2bdea1a0aa
Use "/" as default prefix during attach if not specified.
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The user can recover the old behavior by passing prefix="".
This enables to attach children with default and save a valid result to XML.
PiperOrigin-RevId: 825011185
Change-Id: Id20c2589da928bf92b77bdb01cfba73dfc1d2f52
2025-10-28 06:40:34 -07:00
1bfa8b6fa6
Do not add bodies at mesh points for quadratic flex interpolation.
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PiperOrigin-RevId: 825001743
Change-Id: Ica085b947fb1c3f56251bceaa6a228f364535d3e
2025-10-28 06:13:27 -07:00
3b79d3f14b
Set flags directly on Renderer class.
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This removes a dependency on mjvScene from the App class.
PiperOrigin-RevId: 824983816
Change-Id: I20dd411e6359ee411f9b0b86d4442c090ba4bd5c
2025-10-28 05:24:05 -07:00
7ba0d96d77
Use mjvCamera directly for generating camera string.
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PiperOrigin-RevId: 824982264
Change-Id: I0d8760bb27153849c8f4dacb10aa3162f29c2f6e
2025-10-28 05:18:58 -07:00
e1a73f9c4c
Add early exit in mj_xfrcAccumulate using mju_isZeroByte
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`xfrc_applied` mostly contains user perturbations which are rare. It is very often identically zero and for large arrays `mju_isZeroByte` is significantly faster than `mju_isZero`.
PiperOrigin-RevId: 824975356
Change-Id: Iadb1d300d68cf12de00c14a0665bd89924a2d7e0
2025-10-28 04:59:14 -07:00
017788b9d6
MuJoCo Warp documentation: Parallel Linesearch.
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PiperOrigin-RevId: 824937806
Change-Id: I95b416f7b0380099aa6ea4200a27acfc2b2c6bb7
2025-10-28 03:01:07 -07:00
a16805f8ee
Add CMakeLists.txt files for new (experimental) code.
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This includes the filament, toolbox, and studio projects.
Adds a MUJOCO_BUILD_STUDIO option to enable building of the `studio` app (disabled by default).
Adds a MUJOCO_USE_FILAMENT to allow the studio app to use the filament rendering backend. A separate MUJOCO_USE_FILAMENT_VULKAN flag can be used to enable vulkan rendering.
PiperOrigin-RevId: 824602367
Change-Id: I26d46c16211ae2118f96c163c4194fea5b5a15a9
2025-10-27 11:26:14 -07:00
be055840b4
Add Batched Model Fields section to MuJoCo Warp documentation.
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PiperOrigin-RevId: 824596731
Change-Id: Ic2fc96df6f8d9639286f08ec86c5cdca64fc03d8
2025-10-27 11:12:43 -07:00
3b11e31572
MuJoCo Warp documentation: Add nworld, nconmax, and njmax section and update introduction.
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PiperOrigin-RevId: 824579564
Change-Id: I2f2b81d95e061168646fce12f7c6f7a1268385e9
2025-10-27 10:33:45 -07:00
dbaf35d42c
Add CMake configurations for new third_party dependencies.
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Adds targets for dear_imgui, implot, filament, sdl2, and webp. These
targets are not currently used.
PiperOrigin-RevId: 824554405
Change-Id: Ibebdd50752d251852a945b6abc230e2c6e65fae9
2025-10-27 09:36:52 -07:00
d971e5c2df
Merge pull request #2908 from davidhozic:doc/fix-comments
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PiperOrigin-RevId: 824546229
Change-Id: I9961e7f39d0549ff8b15a1007fb20832a0014bbd
2025-10-27 09:16:01 -07:00
23c3001a4c
Merge pull request #2875 from google-deepmind:dependabot/pip/mjx/pip-25.2
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PiperOrigin-RevId: 824514263
Change-Id: Ifeb956547e23722ea486e1e6da9a953826038626
2025-10-27 07:42:09 -07:00
85e9cff0c1
Update mj_geomDistance: don't flip geoms for nativeccd.
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PiperOrigin-RevId: 824463375
Change-Id: Ic9c4cac916129b88575e0366e1b95353ce716ca2
2025-10-27 04:48:36 -07:00
8c5154c9a3
Fix testspeed for mjx-warp.
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PiperOrigin-RevId: 823691704
Change-Id: If90f6137915de134fdda3c7616bc810555c25d87
2025-10-24 15:47:14 -07:00
49a3caf84c
Modify SimulationState proto to correspond to mj_getState.
