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Author SHA1 Message Date
Haroon Qureshi 6d32038417 Move all texture creation functions into texture_util. 
PiperOrigin-RevId: 892838123
Change-Id: I84a536b111c3d6b5391513d6623c2e9a4d02f3df
 2026-04-01 03:47:51 -07:00
Taylor Howell 0b54638df4 Import NVIDIA/warp from GitHub. 
PiperOrigin-RevId: 892794388
Change-Id: Ic681071dc68bfaecaaab4e131c1c464dca99f9b5
 2026-04-01 01:54:01 -07:00
dependabot[bot] 1640d6a4bc Copybara import of the project: 
--
9a748c86e78009393be8ef2f586c5637ac6225d9 by dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>:

Bump pip from 24.3.1 to 26.0 in /python

Bumps [pip](https://github.com/pypa/pip) from 24.3.1 to 26.0.
- [Changelog](https://github.com/pypa/pip/blob/main/NEWS.rst)
- [Commits](https://github.com/pypa/pip/compare/24.3.1...26.0)

---
updated-dependencies:
- dependency-name: pip
  dependency-version: '26.0'
  dependency-type: direct:production
...

Signed-off-by: dependabot[bot] <support@github.com>
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/3064 from google-deepmind:dependabot/pip/python/pip-26.0 9a748c86e78009393be8ef2f586c5637ac6225d9
PiperOrigin-RevId: 892327253
Change-Id: I0cf41d08a1ffeb3238cddd5a3fcf39388810d9b7
 2026-03-31 07:28:29 -07:00
Haroon Qureshi d4103939e4 Correctly compute bounding boxes for meshes. 
Enable culling when bounding box is available.

PiperOrigin-RevId: 892289875
Change-Id: I124426b6e7e72f4d9a1486320d72d6eb032e0828
 2026-03-31 05:58:11 -07:00
Haroon Qureshi 06d6bda5bb Factor out mjModel-specific objects from ObjectManager. 
All objects that are specific to the mjModel (meshes, textures, etc.)
are now managed by a ModelObjects class which is owned by the SceneView
and not the FilamentContext.

PiperOrigin-RevId: 892250776
Change-Id: Iddad66fd3ab1a60c4becdcb5d0c935ed9ea8ad90
 2026-03-31 04:16:51 -07:00
Michael Moss 51b2f52296 Workaround for TypeScript 'outFile' is deprecated errors. 
PiperOrigin-RevId: 892241799
Change-Id: Ibe028d453f35f5e03bdf66418bc4b45c20e807d3
 2026-03-31 03:55:06 -07:00
Haroon Qureshi bcaa0a8e6a Use mjrf functions from within other mjrf functions. 
PiperOrigin-RevId: 892234323
Change-Id: I70ff01121764b552da84bdcc9b01527ae138dfea
 2026-03-31 03:37:26 -07:00
Copybara-Service ab7b78caa9 Merge pull request #3200 from StafaH:render_doc_update 
PiperOrigin-RevId: 891839705
Change-Id: I79874c769a1399e3ca71ec42b7389055b5b5fb88
 2026-03-30 12:10:11 -07:00
Peter Hawkins 47264877a1 [JAX] Replace jnp.clip(..., a_min=..., a_max=...) with jnp.clip(..., min=..., max=...). 
a_min and a_max are deprecated parameter names to jax.numpy.clip.

