Most "classic" objects looked washed out. To "revert" to the old look, you can add the following to your XML files:
```
<custom>
<numeric name="filament.phong.specular_multiplier" data="0.1"/>
<numeric name="filament.fallback.scene_light_intensity" data="100000.0"/>
<numeric name="filament.fallback.environment_light_intensity" data="10000.0"/>
</custom>
```
PiperOrigin-RevId: 869725829
Change-Id: Icab0cedaa27915400497745db886c393709c14b1
--
b1734da56e293b50e7bd0cc8b9a8ee5677aa70ec by MatiasManevi <manevimatias@gmail.com>:
Improve wording for WASM Windows support status
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/3095 from MatiasManevi:wasm-readme b1734da56e293b50e7bd0cc8b9a8ee5677aa70ec
PiperOrigin-RevId: 869699309
Change-Id: I2780d2406139e33eeb5521f509245d29b69a61ab
This is to properly handle the case where the interpreter wants to exit immediately, e.g. when `mjpython --version` is run.
Currently, we call `PyGILState_Ensure` regardless of the result of `Py_InitializeFromConfig` resulting in a segfault, as in issue #2870.
PiperOrigin-RevId: 869652555
Change-Id: I3a898279eb8aa25afbaece904cfdcc4fdcc92972
--
4cabc9c52dc07ea2d64a3de6dbd58e47a2ad023c by Kevin Zakka <kevinarmandzakka@gmail.com>:
Add system identification tutorial and fix template packaging
- Add sysid tutorial notebook (sysid.ipynb)
- Include HTML templates in package-data to fix TemplateNotFound errors
when pip installing mujoco[sysid]
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/3092 from kevinzakka:sysid-notebook 4cabc9c52dc07ea2d64a3de6dbd58e47a2ad023c
PiperOrigin-RevId: 868900119
Change-Id: I53c4cc94b5fb6f864c5cee589af9dfad9bfc8744
The derivatives of actuator velocity with respect to generalized velocities were incorrectly computed when the actuator force was limited by `forcerange`. This CL adds a check to zero out these derivatives when the actuator force is at its upper or lower limit, as the force is no longer a function of velocity in this clamped state.
PiperOrigin-RevId: 868818281
Change-Id: I89742a3f04989dd11f9cfada107200015b1472a7
Adds a test which verifies that we can index into the texture buffer at offsets larger than can be represented by a 32-bit signed int.
PiperOrigin-RevId: 868756646
Change-Id: Ibc1a2b269fce41aec370611b0aab77803837e7a8
Replace dynamically-sized edge list with a dense ntree×ntree adjacency matrix for deduplication and a flat CSR representation.
PiperOrigin-RevId: 868728432
Change-Id: Iebe97a0870740e5465549b967bbde0c81e658269
The derivative calculation for actuator velocity in implicit integrators now correctly accounts for the `actearly` flag, using the next activation value when `actearly` is true.
PiperOrigin-RevId: 868598722
Change-Id: Ia180afb15b31a718170aeaf9d4ac514bb9e6073b
The implicit integrator was not correctly accounting for the off-diagonal coupling terms between flex and non-flex (parent) degrees of freedom in the mass matrix. This change extracts these coupling terms during the factorization step and applies a correction to the flex forces before solving for the flex accelerations, ensuring that the parent accelerations influence the flex dynamics. A new test verifies that the implicit integrator now matches Euler for small timesteps in a model with flex-parent coupling.
PiperOrigin-RevId: 868098126
Change-Id: Ia8cccd7dd428cd0c0898e1663a7e41017a2311b2
File resolution only checks local file system. Resource providers may still
be able to load from a path even if it is not resolved.
PiperOrigin-RevId: 867534134
Change-Id: I802566136b965ad839393f56a4d4924dda2e1973
The functions and associated tests related to managing time-stamped data buffers have been renamed from `mju_delay*` to `mju_history*` to better reflect their general purpose beyond just handling delays.
PiperOrigin-RevId: 866978339
Change-Id: I8655e91bce783287ad2adc412d13a1c39aa2c322
Use stat() instead of d_type to check if a file is a regular file
when scanning for plugin libraries. This allows symlinked plugins
to be loaded, which is common in ROS 2 workspaces built with
colcon build --symlink-install.
The stat() approach also handles filesystems that report DT_UNKNOWN
for d_type (e.g., NFS, XFS), making the code more robust.
Fixes#3072
Haroon Qureshi