c064abc3da
Change row-flipping logic for heightfields.
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Move row-flipping logic from `mjCModel::CopyBack` to `mjXWriter`.
PiperOrigin-RevId: 842220322
Change-Id: I6fb09db6c9e8689f6e435f82f58dd3e7c4314478
2025-12-09 07:02:21 -08:00
1483aefe5f
Make actuator_length, cdof and cdof_dot public.
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PiperOrigin-RevId: 842182467
Change-Id: Id14a1c8266e13a6f95e1c87ea07da993b614b62e
2025-12-09 04:57:42 -08:00
bf49fe3daa
Enable reading textures from spec in Python
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PiperOrigin-RevId: 842151742
Change-Id: I477d118cc7e2385d29b395b192fa89e9facb9c3e
2025-12-09 03:08:32 -08:00
15145c0098
MuJoCo Warp documentation: Compilation.
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PiperOrigin-RevId: 841761913
Change-Id: Ic1b1942a47299db48c424ad1f9e3709b05acc55e
2025-12-08 07:50:23 -08:00
96e376451c
Update MuJoCo version from 3.4.0 to 3.4.1 following the 3.4.0 release
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PiperOrigin-RevId: 840914696
Change-Id: Iffabc70dd174384ba1c535cafcd34982ff8e5712
2025-12-05 16:15:56 -08:00
e55fff5dea
CI issues resolved, we're going ahead with the 3.4.0 release.
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PiperOrigin-RevId: 840763554
Change-Id: Ib50b00ec43d8713821f98a131fb19640810ea777
2025-12-05 09:37:40 -08:00
4e84671a15
MuJoCo Warp documentation: Determinism.
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PiperOrigin-RevId: 840630917
Change-Id: Ie5f3ac34cee8812f20d6ae4fa6004385c5b048e0
2025-12-05 02:09:26 -08:00
237a5e5c55
Revert the changelog to unreleased state, the 3.4.0 release will be delayed due to internal issues with CI.
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PiperOrigin-RevId: 840362346
Change-Id: Ic0fb5d6d521c5abc1b98d5242416eac6c7d056c8
2025-12-04 12:53:02 -08:00
da36e822a8
Allow material default classes to define texture layers.
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PiperOrigin-RevId: 840254100
Change-Id: I59f67fc4d1485cf80bbc005d1b35cda6224248ed
2025-12-04 08:22:55 -08:00
55664b63e1
Fix broken cross-references in mjwarp/index.rst
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PiperOrigin-RevId: 839194214
Change-Id: Ia1aca7331bc5d77fb4ef6ce7efefc3d55a1d99b3
2025-12-02 03:56:05 -08:00
951257ad54
Fix: Update changelog formatting
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PiperOrigin-RevId: 839126146
Change-Id: Ifa349b6fd013e4c23fd96b988eacaa7c9d44532c
2025-12-02 00:26:56 -08:00
e095bb6d41
Improve rendering of dynamics pipeline schematic
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PiperOrigin-RevId: 838865159
Change-Id: I225e94508be7edb8f8217ec5abb2f609cbb39ae5
2025-12-01 11:36:01 -08:00
b663b7602b
Final preparations for the v3.4.0 release
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PiperOrigin-RevId: 838824676
Change-Id: Icb5a825cb41be4d0730f4a6729b63531d649066f
2025-12-01 10:06:33 -08:00
4896e698f6
Update "mjModel changes" section in simulation.rst
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PiperOrigin-RevId: 838768328
Change-Id: I5c09186e52115df37e9412495ecc7dceddb2ed8a
2025-12-01 07:40:09 -08:00
19e2d0ae2f
Add mj_fwdKinematics and a table improving documentation of the MuJoCo computation pipeline structure.
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PiperOrigin-RevId: 838768130
Change-Id: I1a22d5cdca7db704ba4cea1667fcbecb16b87005
2025-12-01 07:39:00 -08:00
d3c858ed32
Make table shadows visible in dark theme, add a table type with smaller text.
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Add a light box-shadow to docutils tables (excluding mjcf-attributes) when in dark mode or auto mode with dark preference, so that the table boundaries are visible against the dark background.
PiperOrigin-RevId: 838741947
Change-Id: Ic788f9669ea65d290f927927b389fcb51227a55a
2025-12-01 06:13:39 -08:00
f2823836a6
Updates for MuJoCo Warp documentation.
