3c99705f85
Update MuJoCo's version number following the 3.3.4 release.
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PiperOrigin-RevId: 781596261
Change-Id: Iac050c4b9cb65542b52fa6b8c54ff2537bc6a648
2025-07-10 10:47:26 -07:00
0b11e3e3fa
Fix typo in changelog
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PiperOrigin-RevId: 781550866
Change-Id: I960ac501bac04c5f3cc342aea808a390b20443c4
2025-07-10 08:45:40 -07:00
243c011ea0
Add note about performance and release builds.
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PiperOrigin-RevId: 781460349
Change-Id: I7defa9bf31376afa31b32f26523e8ebd9da3fc0e
2025-07-10 03:40:25 -07:00
26a42e2848
Add sdflib changelog item.
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PiperOrigin-RevId: 781106659
Change-Id: If4f151468f65095916d76cea2627779640bd5d29
2025-07-09 10:15:52 -07:00
96118da08b
Move SDF precomputation to the mujoco compiler.
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Before:
```
Simulation time : 2.24 s
Steps per second : 4472
Realtime factor : 8.94 x
Time per step : 223.6 µs
Newton iters / step : 2.47
Contacts / step : 3.37
Constraints / step : 13.49
Degrees of freedom : 12
Dynamic memory usage : 0.2% of 14M
```
After:
```
Simulation time : 1.71 s
Steps per second : 5854
Realtime factor : 11.71 x
Time per step : 170.8 µs
Newton iters / step : 2.19
Contacts / step : 3.45
Constraints / step : 13.79
Degrees of freedom : 12
Dynamic memory usage : 0.2% of 14M
```
PiperOrigin-RevId: 781075182
Change-Id: Ie509047ff581ab0df4b10bbd394c27d350ab5a13
2025-07-09 08:57:09 -07:00
a3d251f552
Add mjModel.sensor_intprm, integer parameters of sensors
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PiperOrigin-RevId: 781053754
Change-Id: I90e5ef1cab3f87b894dbc70dccfc8bf0046ce1b6
2025-07-09 08:00:21 -07:00
e6c5715903
Add insidesite sensor for detecting when an object is inside the volume of a site.
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PiperOrigin-RevId: 780993257
Change-Id: I2dcfc840d222680adc3b934344a0819f4d78b6eb
2025-07-09 04:56:42 -07:00
2a32babb78
Update Mujoco Deps in preperation for the 3.3.4 release
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PiperOrigin-RevId: 780712420
Change-Id: Ib13d18bcf0f248acff93c04f977eec59185dc932
2025-07-08 14:21:53 -07:00
45d4cacc45
Remove dense actuator_moment for _put_data_c.
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PiperOrigin-RevId: 779234984
Change-Id: I19ac2849aa2b00b1688781491c9230558c24c7a2
2025-07-04 11:03:59 -07:00
67f9ffddbd
Delete outdated mjs_delete doc.
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PiperOrigin-RevId: 778912984
Change-Id: I2c09c67706679e9e85ea29fd63e698cddb0ef6ca
2025-07-03 09:54:52 -07:00
465fb3234c
Updates for documentation.
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PiperOrigin-RevId: 778872216
Change-Id: I01406dcc03b11dfde80d6f59c6138b1ceb670716
2025-07-03 06:35:11 -07:00
7aa3b81c67
Fix minor typo in changelog.
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PiperOrigin-RevId: 778854401
Change-Id: Ie1a2f2b4b6e0524d0ca7463b84c8fc550dcbdda7
2025-07-03 05:16:11 -07:00
7548d370ed
Add missing changelog item and enum documentation, clarify breaking changes.
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PiperOrigin-RevId: 778842895
Change-Id: I53f7f639ce8f1d3d5066fa7364bc1b74f2ed14ef
2025-07-03 04:24:23 -07:00
564c51ddb9
Check for duplicated names when setting element names.
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PiperOrigin-RevId: 778827590
Change-Id: I77a208c1571cf735cae80840ea830aa347681f71
2025-07-03 03:20:55 -07:00
594e17074a
Replace name attribute with setters and getters in the C API of mjSpec.
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PiperOrigin-RevId: 778816015
Change-Id: Ieffb7a5bce37e887ff009f9a02d2434435e79ca1
2025-07-03 02:30:56 -07:00
1c5d47c94b
Fix paragraph rendering in texture docs.
