52eff3da0f
Fix mismatched argument format in mju_mulInertVec declaration.
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PiperOrigin-RevId: 815818142
Change-Id: Id9caa581962705095f227a113505fc3e3ddd1054
2025-10-06 11:40:32 -07:00
ab9575d8a6
Refactor and speed up mj_crb and add a benchmark.
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This is a no-op "prefactor" of `mj_crb` to reduce the number of lines changed in the upcoming sleeping CL. The main change here is that `mj_crb` now avoids accessing the model and data pointer repeatedly, but instead has the input and output pointers explicitly declared as local variables. A benchmark test found a healthy **14% perf bump** due to two changes:
- Adding `restrict` to `mju_mulInertVec`
- The function-local pointers.
Adding `restrict` to the local pointers had no effect. Note that `mj_crb` is not a particularly expensive function so these speed bumps are not significant per se, but rather indicative of possible future gains with these techniques.
```
Benchmark Time(ns) CPU(ns) Iterations
---------------------------------------------------------------
ORGINAL BASELINE
BM_CRB_BASELINE_mean 4325 4348 993200 230.052k items/s
BASELINE + RESTRICT
BM_CRB_BASELINE_mean 4057 4090 1186150 244.573k items/s
LOCAL POINTERS + RESTRICT
BM_CRB_mean 3772 3800 1001750 263.209k items/s
```
PiperOrigin-RevId: 815798225
Change-Id: Iffdf57b544e8e10562807c617f73ca4ccd1c614f
2025-10-06 10:54:01 -07:00
b75af81c75
Update .readthedocs.yml.
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PiperOrigin-RevId: 815776443
Change-Id: I6637a7d303232ca41840e80e27b6dd9d6b6d803c
2025-10-06 10:07:55 -07:00
9e5c5b110d
Update .readthedocs.yml.
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PiperOrigin-RevId: 815693650
Change-Id: Ibeb1ceab983768b4af5759d9654ea857faa2db64
2025-10-06 06:15:51 -07:00
e10853e52e
MuJoCo Warp basic usage and minimal example documentation.
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PiperOrigin-RevId: 815654625
Change-Id: Ifa90a7469ef827777317bd3c4cda216130a5c7e9
2025-10-06 04:03:36 -07:00
431f96572e
Remove unused mjOption.apirate.
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PiperOrigin-RevId: 815633571
Change-Id: Ib98f3eb2df47f96fa1fe6e987a3a0cd23a9479f6
2025-10-06 02:51:17 -07:00
a849fedcd2
Separate mjv_addGeoms into separate functions for each category.
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PiperOrigin-RevId: 815607891
Change-Id: I16b29061c7e2229146bd0e0152721bca40fa4fd1
2025-10-06 01:30:26 -07:00
680f880b03
Remove unused functions from collision_convex.py.
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PiperOrigin-RevId: 815605363
Change-Id: Ia1978a2e84cedd3c4382164562d672d1d6f20c43
2025-10-06 01:21:47 -07:00
e4704cd28b
Create list_dependencies sample to list all dependencies for an MCJF file.
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PiperOrigin-RevId: 814816067
Change-Id: Idc6232e5d1ef1ff0318aeacd0e3d4b4a5a303485
2025-10-03 13:47:28 -07:00
6ae9cc8061
Fix #2508 .
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PiperOrigin-RevId: 814761747
Change-Id: Ic3d1ed359f377799126987c3640b7e534e764c6b
2025-10-03 11:17:14 -07:00
d321ba7642
Bump warp-lang version.
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PiperOrigin-RevId: 814757185
Change-Id: Ia3ee1fd731bf19b621a8816fdb7ce670f2bc035c
2025-10-03 11:05:48 -07:00
6e6253c4d5
Remove redundant line in types.py
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PiperOrigin-RevId: 814749110
Change-Id: Ic335e3ffc724a62a2d0660295afdfeb288f6c96a
2025-10-03 10:43:52 -07:00
18779ab54a
Clean up engine_core_util
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PiperOrigin-RevId: 814709359
Change-Id: If4ec66808e7de51e16b772afdb8485fa4ff30030
2025-10-03 08:48:11 -07:00
b5c35f87fc
Add material parsing path for colliders instead of strictly visual gprims.
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PiperOrigin-RevId: 814692421
Change-Id: If92a36d0382f60e0d92c7d90320dec51c20ea739
2025-10-03 07:52:55 -07:00
709caa0628
Update .readthedocs.yml.
