--
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
Switch MJX DataJAX to use the CSR-format `M` as its primary sparse inertia representation, matching MuJoCo C `mjData.M`. This allows both `mjData.qM` and `mjModel.mapM2M` to be deleted in the future.
PiperOrigin-RevId: 932433465
Change-Id: I194ffbfdba0cdd9c718277ee0d5de7ac20f2b06f
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
Widen err_msg buffer in MjuErrorMessageFrom to 2048 and use snprintf
instead of strncpy to avoid truncation warnings.
PiperOrigin-RevId: 930932293
Change-Id: Iea43d28cf209356d66cf16be48e750e947242b14
Widen snprintf buffer from 1024 to 2048 bytes in mju_defaultLogHandler
to avoid truncation warning when formatting "func: subject".
PiperOrigin-RevId: 930823501
Change-Id: I0b2246f23c44e983bea76976b684d2efdfdff29c
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
Also:
- renames the main header file to mjrfilament.h.
- moves filament_util under a "support" folder.
PiperOrigin-RevId: 930448415
Change-Id: Iad89756aaf1ddf4c3e67e1afc3a13776f71fa20f
--
3439d8a5cd745dfd2776593916eead65cb456afc by Kevin Zakka <kevinarmandzakka@gmail.com>:
Respect an explicit CMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF
The default-LTO guard checked the value rather than whether it was DEFINED, so an
explicit -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF (used in CI to cut build time)
was silently flipped back ON. Check DEFINED instead; default-on for Release is
preserved when the caller makes no choice.
--
bd15d1b264e5ab9594669b58fa1e0388d0a16f6b by Kevin Zakka <kevinarmandzakka@gmail.com>:
Speed up CI
~10x faster on the POSIX jobs (~45m -> ~4-5m) and ~2x overall wall-clock.
- Build Studio/Filament and WASM only in their dedicated canary jobs, not in
every matrix job (WASM uses emcc, which ignores the host compiler).
- Compiler matrix -> build_matrix.json with core/extended tiers: PRs build the
core set, pushes to main run the full sweep.
- ccache across build jobs (studio cache keyed on the Filament pin); fix the
Python-bindings build so ccache hits (CCACHE_BASEDIR).
- Disable IPO/LTO on POSIX (it was silently on); keep it on Windows where /GL-off
exposes a latent test bug and build time is not the bottleneck.
- Run ctest in parallel on POSIX (~2x); uv for Python installs (~29s -> ~8s).
- Move MJX (compiler-independent) to a single dedicated job.
- Restrict GITHUB_TOKEN to contents: read; bump actions off deprecated Node20.
--
c0618ab7aef524b238e0a30f2f23c50c4ce0c9b1 by Kevin Zakka <kevinarmandzakka@gmail.com>:
Build the gcc jobs with LTO off too
Restores LTO-off for gcc (recovering the build-time win). That surfaces known
gcc-12 -Wrestrict false positives in libstdc++ <char_traits> at -O3; two clean,
behavior-preserving rewrites in the XML writer avoid them. Confirmed gcc-12 and
gcc-14 build clean with LTO off (PR #3325).
--
2c38da0f48f77635e58e4b7931b86d60f3c253c7 by Kevin Zakka <kevinarmandzakka@gmail.com>:
Respect explicit IPO=OFF in the Simulate and Sample options too
Apply the same DEFINED check as cmake/MujocoOptions.cmake to the simulate/ and
sample/ subprojects (which carry identical copies of the guard) to keep the three
in sync, as the internal import requires. Since the guard now honors =OFF, stop
forcing IPO=OFF on the tiny samples/simulate CI builds so they keep their default
LTO and don't expose the gcc -Werror false positives that -O3-without-LTO triggers.
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/3315 from google-deepmind:speed-up-ci 2c38da0f48f77635e58e4b7931b86d60f3c253c7
PiperOrigin-RevId: 930008698
Change-Id: Ic41dc87881833c95f2ebfc0602de1ed438db3d4f
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