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Author SHA1 Message Date
Matija Kecman 3a623aaf33 Internal change. 
PiperOrigin-RevId: 940601733
Change-Id: I83855569f85012173c3edf167eca78d236f6cdea
 2026-06-30 12:38:11 -07:00
Taylor Howell 1810051d16 MuJoCo Warp documentation: Large scenes 
PiperOrigin-RevId: 940590426
Change-Id: I006e245b54cd4165928927bee76f44d730bdd895
 2026-06-30 12:14:48 -07:00
Google DeepMind 095608ef5f Make a bindings.h header file with the declarations, so that other projects can reuse the declared structs. 
Add parseXMLString overload that supports passing in an MjVFS.

PiperOrigin-RevId: 940579266
Change-Id: I8294988bc4279e80795fab21024f64562a9e6743
 2026-06-30 11:57:50 -07:00
Haroon Qureshi e2d7955437 Enable status bar by default for python studio. 
PiperOrigin-RevId: 940557724
Change-Id: I0a4c96a53a0bcfcb5677515705c874d12bfd300d
 2026-06-30 11:18:24 -07:00
Matija Kecman 7a84022092 Add ImGui bindings for Docking and window size constraints 
PiperOrigin-RevId: 940470346
Change-Id: I731eedd0bd04afbd0c526ed8b27e6fb804596d20
 2026-06-30 08:32:46 -07:00
Yuval Tassa 584ccd73d5 Improve error/warning display in studio. 
PiperOrigin-RevId: 940299502
Change-Id: I8b13e2f984627a638a01b52f7dadca43f2c2ca80
 2026-06-30 01:12:22 -07:00
Martin Schuck 407be2fc0b Copybara import of the project: 
--
83a17d2844770fc2bbff37eda73b82df56076414 by Martin Schuck <martin.schuck@tum.de>:

Fix overflow cast

--
d12211c6665e1d791f77338daf8c62fa2374e3c8 by Martin Schuck <martin.schuck@tum.de>:

Prevent skipping warnings from cached jax functions by clearning the cache before invokation

COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/3369 from amacati:fix.overflow_cast d12211c6665e1d791f77338daf8c62fa2374e3c8
PiperOrigin-RevId: 939914544
Change-Id: I0ab6e9ad1e7c45f352d2f49642049ad930955f0b
 2026-06-29 10:45:40 -07:00
Sam Haves 4e1795b9a4 Add special case support for MJB and TXT files to mj_encode. 
PiperOrigin-RevId: 939875974
Change-Id: I57fc753871b348a7f6342aca0a892e74acb74173
 2026-06-29 09:32:50 -07:00
Sam Haves d83ef0b6b9 Change mj_encode return type to 64-bit (mjtSize) 
This supports encoding files larger than 2GB.

PiperOrigin-RevId: 939828697
Change-Id: If60d36c61475ced20b4eb58408ffb37e25bf3db7
 2026-06-29 07:41:52 -07:00
Taylor Howell 1e04c568e8 Studio launcher 
PiperOrigin-RevId: 939814201
Change-Id: If3fb1a1a9f9114835452fce63f39931db7818db3
 2026-06-29 07:07:54 -07:00
Yuval Tassa 7c706b273a Report nnz(J) for CG solver. 
PiperOrigin-RevId: 939806054
Change-Id: Icb2955511e33be046a4665fb39bce2546d6d4e3d
 2026-06-29 06:49:23 -07:00
Matija Kecman e0bb2b0665 Introduce message and endpoint abstractions for MuJoCo Studio communication. 
-   `messages.py`: Defines base classes for `Message`, `Snapshot`, and `Event`, along with `SnapshotChannel` and `EventChannel` protocols. It also includes concrete message types for state, reset, model, perturbation, pause state, and exit events.
-   `endpoints.py`: Provides `ViewerEndpoint` and `SimEndpoint` classes to manage message routing between the simulation and the viewer via the defined channels. A `make_endpoints` function is included to create both endpoints.