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PiperOrigin-RevId: 814687463
Change-Id: Ia319c9bb77cb954d71b7afd27eedf33a65aeb5d1
2025-10-03 07:34:50 -07:00
24679b47e4
Separate out site and geom frame construction.
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PiperOrigin-RevId: 814677737
Change-Id: I623f9d1e23ac6b3076a577e97911f7ec73492f52
2025-10-03 06:56:53 -07:00
9f796c3e70
Add missing constants to Python bindings.
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PiperOrigin-RevId: 814663674
Change-Id: Ib5abb561a8b950cc6db86b4786ab01cd3326de78
2025-10-03 06:06:22 -07:00
53360f51a9
Update .readthedocs.yml to install MuJoCo Warp in order to generate API documentation. Additionally, mirror mujoco_warp/pyproject.toml in mjx/mujoco/mjx/third_party/mujoco_warp.
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PiperOrigin-RevId: 814656860
Change-Id: Ie4c0e9076c90b598dedc65a3e9793ed3d2375c37
2025-10-03 05:39:45 -07:00
50920450d2
Update box geom docs.
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PiperOrigin-RevId: 814646973
Change-Id: I6ef294c2b740ca2ebbf2501974120d13d08bf56e
2025-10-03 05:00:26 -07:00
33a30480f8
Updates for MJX viewer related to Warp backend.
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PiperOrigin-RevId: 814604809
Change-Id: I1cdb135f8f01b399163ece7415b09fd977ce7ad8
2025-10-03 02:25:24 -07:00
493d73062c
Misc cleanup to addFrameGeoms.
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PiperOrigin-RevId: 814582959
Change-Id: I2546bf1c13334628d379ad24737de095085e1b1f
2025-10-03 01:14:32 -07:00
8eacacfd13
Import NVIDIA/warp from GitHub.
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PiperOrigin-RevId: 814423562
Change-Id: Ibf441f161e25c51c494de84b0d263b32af76545c
2025-10-02 16:08:26 -07:00
32e08f9507
Expose userfacenormal to mjsMesh
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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.
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PiperOrigin-RevId: 814203235
Change-Id: Ib5c2e2f4dd42224a768c88d76473544190c72bc0
2025-10-02 06:14:48 -07:00
7e16ecaa25
Updates for testspeed.cc ctrl noise.
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PiperOrigin-RevId: 814192687
Change-Id: I0498c8efc8e71cd578e6b9d40ffa1411447d3e43
2025-10-02 05:37:48 -07:00
6ed2ceaa83
Add non-decorative elements before decorative elements.
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PiperOrigin-RevId: 814165875
Change-Id: Iab09e2fe1fa129b0c19760c969b5639e690a95d9
2025-10-02 03:59:06 -07:00
91257896c0
Implement faster mju_isZeroByte.
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PiperOrigin-RevId: 814148714
Change-Id: Iaf5ed9d3502eaaaee8d46a986f2db00811ae0707
2025-10-02 02:53:53 -07:00
401bf431b8
Modify Simulate::InjectNoise to set target of exponential decay to value from key_ctrl if a valid key is provided as input.
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PiperOrigin-RevId: 813819040
Change-Id: I79508039b17fb3484b71ae0d19614c32adacfa10
2025-10-01 10:46:29 -07:00
edbdb5195c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
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PiperOrigin-RevId: 813754244
Change-Id: I6836e41c3b021cb727e922c25c60f629b9814c93
2025-10-01 07:58:17 -07:00
c439628f82
When parsing USD, infer gravity from stage metadata if UsdPhysicsScene missing or undefined.
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PiperOrigin-RevId: 813705210
Change-Id: I13741af6dc87ecd9efb83219e978f5f06c72d021
2025-10-01 05:19:31 -07:00
b1ae44d10f
Refactor duplicated frame drawing logic into a utility function.
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PiperOrigin-RevId: 813675737
Change-Id: I7f9094852f26b2ddc08534bf87cf2f71476d99ec
2025-10-01 03:36:14 -07:00
f9d0bedb44
Minor cleanup: Move geom-related functions together.
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PiperOrigin-RevId: 813661319
Change-Id: I6cdf74ff57f39f932ddd39268f15f1128ddf1df4
2025-10-01 02:46:45 -07:00
328a4ab293
Merge geomsExhausted into acquireGeom.