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PiperOrigin-RevId: 823494487
Change-Id: Ib284e3165ca691f5b690a376f7b28e51122e1bc4
2025-10-24 05:51:07 -07:00
ec8ad21cb5
Normalize triangle coordinates such that their sum rather their norm is one.
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This ensures that at e.g. the barycenter of the triangle each vertex has weight 1/3, as one would expect with barycentric coordinates, rather than 1/sqrt(3). This makes it consistent to the finite element interpolation used in the passive elastic forces.
PiperOrigin-RevId: 823458736
Change-Id: Ia5c02cba186a80612de38402f791695c33e991ab
2025-10-24 03:42:55 -07:00
7bf065c75b
Implement equivalents to mj_getState, mj_setState and mj_stateSize in mjx
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PiperOrigin-RevId: 823158825
Change-Id: I06bbf603f61ef2de8f83f32a211e8d468e0b7c5c
2025-10-23 13:09:51 -07:00
99c18f07d3
Increase buffer size.
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The smaller size is a warning/error on some targets:
```
error: ‘ bytes’ directive output may be truncated writing 6 bytes into a region of size between 0 and 15
```
PiperOrigin-RevId: 823047552
Change-Id: Id66b5828cf84a512dffc452753f1881deb685584
2025-10-23 08:16:54 -07:00
1fd9b47fea
Prefix assets path with "assets/".
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PiperOrigin-RevId: 823044312
Change-Id: I0bde4428bd1992d6d4356e107dac471fa7cdecc6
2025-10-23 08:07:33 -07:00
18e60369f3
If building simulate with USD support remove the no-deprecated warning due to deprecated header usage in USD.
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PiperOrigin-RevId: 822807399
Change-Id: I2765f4a7260b5ac8b3ef5894c1c5ce7a3a745baf
2025-10-22 17:56:43 -07:00
febe75d54b
Add tendon.cpp to mjcPhysics CMake
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PiperOrigin-RevId: 822694422
Change-Id: Ic2f7c7a3b85526d49eb98c19118e6936ccb4e0f7
2025-10-22 12:30:16 -07:00
ae33724de1
Set info string on wrap instead of tendon when wrapping a prim in the path.
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PiperOrigin-RevId: 822688877
Change-Id: I04f5f5576cc0ed43e0ec77d5fccb19d2d23d7349
2025-10-22 12:13:53 -07:00
c060385505
Add section in mjcPhysics documentation for MjcTendon.
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PiperOrigin-RevId: 822602481
Change-Id: Icf2b3accd323ee9506ca1838c9a2bfc0f0d159c7
2025-10-22 08:35:54 -07:00
f217a8f987
Implement FetchPackage; a simple wrapper around FindOrFetch.
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FetchPackage calls FindOrFetch, but sets USE_SYSTEM_PACKAGE to OFF
(i.e. do not find, just fetch). It also sets EXCLUDE_FROM_ALL.
PiperOrigin-RevId: 822565180
Change-Id: I70476f57b8d3371cefd02e840add279423913f3f
2025-10-22 06:43:51 -07:00
160b9480f9
Add support for tendons to mjcPhysics.
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PiperOrigin-RevId: 822230926
Change-Id: I232a9fbfb473186ac742d210458ff0221a561126
2025-10-21 12:30:12 -07:00
ac2cd5dfd6
Add support for querying of MjsTendon path from Python.
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Fixes #2670
PiperOrigin-RevId: 822215254
Change-Id: Ice5a264e54f963776093511c6e4ac830aae6d4f8
2025-10-21 11:51:24 -07:00
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
25f5be82ff
Provide option to disable keyboard events for SDL.
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PiperOrigin-RevId: 822154396
Change-Id: Ie4c8537de2c4b01437aae00ed6d6af1a8f419a73
2025-10-21 09:36:16 -07:00
9e1ed0720b
Revert PDF documentation update to .readthedocs.yml.
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PiperOrigin-RevId: 822102488
Change-Id: I223757e80c00421c2ea37c3b30718c93b0a3cee8
2025-10-21 07:09:57 -07:00
056945df20
Enable frames to create the same children as bodies.
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PiperOrigin-RevId: 822097998
Change-Id: I8477d8abe2d6f711421126825fd94d39af1a4e07
2025-10-21 06:57:01 -07:00
09682ade4b
Fix mjcPhysics island flag default.