PiperOrigin-RevId: 891786675
Change-Id: Icc06efe0381c0db06f4aeb16f281a4d01ea37539
 2026-03-30 10:28:24 -07:00
Yuval Tassa 5107c31c06 Add missing API documentation entries. 
PiperOrigin-RevId: 891658745
Change-Id: I7fa4f0535e72eaaf8964ce3f1bcf4bf87486580a
 2026-03-30 05:13:31 -07:00
Mustafa Haiderbhai 5e677f1091 Update mjwarp render doc after flex rendering improvements 2026-03-27 13:01:16 -04:00
Haroon Qureshi e4f4044659 Move material multipliers to calling function. 
PiperOrigin-RevId: 890457829
Change-Id: Icb4151a792321aadd3958d479ef02f29ae4a2afc
 2026-03-27 08:06:57 -07:00
Haroon Qureshi e17e3bfd82 Remove ObjectManager dependency from Light. 
PiperOrigin-RevId: 890454094
Change-Id: Idb609ad6d8ed7df714cad7b0aca997fee73ab96d
 2026-03-27 07:57:43 -07:00
Haroon Qureshi 75bbf03cfb Add PBR test model. 
PiperOrigin-RevId: 890431107
Change-Id: Ib3b5fa775daa93b4c798483df226585441ea5c61
 2026-03-27 07:05:08 -07:00
Haroon Qureshi b31e15fbb8 Remove ObjectManager dependency from GuiView. 
PiperOrigin-RevId: 890407310
Change-Id: I9548ee698fbd02d967581200ba2f6ec31e0f7a7c
 2026-03-27 06:01:56 -07:00
Haroon Qureshi 1c2100e27c Refactor FilamentContext to prepare for upcoming changes. 
Separate out the parts of the FilamentContext initialization that
depends on the mjModel into a separate Init function.

PiperOrigin-RevId: 890373341
Change-Id: I06b524668cd60dad804d437958f4f6606c46200b
 2026-03-27 04:26:10 -07:00
Haroon Qureshi d597b23e5e Remove mjModel dependency from builtins. 
PiperOrigin-RevId: 890372546
Change-Id: I1d6b99998e42c1d80072a04f5e57eaf5b4d49791
 2026-03-27 04:24:09 -07:00
Haroon Qureshi f7fb23084d Remove mjrContext from FilamentContext. 
Setting values in the mjrContext is only useful for the classic
renderer.

PiperOrigin-RevId: 890345656
Change-Id: Ie3d34dc260d13f74b569dcf575e88dde894d652b
 2026-03-27 03:13:17 -07:00
Yuval Tassa 9f5fc99711 Convert monolithic RecompileCompare and WriteReadCompare tests into test suites, one test per file. 
PiperOrigin-RevId: 890149850
Change-Id: Ib3e8c032a7b43b4a3f85e7a922e25987050cd77c
 2026-03-26 18:21:49 -07:00
Haroon Qureshi 0021564035 Remove unused member variable. 
PiperOrigin-RevId: 889775964
Change-Id: I8464d381158875c22437633dfbb548c10dc89462
 2026-03-26 05:18:01 -07:00
Haroon Qureshi a25b9376f0 Remove unused variable. 
PiperOrigin-RevId: 889771550
Change-Id: I8b89e6ccf0a896461b9ddadc23f57e003ea7f8da
 2026-03-26 05:07:28 -07:00
Michael Moss f28e727a57 Ignore new tsc deprecation warning from emscripten. 
PiperOrigin-RevId: 889322248
Change-Id: I70be60506a8ecbc0dde0f64f5a31c075a804706e
 2026-03-25 10:38:57 -07:00
Yuval Tassa c000724a53 Update references.h 
PiperOrigin-RevId: 889270962
Change-Id: I0d4295b936e00c55846ea4f6e13f7c25c36c5c6b
 2026-03-25 08:59:15 -07:00
Haroon Qureshi 07fc5bc736 Fix build. 
PiperOrigin-RevId: 889270417
Change-Id: I4052639054f98c1775357797a80b3049e31b18c7
 2026-03-25 08:58:04 -07:00
Haroon Qureshi 4fce53c31f Detect KTX files as image/ktx. 
PiperOrigin-RevId: 889260070
Change-Id: I93a505bca3da87d05c71fe302f9e7ac31806ab90
 2026-03-25 08:32:28 -07:00
Sam Haves 10c5f5d066 Add comments to mjpEncoder member functions. 
PiperOrigin-RevId: 889233466
Change-Id: Ia08ae7ef9bd554cea2f82270e8f150db3e01bf69
 2026-03-25 07:33:10 -07:00
Haroon Qureshi 1bfd68cbba Adds function for creating the filament Platform based on the renderer 
configuration.

