ff7c613c79
Initial implementation of the filament rendering backend for mujoco.
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This is intended as a drop-in replacement for mjr_render to enable high
quality, physically-based rendering (PBR) using the filament render engine.
This is a work-in-progress and, as such, some features may be missing. This
is also a code-only drop; build files (including instructions on how to
generate the filament materials) will be provided at a later date.
This library is intended to be run with the experimental studio app.
PiperOrigin-RevId: 817593684
Change-Id: Ib9cd14c1881e4897c1111275bd749aa38ebb5317
2025-10-10 05:01:39 -07:00
bd68f0c6cc
Update CMake to use C++20
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PiperOrigin-RevId: 817573868
Change-Id: I22c98515763623d7411fd12910cf88cdaa336e6e
2025-10-10 03:54:47 -07:00
59a5a7bf5f
Improve error messages in LoadMujocoModel
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PiperOrigin-RevId: 817565307
Change-Id: I367298cdf77d26b6f8deb5c6a0d5c3cab1e4d065
2025-10-10 03:24:50 -07:00
38af2e2d00
Export mujoco_warp/pyproject.toml.
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PiperOrigin-RevId: 817541914
Change-Id: I271f66c26699c1c9d15133420e189d5c525deae6
2025-10-10 02:02:57 -07:00
192da87475
Remove _full_compat from MJX io.
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PiperOrigin-RevId: 817337868
Change-Id: Ic61b8d57937452371b85416c624ff2672c908aac
2025-10-09 14:26:19 -07:00
50e163748d
Use correct tile sizes in 3p mujoco_warp now that launch_tiled bugs are fixed.
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PiperOrigin-RevId: 817310391
Change-Id: I652509ba8d6dcd514b264eb450952e6980e48f1e
2025-10-09 13:18:45 -07:00
a9632a9825
MuJoCo Warp feature parity documentation.
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PiperOrigin-RevId: 817123818
Change-Id: I21e4fd64943d68ffd714a1d84309ed5085764d6a
2025-10-09 04:33:24 -07:00
abe88202d0
Remove redundant flags argument.
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PiperOrigin-RevId: 817115667
Change-Id: I4e5096206d7c24f5861e1bb9e8049149803dceeb
2025-10-09 04:07:43 -07:00
98682ae284
Do not modify mesh position when fitting a geom to the mesh AABB.
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Also, unify the meaning of fitting a geom to an AABB: it now means to find the smallest geom such that its AABB contains the mesh AABB.
Fixes #2881 .
PiperOrigin-RevId: 817097544
Change-Id: I883c686feffa803bd16ba461db24a474dfec7712
2025-10-09 03:05:00 -07:00
3a299c49ca
Remove use of usdaFileFormat from mjcf_file_format.
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Previously this was just used for the USDA file format token, which we can confidently just construct ourselves.
Since [this PR in OpenUSD](https://github.com/PixarAnimationStudios/OpenUSD/commit/5bb9ad1fb2a034e1f9b48c7db936f296b5b78e25 ) the file lives in a different place now and public usage will be deprecated anyways.
PiperOrigin-RevId: 816801204
Change-Id: I42e92d2af52b0f9ff0a679ecb96f3d2dbf623531
2025-10-08 11:54:44 -07:00
cfd487c315
BUGFIX: when parsing a unity scene with mujoco element,s the mujoco package generates a value for the attribute "passive", but the attribute has been droped, it is not valid anymore in unity 3.3.6
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this makes old mujoco scenes that work in unity not work anymore when upgrading the mujoco version.
2025-10-08 16:50:22 +02:00
1335ec87e4
Move font assets data targets into toolbox library.
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PiperOrigin-RevId: 816654994
Change-Id: Ic56fab2b0af0c8d85682f8b233342a0d088d5cca
2025-10-08 05:09:42 -07:00
8e4932170a
Remove unused params.
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PiperOrigin-RevId: 816654011
Change-Id: Ib26bc90dcda167e8acf1feaa3b015acb5aa7aceb
2025-10-08 05:05:59 -07:00
e7e331b11e
Update sensor decor elements to be of type mjOBJ_SENSOR.
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PiperOrigin-RevId: 816640568
Change-Id: I838608c0482ec1ee499fe9598ddb33aa6c5331e9
2025-10-08 04:17:40 -07:00
7b9f6a5cc1
Invert early-out checks to reduce nesting.
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PiperOrigin-RevId: 816606107
Change-Id: I325d3f4695cdeb189694088d8a81b198d65f96ea
2025-10-08 02:21:14 -07:00
b56cf98e41
Import google-deepmind/mujoco_warp from GitHub. Update MJX io.py.
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PiperOrigin-RevId: 816431884
Change-Id: I54881e7e350fbe5b2be1833e66745894b122f374
2025-10-07 16:43:30 -07:00
f83ee3fd73
Update mujoco_warp.
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Also remove mujoco_warp tests and test data from this repo.
PiperOrigin-RevId: 816239754
Change-Id: Ie89ef043d40bb43d1e1150acd33b5f4cbf162ab8
2025-10-07 09:50:21 -07:00
fbab761627
Cleanup how different rendering backends are selected.
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PiperOrigin-RevId: 816169098
Change-Id: I915aa45fa3a6d45a5178d3ff7bfdd0f1b1e01789
2025-10-07 17:48:23 +01:00
fd9b989bf8
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 816099854
Change-Id: I6302a97c2f5d4594a08ebf4bc53a180b804360e6
2025-10-07 17:47:55 +01:00
414888b716
Mark some mjData fields as mutable.
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PiperOrigin-RevId: 815819490
Change-Id: I1a62fda556b4197aec451f2747c69f34bab13220
2025-10-06 11:43:38 -07:00
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
Haroon Qureshi