The `body_sameframe`, `geom_sameframe`, and `site_sameframe` flags are now recomputed within `mj_setConst` based on the current model geometry. This allows these flags to be updated if the model's body/geom/site frames are modified after the initial compilation. Tests are added to verify the correct recomputation and its effect on forward kinematics. The compiler also checks that its initial computation matches the result of `mj_setConst`.
Fixes#3029, #1628.
PiperOrigin-RevId: 941758649
Change-Id: I7b995f8c67ad305bca5b52732436ba578c905d73
Undo mistaken auto-format of the schema table, revert it to be more human-readable.
PiperOrigin-RevId: 941628625
Change-Id: Ifc51996da9a7df9d1a03392a0ade256fb8b1c151
The line search now requires a negative cost (improvement) in addition to a small derivative to declare convergence, preventing premature termination when no actual improvement has been made.
Follows the proposal in github.com/google-deepmind/mujoco_warp/pull/1471
PiperOrigin-RevId: 941579503
Change-Id: I8fcd20f7b959e50d77cd5d6de0a3c6d95f86b9e1
Similar to LightManager, the RenderableManager manages
renderables based on an mjModel and its mjData.
PiperOrigin-RevId: 941510745
Change-Id: I97b44cc857f136aa7c90ceb85a42e299fc759b73
The `<attach>` element now supports a "frame" attribute, allowing users to specify either a "body" or a "frame" to attach to, but not both. The XML parser has been updated to handle this new attribute and the mutual exclusivity constraint.
PiperOrigin-RevId: 941245904
Change-Id: I4c0edeed5f3a9e456aed96c373b1647fe79841d9
The lazy init of log_config used a single atomic flag (env_checked) with
a load-then-store pattern, allowing two threads to both enter the init
path and concurrently write to the non-atomic log_config.topics field.
Replace with a two-phase atomic init: an atomic exchange on
env_init_claimed ensures exactly one thread enters the init, while
env_init_done (with acquire/release semantics) signals completion and
provides the happens-before edge that makes log_config writes visible to
other threads.
Also adds mj_atomic_exchange_bool to engine_crossplatform.h (both MSVC
and GCC/Clang variants).
PiperOrigin-RevId: 941202181
Change-Id: I59b6801c7b4b8b0e1647d82d2aeb534a90fb66fb
StepControl methods SetSpeed, SetNoiseParameters, and SetPauseState now return a boolean indicating whether the state was actually changed. The GUI functions NoiseGui and StepControlGui also return a boolean reflecting if any parameters were modified. Noise parameters are now directly managed by StepControl rather than being stored in UxState. The StepControlEvent message has been expanded to include all step control parameters. Keyboard event handling has been slightly refactored to better align with event-based updates.
PiperOrigin-RevId: 940656342
Change-Id: I3701623a2fdcfc4c084b5db0ae19048669040de4
Also ensure material texture hashes are unique so that the material
cleanup works correctly.
PiperOrigin-RevId: 937206048
Change-Id: Ibed53457ee271f4faae3bcac5fb479b5ce9fc352
When reporting conflicts between parent and child elements during attachment, the warning message now indicates if a value is derived from the default rather than being explicitly authored in the XML. This improves clarity in conflict resolution warnings.
PiperOrigin-RevId: 936724265
Change-Id: I68c677b19020c19bf0260f5b3b77fe6ca3661bb9
- Added "Info" and "Profiler" to the "View" menu.
- Deleted the obsolete "Charts" menu entirely
- Removed the "Stats" toggle item from the "Help" menu.
PiperOrigin-RevId: 935314037
Change-Id: I01ee30cbba5c1b4aa54c2940b0265401cc965c07
Also:
- Packages MuJoCo Studio as MuJoCoStudio.app in the MuJoCo.dmg.
- Fixes a Filament compile issue.
- Patches libwebp to fix compile error related to universal builds and forces
it to build as static.
- Removes the separate, obsolete "build_studio" step.
PiperOrigin-RevId: 934564785
Change-Id: I50c83283b5e138062e37d53926a5a77fdf99dbfa
Yuval Tassa