888d3a7b07
Add mj_copyState
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PiperOrigin-RevId: 836588419
Change-Id: I7609e121dc0ac697d4d015d4244bdd5962650def
2025-11-25 03:10:30 -08:00
86a77ff8eb
Change mjtSize from uint64_t to int64_t.
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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
6c15c711ee
Make mjv_cameraFrame and mjv_cameraFrustum public.
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PiperOrigin-RevId: 832187804
Change-Id: I74d05d7fe03bc81bd05a823c7c9791bca12e3079
2025-11-14 00:03:18 -08:00
042c5223a6
Change mj_sizeModel return type to mjtSize.
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PiperOrigin-RevId: 831768095
Change-Id: I079fbadc403b32a3ce8a73fe21b2cd66391401c3
2025-11-13 02:32:18 -08:00
252a0d73df
Add sleep related data structures
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PiperOrigin-RevId: 829055431
Change-Id: I1ccbd77a57044a754ae7db611b4c2c0010fbda53
2025-11-06 12:10:55 -08:00
2f65e23779
Add mj_extractState as a public API function.
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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
1a9469765f
small syntax fixes
2025-10-21 10:58:17 +02:00
36bb957db1
cut extra long line to make sure it passes the syntax checks
2025-10-17 10:42:27 +02:00
92cb306ba5
removed Passive, added Damper and Spring objects
2025-10-17 09:58:07 +02:00
0001fe221c
Revert "redid the global settings according to suggested guidelines"
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This reverts commit 655b961c89
2025-10-17 09:42:40 +02:00
48f10bfcb6
Update MuJoCo to v3.3.8 following the 3.3.7 release.
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PiperOrigin-RevId: 819919328
Change-Id: Ib34f959f6f8efd83362d49e784aa8e0594036899
2025-10-15 14:39:05 -07:00
ae1febd83f
Automated g4 rollback of changelist 818694877.
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*** 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
02d2d4d49a
Bump the version to 3.4.0 ahead of the next release.
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PiperOrigin-RevId: 818694877
Change-Id: I42e261956a0219e549bec6a54cbf330a74f02f9f
2025-10-13 09:22:49 -07:00
655b961c89
redid the global settings according to suggested guidelines
2025-10-13 14:50:08 +02:00
cfd487c315
BUGFIX: when parsing a unity scene with mujoco element,s the mujoco package generates a value for the attribute "passive", but the attribute has been droped, it is not valid anymore in unity 3.3.6
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this makes old mujoco scenes that work in unity not work anymore when upgrading the mujoco version.
2025-10-08 16:50:22 +02:00
431f96572e
Remove unused mjOption.apirate.
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PiperOrigin-RevId: 815633571
Change-Id: Ib98f3eb2df47f96fa1fe6e987a3a0cd23a9479f6
2025-10-06 02:51:17 -07:00
e4704cd28b
Create list_dependencies sample to list all dependencies for an MCJF file.
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PiperOrigin-RevId: 814816067
Change-Id: Idc6232e5d1ef1ff0318aeacd0e3d4b4a5a303485
2025-10-03 13:47:28 -07:00
6320b95957
Add mju_getXMLDependencies that given an MJCF file returns filepaths to all of it's dependencies.
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PiperOrigin-RevId: 814203235
Change-Id: Ib5c2e2f4dd42224a768c88d76473544190c72bc0
2025-10-02 06:14:48 -07:00
70d03adc71
Store the status of the scene in the scene itself.
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PiperOrigin-RevId: 813119377
Change-Id: Iebff9e7796ca9809ea22902522982bfd96eeba06
2025-09-30 00:06:00 -07:00
6a7566872a
Functions for printing the contents of mjvScene.
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PiperOrigin-RevId: 812699642
Change-Id: Iafff53c952c952624129ff01a8c1b0aa5d38eec5
2025-09-29 02:47:17 -07:00
0e1104768a
No public description
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PiperOrigin-RevId: 809083979
Change-Id: I5c6641b73c76153c15f5cdf858b788e1433acc81
2025-09-19 10:10:45 -07:00
26ea20a21f
No public description
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PiperOrigin-RevId: 809074980
Change-Id: Ib3e3522addceddba6a057cfef80fcbd30a420b3d
2025-09-19 09:49:07 -07:00
77e025ea98
Move meshdir and texturedir to mjsCompiler.
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For backwards compatibility in the Python bindings, both `spec.compiler.meshdir` and `spec.meshdir` are now allowed.
Fixes #2834 .
PiperOrigin-RevId: 809060113
Change-Id: Ie23f1c5dd57de43568312a8e062906f4013bb474
2025-09-19 09:05:44 -07:00
8e9eb2fa38
Update MuJoCo's version number following the 3.3.6 release.
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PiperOrigin-RevId: 808180152
Change-Id: I23de64cb0968b94c489b29622e4308d16513793a
2025-09-17 09:13:04 -07:00
017e7d5a73
Add light ids.
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PiperOrigin-RevId: 805755907
Change-Id: I92a1b1ea4ce1495c2746fd518f33ab2d1ad81399
2025-09-11 03:20:44 -07:00
ea660f4c13
Expose minimal asset cache API.
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PiperOrigin-RevId: 803126923
Change-Id: Iabf63802572f7cb86864b5ece85f44b3f15a4ec0
2025-09-04 12:18:36 -07:00
8d884585dd
Add target relative mouse motion actions.
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PiperOrigin-RevId: 802072880
Change-Id: I1ff204594a126f8e50df4c703709f70ec4dd458c
2025-09-02 03:39:49 -07:00
8acd83f317
Add passive collision mode for flexes.