PiperOrigin-RevId: 939659912
Change-Id: I61a52a7d25431bc4ed38a184813882145eb421d1
 2026-06-29 00:24:15 -07:00
Matija Kecman f594778813 Refactor viewer initialization and protocol. 
Introduced a ViewerConfig dataclass to encapsulate common viewer window parameters. The NativeViewer now accepts a ViewerConfig and no longer requires a model at initialization. The Viewer protocol has been updated to include a close method (renamed from stop) and an upload_image method. Added checks for None models/data in studio event handling.

PiperOrigin-RevId: 939631378
Change-Id: Ibc07d0e775efa0d79ce5552ee52102e943a9b290
 2026-06-28 23:07:02 -07:00
Haroon Qureshi 79f6deac99 Update bounds when updating the mesh. 
PiperOrigin-RevId: 938628053
Change-Id: Ibd3d952d62614fc1eb049893937e6fb2d661da56
 2026-06-26 09:25:06 -07:00
Yuval Tassa c7b1171846 Improvements to studio profiler 
PiperOrigin-RevId: 938503994
Change-Id: I3a12647feea4c761dd8f8ba239f92355ceccfba1
 2026-06-26 03:49:08 -07:00
Taylor Howell 56a182e67c Import Warp v1.14.0 
PiperOrigin-RevId: 938464395
Change-Id: Iac99c53566e2e62f6e75f5e0904100919043b463
 2026-06-26 02:03:42 -07:00
Haroon Qureshi 07e292bc6b Make mjrf types opaque in header. 
PiperOrigin-RevId: 938409081
Change-Id: I8b9680dcb04f56aadf9ffd601b08025fc624c656
 2026-06-25 23:41:49 -07:00
Haroon Qureshi 2a5345ba8c Add type attributes to help codegen. 
PiperOrigin-RevId: 937935655
Change-Id: I14883a98b7b9b4bcc3dea8b60d839138c14ea444
 2026-06-25 06:00:33 -07:00
Yuval Tassa 463b0fb27f Add ImGui overlay utility and PAUSE/realtime overlays to Studio. 
PiperOrigin-RevId: 937834952
Change-Id: I3f3a0500a89b34e2e03b2fe88344b928edeafe8f
 2026-06-25 01:45:01 -07:00
Yuval Tassa b6a0db7a17 Add Atkinson Hyperlegible Mono font support 
PiperOrigin-RevId: 937799904
Change-Id: I89e4652cc45afdd9a55b3042395c4a56c70289fb
 2026-06-25 00:16:39 -07:00
Haroon Qureshi 4b8a8fae92 Move code_builder.py to a common location. 
PiperOrigin-RevId: 937332995
Change-Id: I2f03581cc47d96337bb637f30c678060207333fd
 2026-06-24 07:44:40 -07:00
Yuval Tassa 0402bae176 Replicate the controls from the toolbar into the collapsible options sections and provides an option to hide the toolbar. 
PiperOrigin-RevId: 937290592
Change-Id: I08f1f4880fd0b06123e817cb9ae7a3281daa8063
 2026-06-24 06:09:24 -07:00
Haroon Qureshi 3d09a46d61 Use bulbradius as the vsm_blur_width as well. 
PiperOrigin-RevId: 937286692
Change-Id: I03502da45951f90979b8f8d58915c80656a5eac7
 2026-06-24 06:00:31 -07:00
Matija Kecman 38956ed95c Handle None values for model and data in StepControl.advance. 
The `StepControl.advance` method now checks if the provided `model` or `data` Python objects are `None` before attempting to cast them to `MjModelWrapper` or `MjDataWrapper`, passing `nullptr` to the underlying C++ function if they are `None`.

This fixes an oversight in the python bindings, C++ code already supported null models.