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PiperOrigin-RevId: 822088739
Change-Id: If3a87976dd319502160fd886a1823c12d72bebf1
2025-10-21 06:27:28 -07:00
64add36adb
Update documentation to be compatible with PDF generation
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PiperOrigin-RevId: 822081040
Change-Id: I935b08751109e973398bc61c21f7217408983494
2025-10-21 06:02:53 -07:00
01d1ac34e0
Add quadratic interpolation to flex.
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PiperOrigin-RevId: 822055781
Change-Id: Ibc252ac560de666b0b28f868e46b88d3ed92f67d
2025-10-21 04:36:36 -07:00
59f14485e0
Move mjCWrap type to mjsWrap.
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PiperOrigin-RevId: 821851540
Change-Id: I53382a8a21312a96aea46eec130f43e7cad70f92
2025-10-20 16:28:41 -07:00
b19644bec9
Fix spelling errors
2025-10-21 01:21:47 +02:00
88ac02dad3
Add UI to visualize the State
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PiperOrigin-RevId: 821641514
Change-Id: I41fd5602d0d52162b374149fb0080f6c387d7847
2025-10-20 07:32:41 -07:00
e75c5aa83c
Fix various include paths.
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PiperOrigin-RevId: 821564663
Change-Id: Ic84489b7f3e1ba97810f60049dcf2f4a4d31edcf
2025-10-20 02:55:22 -07:00
36bed9a9da
MuJoCo documentation in PDF format. Fixes #2736 , #470 .
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PiperOrigin-RevId: 820682295
Change-Id: Ib9d6d53594c99a7e80af0fd3f1273ce44f831afd
2025-10-17 07:29:17 -07:00
85b5230dc0
MuJoCo Warp API documentation.
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PiperOrigin-RevId: 820672892
Change-Id: I1339bdc4772560e69aa2c4b615825e7faffbe2ba
2025-10-17 06:59:19 -07:00
bd8c921475
Update doc/conf.py.
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PiperOrigin-RevId: 820636602
Change-Id: I20d8b44f9b933f14a72cb6e394be149bb459c552
2025-10-17 04:38:10 -07:00
fdc0e64e5c
Update .readthedocs.yml.
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PiperOrigin-RevId: 820614563
Change-Id: I76d10cbb3cbcd55ab5a84ce74ab2cc3c3cc4ecaf
2025-10-17 03:13:46 -07:00
ff7c94de8a
Add quadratic interpolation to mju_interpolate3D.
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PiperOrigin-RevId: 820252349
Change-Id: I983175eb51d7e1a81da06c0911326fcb8f5fe764
2025-10-16 08:48:20 -07:00
87adb7e5d6
Use the ImGui OpenGL3 backend.
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PiperOrigin-RevId: 820249390
Change-Id: I43fc85bf75a2c01b76218a2ff67a1526ee9e2bdb
2025-10-16 08:39:51 -07:00
2893c3344c
Allow mjx.ray to exclude multiple bodies.
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PiperOrigin-RevId: 820236386
Change-Id: I41229fa52043d844d116b540d60053628d1a842b
2025-10-16 08:03:46 -07:00
2fc8306e3d
Update .readthedocs.yml.
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PiperOrigin-RevId: 820223836
Change-Id: If0567dc022cea8133773c89d738841de2945b049
2025-10-16 07:26:05 -07:00
ffdfe542cf
Add mju_interpolate3D.
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This is a more general API in preparation of a higher interpolation order
PiperOrigin-RevId: 820174741
Change-Id: I81bd52ab44e0485d72579e21d1c8a48a1b35ec3f
2025-10-16 04:39:24 -07:00
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
8cbfc42767
Fix issue with zero size cache.
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PiperOrigin-RevId: 819773517
Change-Id: Iff1523e17ffbd1dff02bee71db896c64bd8b565c
2025-10-15 08:46:00 -07:00
5715cebbb9
MSAN: Don't clear mjData.sensordata in mj_resetData
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This is strictly an out array and should not be read before it is written to. This change improves MSAN coverage of engine code.
PiperOrigin-RevId: 819767673
Change-Id: I57500c8147f4774d326cf87ea3bac5420e4dd54d
2025-10-15 08:31:03 -07:00
99d93124f0
Update .readthedocs.yml.
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PiperOrigin-RevId: 819751628
Change-Id: Idf88c9169c63b80e6ae608b6e89911adbc7cb0b4
2025-10-15 07:47:07 -07:00
Alessio Quaglino