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PiperOrigin-RevId: 778803841
Change-Id: I17412b4d549984b361cab9edc20d04a708a71985
2025-07-03 01:42:26 -07:00
5c1f1f9dba
Add octree to meshes of SDF geoms.
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PiperOrigin-RevId: 777634862
Change-Id: I3210c2f8d73fd30ceecb0a11abd1d82e086b3d5d
2025-06-30 10:50:15 -07:00
09f44b3c92
Explain why mjpython is needed on MacOS
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PiperOrigin-RevId: 776500649
Change-Id: Ifc4c944284f541cdb3a7027365ee27caaee39731
2025-06-27 03:01:10 -07:00
09f7154e57
Add option to only sync the state to improve sync performance in passive mode.
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By default this option is off, which preserves the current behavior of syncing all of `mjModel` and `mjData`.
PiperOrigin-RevId: 776498017
Change-Id: I02127c9397efbabebb89b0e0d139b00b6e665d35
2025-06-27 02:49:58 -07:00
18d5d5d03f
Improve documentation related to mjSpec element deletion.
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PiperOrigin-RevId: 775677830
Change-Id: I02e51b57956b0b6a20c654326b54e001b498dd96
2025-06-25 07:23:51 -07:00
8d9556db7c
Update MJX feature parity.
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PiperOrigin-RevId: 775147260
Change-Id: I48097c2ac4ef17b7f17f6fd8a894ae00a25abf63
2025-06-24 02:54:23 -07:00
a00bfa819c
Raise error when binding to a removed element.
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PiperOrigin-RevId: 774462737
Change-Id: I820c0e1c010ae9fbf6d9667c3364d4b65bf21002
2025-06-22 10:15:31 -07:00
419cdf1ff3
Add mesh fit image to XMLreference
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PiperOrigin-RevId: 774458193
Change-Id: I3bae60e431c628ccc4cb96f96cc7b045dc365698
2025-06-22 09:54:44 -07:00
14dc7c2a60
Add "cameraid" attribute to visual/global specifying the default camera to use at model load.
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PiperOrigin-RevId: 773783069
Change-Id: I2fff2abdceedc982d89cee8d14b95abceea1c113
2025-06-20 11:41:27 -07:00
a2acd2d4ed
Rename detach_default and detach_body to delete in the mjSpec bindings.
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PiperOrigin-RevId: 773674361
Change-Id: I3977060e19e9ff0afc65ad91693c017958576b78
2025-06-20 06:23:30 -07:00
0488d9f4eb
Replace mjs_detachBody and mjs_detachDefault with mjs_detach.
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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
4ce6293217
Fix bug in inverse dynamics when tendon armature is present.
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PiperOrigin-RevId: 773604419
Change-Id: Iaffe3d831c6a5aba8a0a99c05aa76cbd862745f5
2025-06-20 02:25:04 -07:00
bb1d313780
Update docs reflecting MJX now has good support for implicitfast.
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PiperOrigin-RevId: 772660862
Change-Id: I2ba27b39bb6885b48f65ca1afdc6b83ec027a26d
2025-06-17 16:08:12 -07:00
a4ab35c194
update scrubs and set next version
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PiperOrigin-RevId: 770740070
Change-Id: I6b2f1356706b1849872df2583adbbb3f72057884
2025-06-12 11:39:45 -07:00
f978b4eea3
Release notes for 3.3.3 + update git hashes.
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- Upgraded dependencies versions.
- Added release date for 3.3.3
- Reordered changelog to be a numbered list.
PiperOrigin-RevId: 769808336
Change-Id: Iffa074f52ef2e3f9d450ce6973a7e85980417367
2025-06-10 14:49:17 -07:00
bf56312c9d
Increase size of image in changelog
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PiperOrigin-RevId: 769549620
Change-Id: I8666771ecf50b91342694deeb357b3edfa3f62d9
2025-06-10 03:34:17 -07:00
caaf7b3a69
Add tendon armature to MJX.
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PiperOrigin-RevId: 769294284
Change-Id: Idfbd4f355eb26fba5035973ab989a9d3af05c85f
2025-06-09 14:27:18 -07:00
b8768aa1cd
Allow to fusestatic a body if it doesn't generate a referencing error.