PiperOrigin-RevId: 889226229
Change-Id: Ia5bcdc16e9861e39c49422c2d5fccee23e477af6
 2026-03-25 07:15:58 -07:00
Alessio Quaglino c49bc7c7c0 Warn when a non-rigid flex has no constraints or passive forces. 
Add a warning in user_model.cc if a flex is not rigid and has no edge equality constraints or passive forces (edge stiffness, edge damping, or vertex damping). Such flexes would not affect the simulation. A test case is added to verify the warning.

PiperOrigin-RevId: 889215981
Change-Id: I481128e1456921b632719547c676d201fdfbe931
 2026-03-25 06:50:30 -07:00
Haroon Qureshi fd3ce4fe92 Implement reflective surfaces. 
Reflective surfaces (planes) use a custom shader to blend their
texture with a texture that contains the reflected image. The
reflected image is rendered to a texture as a separate render
pass in the SceneView.

Because reflective textures are generated after the preparation
phase, additional functions are needed to reapply the texture
to the drawable.

PiperOrigin-RevId: 889213413
Change-Id: I7bad39d62e3e5ba38cf6ac667fec5b87bfa7b2a2
 2026-03-25 06:43:46 -07:00
Haroon Qureshi 02b0b40b1c Add reflective materials. 
A future CL will implement reflective surfaces and make use of these materials.

PiperOrigin-RevId: 889200524
Change-Id: Icbe5c0c390f89789ed0f5d5c6058a2ef31105608
 2026-03-25 06:10:59 -07:00
Haroon Qureshi c61d239ac6 Use model name for window title. 
PiperOrigin-RevId: 889193934
Change-Id: Ief9ade9e239c14da1d824d9bc8aa95dc0a71b65f
 2026-03-25 05:53:47 -07:00
Haroon Qureshi 4df2fc2490 Ensure decoder has an error string. 
We use that error buffer to check for errors.

PiperOrigin-RevId: 889193796
Change-Id: I1f7575321a57301b4ae5002d0c488bbb16a30b26
 2026-03-25 05:52:46 -07:00
Sam Haves f5d3ce3451 Introduce mjpEncoder plugin architecture 
Add a new mjpEncoder plugin type mirroring the existing mjpDecoder pattern.
Encoders serialize an mjSpec + mjModel to an mjResource for a given format.

New API functions:
- mjp_registerEncoder: globally register an encoder
- mjp_defaultEncoder: zero-initialize an encoder struct
- mjp_findEncoder: look up an encoder by filename extension or content type

The mjfEncode callback takes (mjSpec*, mjModel*, mjVFS*, mjResource*) and
returns 0 on success. Writing to mjResource keeps symmetry with the decoder
reading from mjResource and leaves the door open for writable resource providers.

PiperOrigin-RevId: 889187898
Change-Id: I180771b2255b91dea188ac5e2cdc3a8f0fb85364
 2026-03-25 05:35:39 -07:00
Alessio Quaglino 2d33b50243 Parallelize tactile sensor computation. 
The computation of tactile sensor values for each taxel is now parallelized using the MuJoCo threadpool when the number of taxels exceeds a threshold. Each thread processes a batch of taxels, accumulating forces from all colliding geoms.

PiperOrigin-RevId: 888606457
Change-Id: I98abf3e98a7318fc14080054bea7093ab46e8b8b
 2026-03-24 05:21:08 -07:00
Alessio Quaglino f4e3469239 Add test for geom and mesh plugin attributes. 
This test verifies that geom.plugin and mesh.plugin are accessible and can be assigned a plugin instance.

