32c7d3f085
Tag nullable arguments in main header. Fixes #309
...
Nullable arguments will be added to the `introspect` datastructures in a future change.
PiperOrigin-RevId: 789350522
Change-Id: I0bfd12fab5121f94b937264570f907593b63cf64
2025-07-31 08:39:16 -07:00
23fa7c00d5
Remove usage of size_t types in mjModel, use mjtSize (uint64_t) instead to improve portabilty of MJB files to WASM.
...
PiperOrigin-RevId: 789321991
Change-Id: Ic25fab876c347fc75f5ca24cad09e8fd972f035f
2025-07-31 07:08:33 -07:00
51babec9c5
Move tactile sensor to the engine.
...
PiperOrigin-RevId: 788863133
Change-Id: I3172ebb7641fa8146469da25cba7db794760e7b1
2025-07-30 05:27:44 -07:00
89f4789085
Add mjs_makeMesh to create a builtin mesh.
...
PiperOrigin-RevId: 788538127
Change-Id: I999733399a1a0da07b0f915f34d31364ab8b3b52
2025-07-29 11:31:18 -07:00
46dc67b7eb
Add function mjs_sensorDim to user API.
...
Note: change to (unreleased) contact sensor mjSpec API
PiperOrigin-RevId: 788507423
Change-Id: Ie639afb7ed01dc3f7bab43a3e812e8e0b0c67d07
2025-07-29 10:20:27 -07:00
a771fc6c09
Increase mjNSENS to 3
...
PiperOrigin-RevId: 788468705
Change-Id: Id22f131bebb6accc9a29c9aa285efa75fa8b2c16
2025-07-29 08:38:13 -07:00
9e7979e492
Add checks for contact sensor when constructing with mjSpec Python bindings.
...
PiperOrigin-RevId: 788008233
Change-Id: I14518b8cce1a7dad4fd24933478e0cc1bb75e350
2025-07-28 07:50:56 -07:00
83435361fa
Increase max points in 2D plot from 1000 to 1001.
...
PiperOrigin-RevId: 787513580
Change-Id: I573c779932fa7411b132020213637a25fa859844
2025-07-26 12:46:31 -07:00
7da32d186f
Add basic visual material parsing support to USD interop.
...
For this first iteration we only support simple UsdPreviewSurface spec node graphs.
PiperOrigin-RevId: 786309455
Change-Id: I2e5501a65b22aca6da570bc94394514c67bd100a
2025-07-23 09:21:56 -07:00
4f43a7d08e
fix typo in bindings_test.py
...
PiperOrigin-RevId: 785536018
Change-Id: I06dd65c65c12e92d354d900a8046b38c0c5de8d3
2025-07-21 12:37:23 -07:00
fc13995dd4
Yield ownership of vector<double>, vector<float>, and vector<int> to mjSpec in Python bindings.
...
Fixes #2756
PiperOrigin-RevId: 785417251
Change-Id: Ib399c46ee59585258ace7d9583c68b7d06d0a9e4
2025-07-21 06:44:17 -07:00
60f9b34a77
Validate the MjModel pointer passed to MjData constructor.
...
Fixes #2426 .
PiperOrigin-RevId: 785411895
Change-Id: If698120b5a4ab4ac457d35760380c140b1b5a208
2025-07-21 06:23:52 -07:00
5e666635f6
Remove mjtVisFlag.mjVIS_FLEXBVH and mjvOption.oct_depth
...
PiperOrigin-RevId: 783355711
Change-Id: I1e11999d5c533925f1d07266aeca95598a5691ba
2025-07-15 09:08:22 -07:00
d0e4771c8c
Add contact sensor.
...
PiperOrigin-RevId: 783011982
Change-Id: Ica56fe9d520fa1d1ee7338e09148b1a55a049912
2025-07-14 13:03:35 -07:00
6e7aaacb85
Do not rely on global object lists in mjCBody::NextChild().
...
PiperOrigin-RevId: 782963753
Change-Id: I0afecbab4b7796f077963ba66eb7140d8f83ad89
2025-07-14 10:47:45 -07:00
9a41d385c1
Add needsdf flag to mjsMesh.
...
PiperOrigin-RevId: 782949528
Change-Id: Iaa96326a91795c3469c991bd8def53560b38e4f0
2025-07-14 10:13:05 -07:00
3c99705f85
Update MuJoCo's version number following the 3.3.4 release.
...
PiperOrigin-RevId: 781596261
Change-Id: Iac050c4b9cb65542b52fa6b8c54ff2537bc6a648
2025-07-10 10:47:26 -07:00
96118da08b
Move SDF precomputation to the mujoco compiler.
...