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PiperOrigin-RevId: 813347956
Change-Id: I07bd566388383cc5c49e675f5b85fffb379ef6d1
2025-09-30 11:19:53 -07:00
de0ae73da7
Fix broken "building from source" link on Mujoco's README.
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PiperOrigin-RevId: 813338644
Change-Id: I5a1e198556914619823ae180a63afac7450b3d6d
2025-09-30 10:59:10 -07:00
4d590afdad
Instead of caching PNGImage results, cache mjCTexture and mjCHField assets.
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PiperOrigin-RevId: 813307632
Change-Id: I9de8b46423f57240d22811571d0533b010ee1e2b
2025-09-30 09:44:45 -07:00
59d0676dcc
Remove redundant checks for exhausted geoms.
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PiperOrigin-RevId: 813284297
Change-Id: I565c517bef782ba07ff323e206b75f6f905e5809
2025-09-30 08:44:17 -07:00
2dc533b63b
Allow flipping textures with any number of channels and user provided pixel data.
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PiperOrigin-RevId: 813256285
Change-Id: I0d49885dc483ab8f093b2566ec4bef355575505e
2025-09-30 07:28:13 -07:00
bdccbcc60a
Add multiccd fields to MJX and add simplex box-mesh model.
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PiperOrigin-RevId: 813190617
Change-Id: Idc450da59d6420825077a642719525750f6551ec
2025-09-30 03:40:29 -07:00
70d03adc71
Store the status of the scene in the scene itself.
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PiperOrigin-RevId: 813119377
Change-Id: Iebff9e7796ca9809ea22902522982bfd96eeba06
2025-09-30 00:06:00 -07:00
fc8979ed4a
Add test for checking exhausted geoms.
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PiperOrigin-RevId: 812776271
Change-Id: Ic9456ab201610a69237182ac22147e3d3e240308
2025-09-29 07:18:12 -07:00
c31f11824e
Add hfields to cache_hits benchmark.
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PiperOrigin-RevId: 812759213
Change-Id: I155c2db58811dd1efa56a6361fd39aac669b63e7
2025-09-29 06:22:24 -07:00
b17f4b26dc
Add more scene golden tests.
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PiperOrigin-RevId: 812708484
Change-Id: Icba94b128c89097703611ac4f6974f6d1cb19b4d
2025-09-29 03:19:48 -07:00
6a7566872a
Functions for printing the contents of mjvScene.
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PiperOrigin-RevId: 812699642
Change-Id: Iafff53c952c952624129ff01a8c1b0aa5d38eec5
2025-09-29 02:47:17 -07:00
e1c7e19780
Add rendering flags to the studio UI.
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PiperOrigin-RevId: 812649785
Change-Id: I47c6f974b7336bdd63c088ccfd06b5835e77ebff
2025-09-28 23:58:33 -07:00
8de86c9944
Remove margin name from geomdist sensors.
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PiperOrigin-RevId: 811775910
Change-Id: I4d265d4ad0206ea2d92c6c4b659f509a17f12baa
2025-09-26 05:24:12 -07:00
9a5acbd662
Clarify subtree definition and self-collision matching in contact sensor docs.
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PiperOrigin-RevId: 811731260
Change-Id: Ib890c59f67489de7d482cb239c146a9d565b6027
2025-09-26 02:34:56 -07:00
e51459f949
Break out struct initialization functions into engine_init.c.
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PiperOrigin-RevId: 811598048
Change-Id: Ia832a8268e2209a5a264bbf79aa00dda487206bc
2025-09-25 19:22:27 -07:00
fe8384b6c5
Visualize joint and tendon limits by re-coloring.
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PiperOrigin-RevId: 811590674
Change-Id: I5b65f2294a4bcda3c321fb51ebf29501bd0d416d
2025-09-25 19:02:26 -07:00
c3bc793331
Add meshdir changelog item.
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PiperOrigin-RevId: 811572927
Change-Id: I5aa3f5d8012781d39bd11fd4caa97f5d42577af3
2025-09-25 18:00:51 -07:00
922aebbeed
Provide explicit argument for asset cache ID.
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This will allow assets to cache compiled results with different parameters. For example, we could cache both an RGB version of a texture and a Mono version.
PiperOrigin-RevId: 811341377
Change-Id: Ifd6a4ff88661a2b38be47c02d6a666de2c202885
2025-09-25 07:24:12 -07:00
Yuval Tassa