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PiperOrigin-RevId: 769189929
Change-Id: I62f512813ea330da088b28d39373df39be10a602
2025-06-09 10:05:57 -07:00
f75772587a
Add functions for setting an mjsActuator to a specific shortcut type.
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PiperOrigin-RevId: 769049331
Change-Id: If5bb04966bd29a57569a2c17d712b9ae3d33324d
2025-06-09 02:17:02 -07:00
dd18dd2024
Apply metallic and roughness scaling factors.
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PiperOrigin-RevId: 767518801
Change-Id: I7eff7b7a56cfbb9c6e46ac22011559eabf401c07
2025-06-05 03:03:16 -07:00
84ad22a590
Add mj_copyBack for copying real-valued arrays from mjModel back to mjSpec.
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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
9b2b7cf92a
Set light intensity to 0 by default (not 1000).
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PiperOrigin-RevId: 764257692
Change-Id: If656095e3f8d4b4d9c97fa67bdad508a49095eb3
2025-05-28 07:47:28 -07:00
3a4b6e6c5b
Added terrain generation to mjspec tutorial
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PiperOrigin-RevId: 764229337
Change-Id: Ic541eefc4b561d3c39c5ee99c7d38466d7e75903
2025-05-28 06:13:26 -07:00
568620dd2f
Add texture attribute to lights.
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PiperOrigin-RevId: 763739805
Change-Id: I333ed2ac68f30f79f688ca01d7b5fd6bf2d836c9
2025-05-27 05:04:01 -07:00
de3dc7c234
Update documentation from mjData.solver_iter to mjData.solver_niter.
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PiperOrigin-RevId: 763729137
Change-Id: I1266539ead38e083d427614d50b2aa79a68aa09c
2025-05-27 04:25:54 -07:00
ccc912c3b0
Improve docstring in mjvGeom, fixes #2629
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PiperOrigin-RevId: 763693102
Change-Id: Icb9a3168691690ccf086adb5a20358b3952d6717
2025-05-27 02:17:24 -07:00
89e39dc0a7
Expose mj_makeM as a sub-component.
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PiperOrigin-RevId: 763662068
Change-Id: I55ced456dca751c1de09fb35e2f73c60ffc0d626
2025-05-27 00:35:55 -07:00
3e2bbbd792
Merge pull request #2612 from budzianowski:main
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PiperOrigin-RevId: 763392959
Change-Id: I56472db86a347fb18d1450b80bbfe5405382cdae
2025-05-26 05:37:31 -07:00
74cc904edc
Convert light directional boolean into a type enum.
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PiperOrigin-RevId: 761983728
Change-Id: Id5bf93c103e5358d9c5cd9f1176532a978e0b3a8
2025-05-22 08:51:18 -07:00
373b4c0437
Support image/ktx format for textures.
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PiperOrigin-RevId: 761926074
Change-Id: I6a312634b5bdc706ea5166bc3b2be273e14c1c8a
2025-05-22 05:47:55 -07:00
3e9bc79b54
Adds color space to textures.
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PiperOrigin-RevId: 761907261
Change-Id: Iec546d1d5907a15e57ef809ec31850640fc52915
2025-05-22 04:33:40 -07:00
b728a50eb2
Correct elastic2d default information in the changelog.
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PiperOrigin-RevId: 761120899
Change-Id: Id7093f9baa775fb71cf1dd7aaf74f6bd8d4d5e83
2025-05-20 09:48:28 -07:00
bf722098f0
Fix broken link in changelog.
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PiperOrigin-RevId: 760730799
Change-Id: I65e2d06f9162266b2929cc4d26af621fc3535197
2025-05-19 12:40:36 -07:00
7edbdd0ad6
Remove the Shell plugin and integrate it into the engine.
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PiperOrigin-RevId: 760688502
Change-Id: Ia70988d42b7edf571d7cb4a4f48f8fc50b51667d
2025-05-19 10:51:25 -07:00
ced630181d
Replace mjv_sceneState and related code with mjv_copy{Model,Data}
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PiperOrigin-RevId: 760662776
Change-Id: I512bda9187fbc19ade6924b91d5cb2275078de42
2025-05-19 09:51:58 -07:00
Rishi Krishnan