Before:
```
Simulation time : 2.24 s
Steps per second : 4472
Realtime factor : 8.94 x
Time per step : 223.6 µs
Newton iters / step : 2.47
Contacts / step : 3.37
Constraints / step : 13.49
Degrees of freedom : 12
Dynamic memory usage : 0.2% of 14M
```
After:
```
Simulation time : 1.71 s
Steps per second : 5854
Realtime factor : 11.71 x
Time per step : 170.8 µs
Newton iters / step : 2.19
Contacts / step : 3.45
Constraints / step : 13.79
Degrees of freedom : 12
Dynamic memory usage : 0.2% of 14M
```
PiperOrigin-RevId: 781075182
Change-Id: Ie509047ff581ab0df4b10bbd394c27d350ab5a13
2025-07-09 08:57:09 -07:00
a3d251f552
Add mjModel.sensor_intprm, integer parameters of sensors
...
PiperOrigin-RevId: 781053754
Change-Id: I90e5ef1cab3f87b894dbc70dccfc8bf0046ce1b6
2025-07-09 08:00:21 -07:00
e6c5715903
Add insidesite sensor for detecting when an object is inside the volume of a site.
...
PiperOrigin-RevId: 780993257
Change-Id: I2dcfc840d222680adc3b934344a0819f4d78b6eb
2025-07-09 04:56:42 -07:00
2a32babb78
Update Mujoco Deps in preperation for the 3.3.4 release
...
PiperOrigin-RevId: 780712420
Change-Id: Ib13d18bcf0f248acff93c04f977eec59185dc932
2025-07-08 14:21:53 -07:00
1a4ddca6cf
Make mjs_findElement find meshes by file name.
...
PiperOrigin-RevId: 780150428
Change-Id: Ie500062fa8cca755683b66540e84ede588d7c331
2025-07-07 09:51:33 -07:00
af7d20c035
Change mjs_nextChild to be DFS to match XML parsing.
...
PiperOrigin-RevId: 778915232
Change-Id: I5e290f47b7d2530597bb6c85b66ff2ae807e5510
2025-07-03 10:07:13 -07:00
69ce5dbd05
Consolidate tree traversal tests in the C and Python APIs.
...
PiperOrigin-RevId: 778883024
Change-Id: I0d30ed011e60a6da7148cebc1f715895fd0c6fd6
2025-07-03 07:25:23 -07:00
564c51ddb9
Check for duplicated names when setting element names.
...
PiperOrigin-RevId: 778827590
Change-Id: I77a208c1571cf735cae80840ea830aa347681f71
2025-07-03 03:20:55 -07:00
594e17074a
Replace name attribute with setters and getters in the C API of mjSpec.
...
PiperOrigin-RevId: 778816015
Change-Id: Ieffb7a5bce37e887ff009f9a02d2434435e79ca1
2025-07-03 02:30:56 -07:00
5c1f1f9dba
Add octree to meshes of SDF geoms.
...
PiperOrigin-RevId: 777634862
Change-Id: I3210c2f8d73fd30ceecb0a11abd1d82e086b3d5d
2025-06-30 10:50:15 -07:00
09f7154e57
Add option to only sync the state to improve sync performance in passive mode.
...
By default this option is off, which preserves the current behavior of syncing all of `mjModel` and `mjData`.
PiperOrigin-RevId: 776498017
Change-Id: I02127c9397efbabebb89b0e0d139b00b6e665d35
2025-06-27 02:49:58 -07:00
18d5d5d03f
Improve documentation related to mjSpec element deletion.
...
PiperOrigin-RevId: 775677830
Change-Id: I02e51b57956b0b6a20c654326b54e001b498dd96
2025-06-25 07:23:51 -07:00
a00bfa819c
Raise error when binding to a removed element.
...
PiperOrigin-RevId: 774462737
Change-Id: I820c0e1c010ae9fbf6d9667c3364d4b65bf21002
2025-06-22 10:15:31 -07:00
14dc7c2a60
Add "cameraid" attribute to visual/global specifying the default camera to use at model load.
...
PiperOrigin-RevId: 773783069
Change-Id: I2fff2abdceedc982d89cee8d14b95abceea1c113
2025-06-20 11:41:27 -07:00
a2acd2d4ed
Rename detach_default and detach_body to delete in the mjSpec bindings.
...
PiperOrigin-RevId: 773674361
Change-Id: I3977060e19e9ff0afc65ad91693c017958576b78
2025-06-20 06:23:30 -07:00
0488d9f4eb
Replace mjs_detachBody and mjs_detachDefault with mjs_detach.
...
In a follow-up, mjs_detach will be changed to only remove without deleting an element.
PiperOrigin-RevId: 773637351
Change-Id: I9ee4d3584ba88ccc225591337cf036bab806e25c
2025-06-20 04:12:27 -07:00
92bc486558
Make mjs_findElement find textures by file name.
...
This is done if the model is uncompiled and their name is empty.
PiperOrigin-RevId: 772885774
Change-Id: I827d5b679637fa0571cfb0a69833ed688df16304
2025-06-18 05:54:12 -07:00
d2501eff68
Use procedural model creation in plugin tests.