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PiperOrigin-RevId: 837027234
Change-Id: Idf7a69b14ce23d5ac5ed36367a14c77a00276846
2025-11-26 02:26:13 -08:00
a9fe8340bf
Remove extraneous colons in XMLreference
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PiperOrigin-RevId: 837017632
Change-Id: Ie89adf4fd3725cfa4b8eb0bcddedd4fa886ed8fb
2025-11-26 01:56:28 -08:00
b6e162d6fa
Update MuJoCo version from 3.3.8 to 3.4.0
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PiperOrigin-RevId: 836719207
Change-Id: I28cbc90cee42aebfb5a4201561289ef6747cdc83
2025-11-25 10:16:02 -08:00
6208730744
MuJoCo Warp documentation: Option.contact_sensor_maxmatch information.
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PiperOrigin-RevId: 836670031
Change-Id: I29b11784998d3461ad1d460a6c23cad66df22202
2025-11-25 07:58:08 -08:00
5d7b2bd7ca
MuJoCo Warp documentation: update information about setting both nconmax and naconmax.
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PiperOrigin-RevId: 836666389
Change-Id: I766c717d4c6b98f4383fa396fd9cceaac4b5b561
2025-11-25 07:45:06 -08:00
893882171e
MuJoCo Warp documentation: Does MJWarp work with multiple GPUs?.
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PiperOrigin-RevId: 836642204
Change-Id: I559642b2cb902a704257e7e0344f768b690678a1
2025-11-25 06:26:55 -08:00
bdaec5758b
Generate MuJoCo Warp documentation with modified types.py.
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PiperOrigin-RevId: 836617034
Change-Id: Ia925b88679744267b34504b146fa712d4195eda4
2025-11-25 04:54:01 -08:00
888d3a7b07
Add mj_copyState
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PiperOrigin-RevId: 836588419
Change-Id: I7609e121dc0ac697d4d015d4244bdd5962650def
2025-11-25 03:10:30 -08:00
1c910875d2
MuJoCo Warp documentation: Differentiability.
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PiperOrigin-RevId: 836250165
Change-Id: I40c21674c896ed4108f17192f16aaaf2664f03be
2025-11-24 09:13:28 -08:00
2ca56179a7
Add Frequently Asked Questions: Learning frameworks to MuJoCo Warp documentation.
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PiperOrigin-RevId: 836231961
Change-Id: If3d00e7dfb9ebe49a034ea8936d2ac1dd33d0979
2025-11-24 08:14:53 -08:00
cb391962ca
MuJoCo Warp documentation: Orientation representation.
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PiperOrigin-RevId: 836127570
Change-Id: I0f381e57cfb53e1cb623f9c4178d258dfc1f75b6
2025-11-24 02:03:41 -08:00
c2e9bfa3e8
Clarify semantic of body_rootid and body_weldid
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PiperOrigin-RevId: 834827589
Change-Id: I562e0aa374ce59d8b769e8d003e4c63ee434a1fc
2025-11-20 10:54:59 -08:00
a0cb97eb4d
Improve attach docs.
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PiperOrigin-RevId: 834366494
Change-Id: I9086097990f09e848d0b76d9c22f4fd2bbd70718
2025-11-19 11:08:36 -08:00
86a77ff8eb
Change mjtSize from uint64_t to int64_t.
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This change makes `mjtSize` a signed, rather than unsigned 64-bit integer. While sizes are non-negative, the type promotion rules for unsigned integers can lead to unituitive downstream bugs, and 8 billion terabytes are enough bytes.
PiperOrigin-RevId: 834292964
Change-Id: Iea9c47c2a5d80fde63851a543d59ed0549db0f01
2025-11-19 07:55:54 -08:00
07d8bd5b80
MuJoCo Warp documentation: Add note about nconmax and njmax not being parsed from XML.
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PiperOrigin-RevId: 834247810
Change-Id: Iadee0f1713c9322cab781aabfe86954c145932ba
2025-11-19 05:23:12 -08:00
62872fecd1
Reduce size of mjsTexture.gridlayout (was 13, should be 12)
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PiperOrigin-RevId: 833764817
Change-Id: I2655a729d38a8871be2024492ce2a971fc8a0372
2025-11-18 04:49:05 -08:00
695e4c4038
MuJoCo Warp documentation: Command line scripts.