PiperOrigin-RevId: 937243996
Change-Id: Ie67b8603517e7390fb54bfefbfed79ccf7b2bc5e
 2026-06-24 04:18:29 -07:00
Haroon Qureshi a3039224ba Add attributes for codegen assistance. 
PiperOrigin-RevId: 937219243
Change-Id: If3a0830b7020d52ef346d97886a90950941f4908
 2026-06-24 03:17:03 -07:00
Haroon Qureshi 3e33f93ddc Remove unused material instances before rendering frame. 
Also ensure material texture hashes are unique so that the material
cleanup works correctly.

PiperOrigin-RevId: 937206048
Change-Id: Ibed53457ee271f4faae3bcac5fb479b5ce9fc352
 2026-06-24 02:46:33 -07:00
Haroon Qureshi 29b49991a2 Rename mjrf_getSamplerType to mjrf_getTextureSamplerType. 
PiperOrigin-RevId: 937193469
Change-Id: I56f856e257fa1cf99b643f794139ef85817a0bb9
 2026-06-24 02:18:07 -07:00
Yuval Tassa 080668df42 Add "(default)" to conflict warnings in user resolver. 
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
 2026-06-23 09:44:29 -07:00
Haroon Qureshi 5637f74327 Add plugin for adding mjvGeoms to the scene. 
PiperOrigin-RevId: 936709560
Change-Id: I69a01fc50e2d4b013d260d524515719c434bbf5f
 2026-06-23 09:16:41 -07:00
Haroon Qureshi 557a2241f4 Add PreStep and PostStep plugin callbacks. 
PiperOrigin-RevId: 936665884
Change-Id: Ie04562b02bfd61a62f9de77b3cef0fff534bf547
 2026-06-23 07:49:29 -07:00
Haroon Qureshi 94a912d349 Allow plugins to request loading models by path. 
PiperOrigin-RevId: 936638157
Change-Id: If594c6a9abac5eb0d62e7d6dce4dc2f558989969
 2026-06-23 06:50:41 -07:00
Yuval Tassa c499f7f2b0 Add Nesterov momentum with O'Donoghue-Candès restarts to PGS solver (~2x speedup) 
Benchmark on `2humanoid100.xml` (nefc=1785, nv=654):

```
Convergence at fixed iteration count (mean relative error vs Newton):
  20 iters: 2.98e-03 vs 1.54e-02 (5.2x better)
  40 iters: 8.14e-05 vs 2.60e-03 (32x better)
  80 iters: 1.17e-07 vs 1.77e-04 (1500x better)

Pipeline throughput (tolerance=1e-8, islands disabled):
  Nesterov: 243 steps/s, 46 iters/step
  Baseline: 151 steps/s, 95 iters/step
  Solver speedup: 1.8x, overall step speedup: 1.6x

Pipeline throughput (tolerance=1e-8, islands enabled):
  Nesterov: 306 steps/s, 442 iters/step
  Baseline: 175 steps/s, 966 iters/step
  Solver speedup: 2.1x, overall step speedup: 1.7x
```

