608115ab95
Add output attribute to camera elements.
...
This attribute allows specifying the intended output types (e.g., RGB, depth, normal) for each camera in the XML. The output types are stored as bit flags in `mjModel`.
PiperOrigin-RevId: 853316261
Change-Id: I1ad2e94102593cf402756f8f4c80509371ca86d2
2026-01-07 10:22:27 -08:00
70bc7be4bc
Add additional data fields that can be reported by rangefinder sensors.
...
PiperOrigin-RevId: 848316991
Change-Id: Idbf7ba81b4da711a22c23302c8782ab2b0b98d82
2025-12-23 15:33:00 -08:00
f2e9097ed6
Change mjsCamera.resolution type from float to int.
...
Resolution is inherently an integer quantity (pixels).
PiperOrigin-RevId: 848276456
Change-Id: I92ee1aa88fd552fd42cb3871442f020f26d6fa6a
2025-12-23 13:14:32 -08:00
7fddeeaff6
Minor fixes to mj_multiRay
...
PiperOrigin-RevId: 847780959
Change-Id: I3588415f215bd5f1592bec6678a5bae45d5f0980
2025-12-22 08:52:36 -08:00
b8a4ac5d48
Refactor camera orthographic attribute to projection enum.
...
PiperOrigin-RevId: 847069028
Change-Id: I7f686fe654e9b56519cab8bd2f37c9cc40091d3f
2025-12-20 03:28:29 -08:00
7190bd4912
Add flag for depth rendering.
...
PiperOrigin-RevId: 846203691
Change-Id: I5ec494446bcfc1f7c81536a87dd24f9967973563
2025-12-18 04:36:26 -08:00
1ff74ba810
Change the type of state signature arguments from unsigned int to int
...
PiperOrigin-RevId: 843162492
Change-Id: I51d3324f088e8055898e115bdd32267c5950a412
2025-12-11 04:34:36 -08:00
caec236b2f
Make mj_loadModelBuffer a public API.
...
PiperOrigin-RevId: 843105390
Change-Id: I4058471b4cf64995dd5ab43e9c8c24e322004b62
2025-12-11 01:24:17 -08:00
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
888d3a7b07
Add mj_copyState
...
PiperOrigin-RevId: 836588419
Change-Id: I7609e121dc0ac697d4d015d4244bdd5962650def
2025-11-25 03:10:30 -08:00
c2e9bfa3e8
Clarify semantic of body_rootid and body_weldid
...
PiperOrigin-RevId: 834827589
Change-Id: I562e0aa374ce59d8b769e8d003e4c63ee434a1fc
2025-11-20 10:54:59 -08:00
62872fecd1
Reduce size of mjsTexture.gridlayout (was 13, should be 12)
...
PiperOrigin-RevId: 833764817
Change-Id: I2655a729d38a8871be2024492ce2a971fc8a0372
2025-11-18 04:49:05 -08:00
a66cf303f8
Clean up ray functions
...
PiperOrigin-RevId: 833299985
Change-Id: I30aabe889ccc5900ff0e50a578e98e176d3effa4
2025-11-17 05:47:44 -08:00
6c15c711ee
Make mjv_cameraFrame and mjv_cameraFrustum public.
...
PiperOrigin-RevId: 832187804
Change-Id: I74d05d7fe03bc81bd05a823c7c9791bca12e3079
2025-11-14 00:03:18 -08:00
042c5223a6
Change mj_sizeModel return type to mjtSize.
...
PiperOrigin-RevId: 831768095
Change-Id: I079fbadc403b32a3ce8a73fe21b2cd66391401c3
2025-11-13 02:32:18 -08:00
252a0d73df
Add sleep related data structures
...
PiperOrigin-RevId: 829055431
Change-Id: I1ccbd77a57044a754ae7db611b4c2c0010fbda53
2025-11-06 12:10:55 -08:00
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
d971e5c2df
Merge pull request #2908 from davidhozic:doc/fix-comments
...
PiperOrigin-RevId: 824546229
Change-Id: I9961e7f39d0549ff8b15a1007fb20832a0014bbd
2025-10-27 09:16:01 -07:00
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
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
59f14485e0
Move mjCWrap type to mjsWrap.
...
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
414888b716
Mark some mjData fields as mutable.
...
PiperOrigin-RevId: 815819490
Change-Id: I1a62fda556b4197aec451f2747c69f34bab13220
2025-10-06 11:43:38 -07:00
431f96572e
Remove unused mjOption.apirate.
...
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.
...
PiperOrigin-RevId: 814816067
Change-Id: Idc6232e5d1ef1ff0318aeacd0e3d4b4a5a303485
2025-10-03 13:47:28 -07:00
32e08f9507
Expose userfacenormal to mjsMesh
...
PiperOrigin-RevId: 814253177
Change-Id: I644974feea0722f03e7c3b01be7b702dba233f0a
2025-10-02 08:53:42 -07:00
6320b95957
Add mju_getXMLDependencies that given an MJCF file returns filepaths to all of it's dependencies.