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PiperOrigin-RevId: 801754907
Change-Id: I4147af2ee2596519d42cb9a03cf8d5488f0bc3e8
2025-09-01 04:13:58 -07:00
b092563cab
Remove mjDSBL_PASSIVE, split it into mjDSBL_SPRING and mjDSBL_DAMPING.
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PiperOrigin-RevId: 800870384
Change-Id: I273e0ceec090901e2620febb67e57914928e94bb
2025-08-29 06:06:28 -07:00
ed6fa7fe09
Remove unused mjMOUSE_SELECT option.
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PiperOrigin-RevId: 799957524
Change-Id: I69d091781dc2a2e4a762d2255d04fc411295602a
2025-08-27 03:19:04 -07:00
ec94bb49aa
Make constraint island discovery on by default.
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Also fix latent bug in mjData serialization.
PiperOrigin-RevId: 799505349
Change-Id: I299e7cc8133fa2ec0b339a7ff3d02543e06778b1
2025-08-26 04:27:24 -07:00
2b45b39ce5
Move mjtConstraint from mjmodel.h to mjdata.h.
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PiperOrigin-RevId: 798987338
Change-Id: I3117742de7eb3c16366f266fe0c0651262717cb4
2025-08-24 23:45:14 -07:00
d77ecb3f06
Move mjtConstraintState from mjmodel.h to mjdata.h.
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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
2f28473bc1
Remove transposed Jacobian fields from mjData
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No longer computed unconditionally, only ad-hoc where required.
PiperOrigin-RevId: 797753297
Change-Id: I2030fc342c98ff33575b0526dd72e2110c4fcb74
2025-08-21 07:21:24 -07:00
c0096b51a4
Move ntree to mjModel allocator sizes
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PiperOrigin-RevId: 795855203
Change-Id: Idab185294d53dced9ebf073b782969dc5643b95a
2025-08-16 09:16:41 -07:00
1447711037
Rename spec to sig in state-related API functions.
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(to avoid confusion with mjSpec)
PiperOrigin-RevId: 795848898
Change-Id: I0b64eb85f5c7a3ee889a746c751d9f5561650277
2025-08-16 08:38:25 -07:00
977f94e9df
Delete sparsity structures from mjData, use the ones in mjModel
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PiperOrigin-RevId: 795067950
Change-Id: If4f52e40ac49f7c6986b33ef9c8b534199dfd21a
2025-08-14 09:13:02 -07:00
7eb13777f8
Put sparsity structures in mjModel, don't use them yet.
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PiperOrigin-RevId: 795032051
Change-Id: I75c69e881980ff9c308acf00bb3a65f4b2ef12f5
2025-08-14 07:37:42 -07:00
ed3ff15870
Update MuJoCo's version number following the 3.3.5 release.
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PiperOrigin-RevId: 792806341
Change-Id: Ic68ecceacc48ddbd6b0c741ae8f0791551e1b4dd
2025-08-08 16:45:12 -07:00
249b0cd87d
Improve field order and comments in mjdata.h
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PiperOrigin-RevId: 792642328
Change-Id: I59330e228a111edec9e86d93d5cdf646b0fab00e
2025-08-08 08:52:35 -07:00
705ec6d7fb
Adds built-in superellipsoid mesh.
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PiperOrigin-RevId: 791196831
Change-Id: I1d864f6e620870f016377a4d9e2e26d1a23fd77e
2025-08-05 07:02:52 -07:00
a5d4d1000e
Add built-in supertoroid mesh.
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PiperOrigin-RevId: 791180080
Change-Id: I3a70f50ff4a52a1bd4b88fc30334a574895145b4
2025-08-05 06:06:43 -07:00
a5a6379f83
Add built-in cone mesh type.
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Also delete `prism` type since it is subsumed by cone.
PiperOrigin-RevId: 790992343
Change-Id: I7a9c6f2a4377489173acd64b23086c748d2cee8e
2025-08-04 19:35:32 -07:00
23fa7c00d5
Remove usage of size_t types in mjModel, use mjtSize (uint64_t) instead to improve portabilty of MJB files to WASM.
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PiperOrigin-RevId: 789321991
Change-Id: Ic25fab876c347fc75f5ca24cad09e8fd972f035f
2025-07-31 07:08:33 -07:00
51babec9c5
Move tactile sensor to the engine.
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PiperOrigin-RevId: 788863133
Change-Id: I3172ebb7641fa8146469da25cba7db794760e7b1
2025-07-30 05:27:44 -07:00
89f4789085
Add mjs_makeMesh to create a builtin mesh.
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PiperOrigin-RevId: 788538127
Change-Id: I999733399a1a0da07b0f915f34d31364ab8b3b52
2025-07-29 11:31:18 -07:00
a771fc6c09
Increase mjNSENS to 3
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PiperOrigin-RevId: 788468705
Change-Id: Id22f131bebb6accc9a29c9aa285efa75fa8b2c16
2025-07-29 08:38:13 -07:00
83435361fa
Increase max points in 2D plot from 1000 to 1001.
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PiperOrigin-RevId: 787513580
Change-Id: I573c779932fa7411b132020213637a25fa859844
2025-07-26 12:46:31 -07:00
5e666635f6
Remove mjtVisFlag.mjVIS_FLEXBVH and mjvOption.oct_depth
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PiperOrigin-RevId: 783355711
Change-Id: I1e11999d5c533925f1d07266aeca95598a5691ba
2025-07-15 09:08:22 -07:00
d0e4771c8c
Add contact sensor.
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PiperOrigin-RevId: 783011982
Change-Id: Ica56fe9d520fa1d1ee7338e09148b1a55a049912
2025-07-14 13:03:35 -07:00
Yuval Tassa