PiperOrigin-RevId: 936610759
Change-Id: I2978e8bd545971d9151005623967e5cf0ad125cc
 2026-06-23 05:52:14 -07:00
Haroon Qureshi 5cef2472d5 Remove custom step_fn for StepControl::Advance. 
PiperOrigin-RevId: 936609234
Change-Id: I606cf4d71d856cbd260900d63b22c719974c977d
 2026-06-23 05:49:20 -07:00
Taylor Howell 027cfd1201 simplify camera projection sensor 
PiperOrigin-RevId: 936571266
Change-Id: I5647e61fcc81ba6eb482dd95d3c40438f478bb18
 2026-06-23 04:17:38 -07:00
Haroon Qureshi da2f0ebd7b Add prestep/poststep callbacks to StepControl. 
PiperOrigin-RevId: 936567801
Change-Id: I62d4d657791fe68101e63c2050adb63929128acf
 2026-06-23 04:07:26 -07:00
Haroon Qureshi 7f66f42568 Make Renderer own the scenes. 
PiperOrigin-RevId: 936547976
Change-Id: Iec87426a9ae255cdbd3efadc7b602d4183679c81
 2026-06-23 03:15:48 -07:00
Haroon Qureshi 2800a682e4 Remove unused render_flags parameters. 
PiperOrigin-RevId: 936528056
Change-Id: Iae8545ec1d71bc7d5a20c46394104fb1db369d5d
 2026-06-23 02:29:25 -07:00
Haroon Qureshi 7a00c1f3e0 Factor out AstProcessor into its own library. 
PiperOrigin-RevId: 936518263
Change-Id: I597ef4382e7ddc953f8daedd4f5123d71f0e8a42
 2026-06-23 02:08:57 -07:00
Yuval Tassa 5d043d8f72 Minor tweaks to studio GUI style parameters. 
PiperOrigin-RevId: 936508032
Change-Id: I93806ba3d0569b5ee01e95384f7f835a201b8253
 2026-06-23 01:46:31 -07:00
Kyle Bayes 0fd7bea973 Modernize struct and enum style in MuJoCo headers. 
PiperOrigin-RevId: 936485706
Change-Id: I31864acc4bd44573127d3d04c6b1a23f9d9c4cbc
 2026-06-23 00:48:11 -07:00
Yuval Tassa afccd36dd4 Add threading support to PGS 
PiperOrigin-RevId: 936252614
Change-Id: I6762245cc2dbdb95568f0a927c26b575dc494b51
 2026-06-22 14:29:17 -07:00
Michael Moss 5700829122 Update MuJoCo version to 3.10.1 following the 3.10.0 release 
PiperOrigin-RevId: 936044969
Change-Id: If0ebcc192419302da01741ebabb2b7dd3d7f7baf
 2026-06-22 07:25:02 -07:00
Michael Moss 28009f9105 Update changelog for the 3.10.0 release. 
PiperOrigin-RevId: 936044016
Change-Id: I4b6e3205819b7bd0469415fe0b57990b68309d1b
 2026-06-22 07:22:23 -07:00
Yuval Tassa e2528cbd93 Rename "Stats" window to "Info" and remove "Stats" dock. 
PiperOrigin-RevId: 936026479
Change-Id: I72e4f2cba6df255d5446faedc81727b39ef735bc
 2026-06-22 06:38:03 -07:00
Michael Moss 4b1320a5f9 Patch Abseil to verify compiler support for std::source_location. 
PiperOrigin-RevId: 936018935
Change-Id: I2cabbdf497dbb67452c27fc5ed02c56e6884f3d4
 2026-06-22 06:16:36 -07:00
Kyle Bayes 1490336955 Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data. 
PiperOrigin-RevId: 935980153
Change-Id: I41d25bfab4935494dc984168820cb7cad123cadf
 2026-06-22 04:19:01 -07:00
Michael Moss 34d142ee50 Force Abseil's SourceLocation implementation for compatibility with clang 13/14. 
PiperOrigin-RevId: 935926249
Change-Id: I063544e37eb735d0461a20c2ede7e23ea28d23bc
 2026-06-22 02:02:00 -07:00
Yuval Tassa bf59ca6a1b Make the info overlay position fixed (bottom left) 
PiperOrigin-RevId: 935868629
Change-Id: I26b8d50f276b05c9869ea0f6cc5c3033ab6ef2f9
 2026-06-21 23:39:55 -07:00
Yuval Tassa d5db39c762 Fix various bugs related to value bounds in studio UI. 
PiperOrigin-RevId: 935855305
Change-Id: I14b41fc751dc04d35beada0dd5d1f0bfddf9af34
 2026-06-21 23:01:57 -07:00
Yuval Tassa 916695e794 Fix step timing diagnostics and make compiler errors transient in simulate. 
PiperOrigin-RevId: 935675994
Change-Id: I7bc26291fb061e712187e0a6205723fda65b5f46
 2026-06-21 11:08:01 -07:00