Also:
- Patched Filament to support building with Clang, so the default MuJoCo build
mode doesn't need to change. This should probably be upstreamed.
- Added missing Windows deps to MuJoCo Platform CMake config.
- Updated Studio CMake config to fix unresolved symbols issues on Windows.
PiperOrigin-RevId: 934612701
Change-Id: I3a34a5d274e1452c9cfef0e2868f2788b4b0c7e8
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
For example when loading parent_merge.xml:
```
WARNING: Attach conflict when attaching 'child' to 'parent_merge', policy is 'merge'
timestep: parent has 0.005, child has 0.002, taking the minimum
iterations: parent has 50, child has 100, taking the maximum
flag 'Damper': added from child
```
When loading parent_error.xml:
```
XML Error: Attach conflict when attaching 'child' to 'parent_error', policy is 'error'
timestep: parent has 0.005, child has 0.002
iterations: parent has 50, child has 100
Element 'attach', line 10
```
PiperOrigin-RevId: 933620810
Change-Id: Ib477863b5ef763474d27fb4be5a4148be1d5d500
Compiler warnings are now accumulated in a vector of strings within the mjSpec object. New API functions `mjs_numWarnings` and `mjs_getWarning` are added to access these warnings. The compiler's log handler now chains warnings to the global log handler, ensuring they are still displayed immediately. Call sites in `mj_loadXML`, `mj_compile`, and the Python and WASM bindings have been updated to use the new warning API.
PiperOrigin-RevId: 933361650
Change-Id: I47cab98a460c57b0898c0a1a43fce2a5b9648eb1
--
8ce7d8199ace95d0f429b0ca9169d290d167cee1 by Anas <anaselghoudane@gmail.com>:
Use box midpoint to choose finite-difference direction in jacobian_fd
When bounds are provided, `jacobian_fd` chooses each coordinate's
finite-difference direction so the perturbation steps away from the nearer
bound. It compared `x` against `0.5 * (bounds[1] - bounds[0])`, which is half
the box *width*, not the box midpoint. For bounds that are not centered on the
origin this selects the wrong direction, and at the lower bound the perturbation
steps outside the box.
Compare against the midpoint `0.5 * (bounds[0] + bounds[1])` instead. Adds a
regression test checking that all residual evaluations stay within an off-center
box when `x` is at the lower bound; it fails before this change and passes after.
--
cfa085484c30df808362898e322de8adc6660b59 by Kevin Zakka <kevinarmandzakka@gmail.com>:
Expand jacobian_fd bounds test and avoid midpoint overflow
Use the distributive form `0.5*lo + 0.5*hi` instead of
`0.5*(lo+hi)` to avoid overflow for extreme bound values.
Expand the single-case test into a parameterized subTest covering
all four boundary positions (lower/upper of positive and negative
off-center boxes), and rename it to `test_jacobian_fd_respects_bounds`.
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/3301 from Nas01010101:fix/minimize-fd-box-midpoint cfa085484c30df808362898e322de8adc6660b59
PiperOrigin-RevId: 933224876
Change-Id: I833cfe3324876cdeb7ca680c23d1d8a4d16adcf1
Correct argument types for timeconst and range parameters in pybind11
python bindings from C arrays to std::array.
Fixes#3282, #3282, #3318
Thanks to @Abzaek for original PRs
PiperOrigin-RevId: 932423401
Change-Id: Ic30ba076913693f5c0e545789690e8b0fa444390
Allows other files (e.g. mjrfilament) to define functions that
will be added to the introspection output.
PiperOrigin-RevId: 932403177
Change-Id: Ie2d2c6be67f0706463fdec4fc498364125e05dad
- Move SimToView and ViewToSim dataclasses from async.py to viewer_protocol.py (adding a user_data field) to consolidate IPC protocol definitions.
- Remove the simulated Network class and latency UI controls from async.py to simplify the example and focus on core multiprocessing communication.
- Use parser.parse() in main() for cleaner and more direct MuJoCo model loading.
- Add cancel_join_thread() to multiprocessing queues and a join timeout to prevent atexit handlers from blocking during process shutdown.
PiperOrigin-RevId: 932327625
Change-Id: If91777dba934814b3f9faa17f9055869920575d7
Widen mju_error_msg buffer from 1024 to 2048 and replace strncpy with
snprintf to avoid -Wformat-truncation and -Wstringop-truncation.
PiperOrigin-RevId: 930982013
Change-Id: I0fcd726e5ed1ad28594bd4ef55b8b1ae72020043
This change adds py::gil_scoped_release to various functions in the parser, renderer, sim and ux modules of the MuJoCo Studio Python bindings. This allows other Python threads to execute while these C++ functions, which can sometimes be time-consuming, are running. The two heaviest operations Present() (rendering) and Advance() (physics) now both release the GIL in C++.
PiperOrigin-RevId: 930645361
Change-Id: Ib239fb54edc7ac0d8b1d94bec8c57a447d5f4d27
Adds py::gil_scoped_release no_gil; to mujoco::studio::Viewer methods to release the Python GIL during C++ execution.
PiperOrigin-RevId: 930482271
Change-Id: I590794109418516ec5d9e8b536085560a1d36314
When an mjpResourceProvider's open callback returns 0 (failure), MuJoCo does
not invoke the corresponding close callback. Previously, several resource
provider implementations allocated heap memory or system file handles before
encountering an error, failing to clean them up before returning 0. This change addresses these leaks across the codebase and clarifies the API contract.
PiperOrigin-RevId: 929803942
Change-Id: Ib7344033726895cdf037a8d9356ffc183c78c2d3
- Update rollout.py to use mujoco.MJTNUM_DTYPE instead of np.float64.
- Update rollout_test.py to use DTYPE for all state/control/sensor arrays to avoid copies and type mismatches.
PiperOrigin-RevId: 928539946
Change-Id: Iee2250c049de799cb0e23ffe5558fe6eea8b3fd8
mujoco.minimize.least_squares now supports x_scale natively, so the
sysid wrapper becomes a thin pass-through. 'jac' is adaptive per
iteration (was static at x0).
This change allows users to provide an optional `step_fn` callable to `StudioApp.update` and `StudioApp.update_from_viewer`. When provided, this function is called to advance the physics simulation instead of the default `step_control.advance`.
PiperOrigin-RevId: 925439890
Change-Id: Ia833503f6dd0c22fb8d75af6c5f06757496853e5
The StepControl::Advance method now accepts an optional std::function to be used instead of mj_step. This allows for custom simulation logic to be executed within the stepping loop. The Python bindings for StepControl::advance have been updated to support passing a Python callable as the custom step function.
PiperOrigin-RevId: 925393132
Change-Id: Id2820c4b55cbdfee6b01adc2395e99a990d4e7a3
Following the export declarations in Dear ImGui and ImPlot METADATA, this change updates MuJoCo's Copybara configuration (copy.bara.sky) to export and transform the Python bindings. `//third_party/dear_imgui/google/py` exports to `python/mujoco/experimental/dear_imgui` and `//third_party/implot/google/py` exports to `python/mujoco/experimental/implot`.
PiperOrigin-RevId: 925293624
Change-Id: Ie6e32d247a6f7fc24bb36ae7060f2075d8efeb26
The field now stores either an approximate or exact diagonal of the constraint matrix A, so the name is made more general.
PiperOrigin-RevId: 924244954
Change-Id: I62b2f76531fb88b7b3bf96e6769940197596702b
Michael Moss