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PiperOrigin-RevId: 833405216
Change-Id: I8c1850ea59e2640f14c5be7e09c90aea29622831
2025-11-17 10:46:43 -08:00
a66cf303f8
Clean up ray functions
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PiperOrigin-RevId: 833299985
Change-Id: I30aabe889ccc5900ff0e50a578e98e176d3effa4
2025-11-17 05:47:44 -08:00
6c15c711ee
Make mjv_cameraFrame and mjv_cameraFrustum public.
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PiperOrigin-RevId: 832187804
Change-Id: I74d05d7fe03bc81bd05a823c7c9791bca12e3079
2025-11-14 00:03:18 -08:00
042c5223a6
Change mj_sizeModel return type to mjtSize.
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PiperOrigin-RevId: 831768095
Change-Id: I079fbadc403b32a3ce8a73fe21b2cd66391401c3
2025-11-13 02:32:18 -08:00
22c0b68903
Improve logic and documentation for sleeping sensors
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PiperOrigin-RevId: 830891115
Change-Id: Ife8309b165c085b54c9f668d825d69ed12a9a8f0
2025-11-11 06:45:56 -08:00
f8cef22992
Change mjWarp admonition class from attention to warning
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PiperOrigin-RevId: 830452799
Change-Id: I26d7163b4c738a6accd70784863cc2dbdc410927
2025-11-10 08:23:05 -08:00
e464e173da
Update conf.py: "warp only fields" custom section.
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PiperOrigin-RevId: 830452471
Change-Id: Ib90afedacf760b3d0584e7d0dd81cdd9e3e35dc9
2025-11-10 08:21:45 -08:00
883836848a
Fix box-box distance computation.
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PiperOrigin-RevId: 829431553
Change-Id: I9e28bc8eb7687c3c83e5ff68c65e93d8a07378a9
2025-11-07 07:37:03 -08:00
8734cab366
Add sleeping documentation
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https://youtu.be/vct493lGQ8Q
PiperOrigin-RevId: 829390353
Change-Id: I92f85a03be0bb585d2d8e29de1ed1a2e848f247f
2025-11-07 05:12:42 -08:00
252a0d73df
Add sleep related data structures
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PiperOrigin-RevId: 829055431
Change-Id: I1ccbd77a57044a754ae7db611b4c2c0010fbda53
2025-11-06 12:10:55 -08:00
89fec8f7b2
MuJoCo Warp documentation: Performance Tuning.
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PiperOrigin-RevId: 828908430
Change-Id: Iece454fce7dea71df2a5b6f60d81b611c5a3730d
2025-11-06 05:20:19 -08:00
d0f32a7fe6
Modify mjx.Model tex_data type.
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PiperOrigin-RevId: 828606695
Change-Id: I708dcf8e75766bf16d339999a9e8c70c8f65fd0c
2025-11-05 13:33:11 -08:00
c34ac712a0
Import warp-lang 1.10.0.
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PiperOrigin-RevId: 828583884
Change-Id: Ia1c6d8c41fa0785360b85287cab562228fcc80cf
2025-11-05 12:35:25 -08:00
17d36d8e75
MuJoCo Warp documentation: `naconmax`.
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PiperOrigin-RevId: 828478607
Change-Id: I90e8b95cf5b869ba60a731b3d2ee962c411da943
2025-11-05 08:24:25 -08:00
2245210e87
Fix formatting error in the 3.3.6 changelog
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PiperOrigin-RevId: 828455246
Change-Id: I6cd08f7819bde27c32ddd1ff56cbd9b23b92134d
2025-11-05 07:17:47 -08:00
d5e953e707
Use sphinx.ext.extlinks for GitHub issue and PR links.
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Added `sphinx.ext.extlinks` to the Sphinx configuration and defined `extlinks` for `:issue:` and `:pr:` roles, pointing to the MuJoCo GitHub repository. Updated `changelog.rst` to use these new roles, replacing `:github:issue:` and `:github:pull:` which are currently failing.
Also fix a formatting bug in the 3.3.7 changelog
PiperOrigin-RevId: 828403002
Change-Id: I7f0134e4dd555fc59a3fee090338de56aababe1c
2025-11-05 04:12:08 -08:00
3a7aa84e53
Add quadratic stiffness to flex.
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PiperOrigin-RevId: 827409919
Change-Id: I3dff8ea49fb1726fec4acf5b91138d6d52c4bfba
2025-11-03 03:01:38 -08:00
d4f13b4abc
Update mjwarp/index.rst.
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PiperOrigin-RevId: 827397313
Change-Id: I427a0476eb1530b53539d787c0b79aaf45f889d5
2025-11-03 02:18:56 -08:00
Yuval Tassa