025-07-03 02:30:56 -07:00
Alessio Quaglino a00bfa819c Raise error when binding to a removed element. 
PiperOrigin-RevId: 774462737
Change-Id: I820c0e1c010ae9fbf6d9667c3364d4b65bf21002
 2025-06-22 10:15:31 -07:00
Yuval Tassa 14dc7c2a60 Add "cameraid" attribute to visual/global specifying the default camera to use at model load. 
PiperOrigin-RevId: 773783069
Change-Id: I2fff2abdceedc982d89cee8d14b95abceea1c113
 2025-06-20 11:41:27 -07:00
Alessio Quaglino 0488d9f4eb Replace mjs_detachBody and mjs_detachDefault with mjs_detach. 
In a follow-up, mjs_detach will be changed to only remove without deleting an element.

PiperOrigin-RevId: 773637351
Change-Id: I9ee4d3584ba88ccc225591337cf036bab806e25c
 2025-06-20 04:12:27 -07:00
Kevin Sayed a4ab35c194 update scrubs and set next version 
PiperOrigin-RevId: 770740070
Change-Id: I6b2f1356706b1849872df2583adbbb3f72057884
 2025-06-12 11:39:45 -07:00
Alessio Quaglino 84ad22a590 Add mj_copyBack for copying real-valued arrays from mjModel back to mjSpec. 
Also add `SaveAndReadXML` function to test fixture using `mjSpec` as input.

PiperOrigin-RevId: 765393821
Change-Id: Ic257addd2fc89678fc11b226c168c077626cc51e
 2025-05-30 17:17:14 -07:00
Taylor Howell de3dc7c234 Update documentation from mjData.solver_iter to mjData.solver_niter. 
PiperOrigin-RevId: 763729137
Change-Id: I1266539ead38e083d427614d50b2aa79a68aa09c
 2025-05-27 04:25:54 -07:00
Yuval Tassa 89e39dc0a7 Expose mj_makeM as a sub-component. 
PiperOrigin-RevId: 763662068
Change-Id: I55ced456dca751c1de09fb35e2f73c60ffc0d626
 2025-05-27 00:35:55 -07:00
Google DeepMind 74cc904edc Convert light directional boolean into a type enum. 
PiperOrigin-RevId: 761983728
Change-Id: Id5bf93c103e5358d9c5cd9f1176532a978e0b3a8
 2025-05-22 08:51:18 -07:00
Yuval Tassa ced630181d Replace mjv_sceneState and related code with mjv_copy{Model,Data} 
PiperOrigin-RevId: 760662776
Change-Id: I512bda9187fbc19ade6924b91d5cb2275078de42
 2025-05-19 09:51:58 -07:00
Yuval Tassa 8268c6d1ff Add mjv_copyData 
PiperOrigin-RevId: 760642972
Change-Id: I16227fd91bf42618fda684b15b3650758ae29b13
 2025-05-19 08:59:43 -07:00