...
This will be useful for simplifying the mjSpec API for plugins.
PiperOrigin-RevId: 772505558
Change-Id: I8eb57d7e129e0f6430fb4c610a543e0dc0f3b295
2025-06-17 09:30:54 -07:00
a4ab35c194
update scrubs and set next version
...
PiperOrigin-RevId: 770740070
Change-Id: I6b2f1356706b1849872df2583adbbb3f72057884
2025-06-12 11:39:45 -07:00
f978b4eea3
Release notes for 3.3.3 + update git hashes.
...
- Upgraded dependencies versions.
- Added release date for 3.3.3
- Reordered changelog to be a numbered list.
PiperOrigin-RevId: 769808336
Change-Id: Iffa074f52ef2e3f9d450ce6973a7e85980417367
2025-06-10 14:49:17 -07:00
f75772587a
Add functions for setting an mjsActuator to a specific shortcut type.
...
PiperOrigin-RevId: 769049331
Change-Id: If5bb04966bd29a57569a2c17d712b9ae3d33324d
2025-06-09 02:17:02 -07:00
3eb31f56cd
Copybara import of the project:
...
--
c9acc0a6f677951db34f2b607bd60fc18a43f72b by Levi Burner <leviburner@gmail.com >:
Fix race condition in Python viewers set_X methods
--
b89ab8f7a0f628ee7a02ebfbac2a97f113112076 by Levi Burner <leviburner@gmail.com >:
use std::swap to replace some copying
--
02625bed0cffbfc9ea4537f74689f0bbcb8bf44c by Levi Burner <leviburner@gmail.com >:
fix whitespace
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/2613 from aftersomemath:simulate-set-race 02625bed0cffbfc9ea4537f74689f0bbcb8bf44c
PiperOrigin-RevId: 766646168
Change-Id: I1e1dc16afbfb1e69fb958d54bd1075cc9aed3569
2025-06-03 07:01:31 -07:00
84ad22a590
Add mj_copyBack for copying real-valued arrays from mjModel back to mjSpec.
...
Also add `SaveAndReadXML` function to test fixture using `mjSpec` as input.
PiperOrigin-RevId: 765393821
Change-Id: Ic257addd2fc89678fc11b226c168c077626cc51e
2025-05-30 17:17:14 -07:00
1fbbfd8079
Correct frame property in MjsBody from method to read-only attribute.
...
PiperOrigin-RevId: 764188923
Change-Id: I7c753f7f431b79aa320681c45b7614f68b63852c
2025-05-28 03:48:07 -07:00
568620dd2f
Add texture attribute to lights.
...
PiperOrigin-RevId: 763739805
Change-Id: I333ed2ac68f30f79f688ca01d7b5fd6bf2d836c9
2025-05-27 05:04:01 -07:00
ccc912c3b0
Improve docstring in mjvGeom, fixes #2629
...
PiperOrigin-RevId: 763693102
Change-Id: Icb9a3168691690ccf086adb5a20358b3952d6717
2025-05-27 02:17:24 -07:00
89e39dc0a7
Expose mj_makeM as a sub-component.
...
PiperOrigin-RevId: 763662068
Change-Id: I55ced456dca751c1de09fb35e2f73c60ffc0d626
2025-05-27 00:35:55 -07:00
7a5b55f57e
Expose mjs_resolveOrientation to the Python API.
...
PiperOrigin-RevId: 762571376
Change-Id: I08d8394b24670c7f102356da4234b17f1ba4e05f
2025-05-23 14:36:47 -07:00
e389872c7d
Add frame property to python bindings.
...
PiperOrigin-RevId: 762452877
Change-Id: I555cec650d04700f6718b4d77a866c821b90685c
2025-05-23 09:24:24 -07:00
74cc904edc
Convert light directional boolean into a type enum.
...
PiperOrigin-RevId: 761983728
Change-Id: Id5bf93c103e5358d9c5cd9f1176532a978e0b3a8
2025-05-22 08:51:18 -07:00
3e9bc79b54
Adds color space to textures.
...
PiperOrigin-RevId: 761907261
Change-Id: Iec546d1d5907a15e57ef809ec31850640fc52915
2025-05-22 04:33:40 -07:00
49c33716a1
Allow _realloc_con_efc to also allocate new nJ arrays.
...
PiperOrigin-RevId: 761252071
Change-Id: Idce822c6f2b8f2d81a5d43228f5dc35281c5ad07
2025-05-20 15:26:04 -07:00
ced630181d
Replace mjv_sceneState and related code with mjv_copy{Model,Data}
...
PiperOrigin-RevId: 760662776
Change-Id: I512bda9187fbc19ade6924b91d5cb2275078de42
2025-05-19 09:51:58 -07:00
Yuval Tassa