PiperOrigin-RevId: 888576511
Change-Id: Id17885de5fdf1f4543ac195a8b04bb01139d1bfa
 2026-03-24 03:59:35 -07:00
Kyle Bayes 5c0de1f84d Remove model and data from ccd object. Each geom gets a copy of pos and mat, which is editable without modifying mjData. 
PiperOrigin-RevId: 888028695
Change-Id: Ic9bbea4bcd7c2dbe62326798eab73d14da0aaa13
 2026-03-23 04:51:53 -07:00
Haroon Qureshi babcfd6575 Add class to manage resources for a RenderTarget. 
PiperOrigin-RevId: 888016283
Change-Id: I4959e63e95fad4f75a7a04fabf0879f0b9238f9f
 2026-03-23 04:17:53 -07:00
Michael Moss 5664b9e89e Update pybind to 3.0.2. 
PiperOrigin-RevId: 887980078
Change-Id: I2eb5284e878180293553e20c94dae853c380805c
 2026-03-23 02:44:19 -07:00
Yuval Tassa 4b1667e4ce Fix documentation links 
PiperOrigin-RevId: 886920783
Change-Id: Ie1ab433aeaaa668a103a684cbb30ef5375c6211b
 2026-03-20 12:26:56 -07:00
Yuval Tassa 510d75f4cf Allow actuators to add damping and armature to joint and tendon transmissions. 
PiperOrigin-RevId: 886899849
Change-Id: I02200ee0d4f7c96096d8188b95f823b566562a30
 2026-03-20 11:41:15 -07:00
Copybara-Service f7bd6d15f7 Merge pull request #3164 from Balint-H:unity/passive-resubmit 
PiperOrigin-RevId: 886821338
Change-Id: I2b733732fcc17223aad4299713f5528b597f03e8
 2026-03-20 09:05:07 -07:00
Yuval Tassa c348bc9f4c Disable clang-format for MuJoCo public headers and engine source. 
PiperOrigin-RevId: 886720463
Change-Id: I7c89fa99bee0598dcf48807bfbd61ee8bf8fa9b8
 2026-03-20 05:06:15 -07:00
Michael Moss 904744bd72 Fix --gc-sections linking error on github macos-15-x86_64. 
This forces `CMAKE_REQUIRED_FLAGS` to be treated as a string instead of list,
so none of the args get dropped when passed through `check_c_source_compiles`.

PiperOrigin-RevId: 886717366
Change-Id: I6314f9bfabd9d62bdcad5070c8801c453c381b79
 2026-03-20 04:57:54 -07:00
Michael Moss 02d1d3d503 Fix call_guard usage inside .def_property calls. 
See also [PR #5533](https://github.com/pybind/pybind11/pull/5533).

PiperOrigin-RevId: 886714838
Change-Id: I8c98461098ccf4958fb18bdcb5acc293c988c258
 2026-03-20 04:50:50 -07:00
Yuval Tassa 9fa3f6f77e Enable float32 testing for most MuJoCo engine and user tests. 
PiperOrigin-RevId: 886697701
Change-Id: I4a96fae03ea18494c3fcef8eb17b3b6f0863e9b7
 2026-03-20 04:05:06 -07:00
Copybara-Service cab4b73f41 Merge pull request #3184 from MatiasManevi:single-thread-npm 
PiperOrigin-RevId: 886334046
Change-Id: If054286ac11f2b0e13e770922c049e334d136ab1
 2026-03-19 13:05:52 -07:00
Haroon Qureshi 6134fe48d9 Enable shadows depending on render settings. 
PiperOrigin-RevId: 886236214
Change-Id: I6999e52ff3d9fc0734082312a77d6c033b69a24b
 2026-03-19 09:59:50 -07:00
Haroon Qureshi eae31f0b3c Use model's num_quads for generating planes. 
PiperOrigin-RevId: 886228541
Change-Id: I693f85edd84e4e1b1db6a932d4479888426bcae4
 2026-03-19 09:44:53 -07:00
Michael Moss 779f6e8403 Save some CMake logs for debugging. 
PiperOrigin-RevId: 886222847
Change-Id: Iaa641c334b3e90f594c6a19a29beefcf6eb7a3f4
 2026-03-19 09:32:41 -07:00
Haroon Qureshi 7c63bcc8f3 Move Render logic into the Scene/Gui View classes. 
This is in preparation for an upcoming change.

PiperOrigin-RevId: 886203890
Change-Id: I91eba35b394898d942f66f75e947c450b924a973
 2026-03-19 08:50:41 -07:00