...
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.
...
PiperOrigin-RevId: 813119377
Change-Id: Iebff9e7796ca9809ea22902522982bfd96eeba06
2025-09-30 00:06:00 -07:00
6a7566872a
Functions for printing the contents of mjvScene.
...
PiperOrigin-RevId: 812699642
Change-Id: Iafff53c952c952624129ff01a8c1b0aa5d38eec5
2025-09-29 02:47:17 -07:00
d71d42a374
Add private function mju_isZeroByte to check for byte-wise zero.
...
PiperOrigin-RevId: 810456282
Change-Id: I877d0f9225e7a783ed7ff12ce54f4ed0a7889793
2025-09-23 08:49:43 -07:00
0e1104768a
No public description
...
PiperOrigin-RevId: 809083979
Change-Id: I5c6641b73c76153c15f5cdf858b788e1433acc81
2025-09-19 10:10:45 -07:00
26ea20a21f
No public description
...
PiperOrigin-RevId: 809074980
Change-Id: Ib3e3522addceddba6a057cfef80fcbd30a420b3d
2025-09-19 09:49:07 -07:00
77e025ea98
Move meshdir and texturedir to mjsCompiler.
...
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
017e7d5a73
Add light ids.
...
PiperOrigin-RevId: 805755907
Change-Id: I92a1b1ea4ce1495c2746fd518f33ab2d1ad81399
2025-09-11 03:20:44 -07:00
ea660f4c13
Expose minimal asset cache API.
...
PiperOrigin-RevId: 803126923
Change-Id: Iabf63802572f7cb86864b5ece85f44b3f15a4ec0
2025-09-04 12:18:36 -07:00
8d884585dd
Add target relative mouse motion actions.
...
PiperOrigin-RevId: 802072880
Change-Id: I1ff204594a126f8e50df4c703709f70ec4dd458c
2025-09-02 03:39:49 -07:00
8acd83f317
Add passive collision mode for flexes.
...
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.
...
PiperOrigin-RevId: 800870384
Change-Id: I273e0ceec090901e2620febb67e57914928e94bb
2025-08-29 06:06:28 -07:00
ed6fa7fe09
Remove unused mjMOUSE_SELECT option.
...
PiperOrigin-RevId: 799957524
Change-Id: I69d091781dc2a2e4a762d2255d04fc411295602a
2025-08-27 03:19:04 -07:00
debfdf011e
Add some missing Nullable annotations.
...
PiperOrigin-RevId: 799527319
Change-Id: If84a3b2f19243ea9cf8b114d1421879d8186eb1d
2025-08-26 05:52:01 -07:00
ec94bb49aa
Make constraint island discovery on by default.
...
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.
...
PiperOrigin-RevId: 798987338
Change-Id: I3117742de7eb3c16366f266fe0c0651262717cb4
2025-08-24 23:45:14 -07:00
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
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
a64a26c3ae
No public description
...
PiperOrigin-RevId: 798355907
Change-Id: I3a225e3200cbc60ccc3d93f21694a606a7ab296a
2025-08-22 15:04:46 -07:00
93c5665730
Add some missing Nullable annotations.
...
PiperOrigin-RevId: 798298579
Change-Id: I773eda7deca10c820345a33835716072e0b9af5a
2025-08-22 12:15:02 -07:00
1fb1810b07
Add ability to specify a material assignment to a mesh asset.
...
This extends both the spec and the XML definition to allow specification of a material name on a mesh. This material acts as a fallback in the case that the referencing geom element does not specify a material of it's own.
PiperOrigin-RevId: 798232378
Change-Id: Iaf300c727732744ea1b613e64334ee505ac6e209
2025-08-22 09:11:31 -07:00
ecfe65242f
Add nullable attribute to AST nodes for function parameters in API introspection. Fixes #309
...
This change introduces an `nullable` flag to `ArrayType`, `PointerType`, and `FunctionParameterDecl`. The code generation process now parses function comments from `mujoco.h` to identify parameters marked as "Nullable" and sets this flag accordingly.
PiperOrigin-RevId: 797870883
Change-Id: Ic7cac5a7a9c14177fbf97b8655c5c4809d4ef683
2025-08-21 12:35:10 -07:00
2f28473bc1
Remove transposed Jacobian fields from mjData
...
No longer computed unconditionally, only ad-hoc where required.
PiperOrigin-RevId: 797753297
Change-Id: I2030fc342c98ff33575b0526dd72e2110c4fcb74
2025-08-21 07:21:24 -07:00
b66175eba6
Bending stiffness for curved shells in flex.
...
PiperOrigin-RevId: 796361841
Change-Id: I105ea235fe2a8e1bcbde67276d77fa92eed214a1
2025-08-18 04:13:18 -07:00
Yuval Tassa