8d9556db7c
Update MJX feature parity.
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PiperOrigin-RevId: 775147260
Change-Id: I48097c2ac4ef17b7f17f6fd8a894ae00a25abf63
2025-06-24 02:54:23 -07:00
a00bfa819c
Raise error when binding to a removed element.
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PiperOrigin-RevId: 774462737
Change-Id: I820c0e1c010ae9fbf6d9667c3364d4b65bf21002
2025-06-22 10:15:31 -07:00
419cdf1ff3
Add mesh fit image to XMLreference
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PiperOrigin-RevId: 774458193
Change-Id: I3bae60e431c628ccc4cb96f96cc7b045dc365698
2025-06-22 09:54:44 -07:00
14dc7c2a60
Add "cameraid" attribute to visual/global specifying the default camera to use at model load.
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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.
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PiperOrigin-RevId: 773674361
Change-Id: I3977060e19e9ff0afc65ad91693c017958576b78
2025-06-20 06:23:30 -07:00
0488d9f4eb
Replace mjs_detachBody and mjs_detachDefault with mjs_detach.
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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
4ce6293217
Fix bug in inverse dynamics when tendon armature is present.
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PiperOrigin-RevId: 773604419
Change-Id: Iaffe3d831c6a5aba8a0a99c05aa76cbd862745f5
2025-06-20 02:25:04 -07:00
bb1d313780
Update docs reflecting MJX now has good support for implicitfast.
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PiperOrigin-RevId: 772660862
Change-Id: I2ba27b39bb6885b48f65ca1afdc6b83ec027a26d
2025-06-17 16:08:12 -07:00
a4ab35c194
update scrubs and set next version
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PiperOrigin-RevId: 770740070
Change-Id: I6b2f1356706b1849872df2583adbbb3f72057884
2025-06-12 11:39:45 -07:00
f978b4eea3
Release notes for 3.3.3 + update git hashes.
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- 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
bf56312c9d
Increase size of image in changelog
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PiperOrigin-RevId: 769549620
Change-Id: I8666771ecf50b91342694deeb357b3edfa3f62d9
2025-06-10 03:34:17 -07:00
caaf7b3a69
Add tendon armature to MJX.
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PiperOrigin-RevId: 769294284
Change-Id: Idfbd4f355eb26fba5035973ab989a9d3af05c85f
2025-06-09 14:27:18 -07:00
b8768aa1cd
Allow to fusestatic a body if it doesn't generate a referencing error.
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PiperOrigin-RevId: 769189929
Change-Id: I62f512813ea330da088b28d39373df39be10a602
2025-06-09 10:05:57 -07:00
f75772587a
Add functions for setting an mjsActuator to a specific shortcut type.
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PiperOrigin-RevId: 769049331
Change-Id: If5bb04966bd29a57569a2c17d712b9ae3d33324d
2025-06-09 02:17:02 -07:00
dd18dd2024
Apply metallic and roughness scaling factors.
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PiperOrigin-RevId: 767518801
Change-Id: I7eff7b7a56cfbb9c6e46ac22011559eabf401c07
2025-06-05 03:03:16 -07:00
84ad22a590
Add mj_copyBack for copying real-valued arrays from mjModel back to mjSpec.
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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
9b2b7cf92a
Set light intensity to 0 by default (not 1000).
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PiperOrigin-RevId: 764257692
Change-Id: If656095e3f8d4b4d9c97fa67bdad508a49095eb3
2025-05-28 07:47:28 -07:00
3a4b6e6c5b
Added terrain generation to mjspec tutorial
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PiperOrigin-RevId: 764229337
Change-Id: Ic541eefc4b561d3c39c5ee99c7d38466d7e75903
2025-05-28 06:13:26 -07:00
568620dd2f
Add texture attribute to lights.
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PiperOrigin-RevId: 763739805
Change-Id: I333ed2ac68f30f79f688ca01d7b5fd6bf2d836c9
2025-05-27 05:04:01 -07:00
de3dc7c234
Update documentation from mjData.solver_iter to mjData.solver_niter.
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PiperOrigin-RevId: 763729137
Change-Id: I1266539ead38e083d427614d50b2aa79a68aa09c
2025-05-27 04:25:54 -07:00
ccc912c3b0
Improve docstring in mjvGeom, fixes #2629
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PiperOrigin-RevId: 763693102
Change-Id: Icb9a3168691690ccf086adb5a20358b3952d6717
2025-05-27 02:17:24 -07:00
89e39dc0a7
Expose mj_makeM as a sub-component.
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PiperOrigin-RevId: 763662068
Change-Id: I55ced456dca751c1de09fb35e2f73c60ffc0d626
2025-05-27 00:35:55 -07:00
3e2bbbd792
Merge pull request #2612 from budzianowski:main
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PiperOrigin-RevId: 763392959
Change-Id: I56472db86a347fb18d1450b80bbfe5405382cdae
2025-05-26 05:37:31 -07:00
74cc904edc
Convert light directional boolean into a type enum.
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PiperOrigin-RevId: 761983728
Change-Id: Id5bf93c103e5358d9c5cd9f1176532a978e0b3a8
2025-05-22 08:51:18 -07:00
373b4c0437
Support image/ktx format for textures.
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PiperOrigin-RevId: 761926074
Change-Id: I6a312634b5bdc706ea5166bc3b2be273e14c1c8a
2025-05-22 05:47:55 -07:00
3e9bc79b54
Adds color space to textures.
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PiperOrigin-RevId: 761907261
Change-Id: Iec546d1d5907a15e57ef809ec31850640fc52915
2025-05-22 04:33:40 -07:00
b728a50eb2
Correct elastic2d default information in the changelog.
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PiperOrigin-RevId: 761120899
Change-Id: Id7093f9baa775fb71cf1dd7aaf74f6bd8d4d5e83
2025-05-20 09:48:28 -07:00
bf722098f0
Fix broken link in changelog.
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PiperOrigin-RevId: 760730799
Change-Id: I65e2d06f9162266b2929cc4d26af621fc3535197
2025-05-19 12:40:36 -07:00
7edbdd0ad6
Remove the Shell plugin and integrate it into the engine.
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PiperOrigin-RevId: 760688502
Change-Id: Ia70988d42b7edf571d7cb4a4f48f8fc50b51667d
2025-05-19 10:51:25 -07:00
ced630181d
Replace mjv_sceneState and related code with mjv_copy{Model,Data}
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PiperOrigin-RevId: 760662776
Change-Id: I512bda9187fbc19ade6924b91d5cb2275078de42
2025-05-19 09:51:58 -07:00
8268c6d1ff
Add mjv_copyData
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PiperOrigin-RevId: 760642972
Change-Id: I16227fd91bf42618fda684b15b3650758ae29b13
2025-05-19 08:59:43 -07:00
e8c566bee1
Remove use of diagnum in solver
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PiperOrigin-RevId: 759021147
Change-Id: I9e5c85b6542380780fc487781398f406ddaad51b
2025-05-15 00:39:28 -07:00
71bdd915f7
Move bending stiffness from plugin to the compiler.
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PiperOrigin-RevId: 758677644
Change-Id: I7d5c5140ba6948002bfa4ae9d6b4bf0f6de0e39b
2025-05-14 07:39:24 -07:00
dd28b887d4
Rename C sparse structure to M in mjdata, improve docstrings.
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PiperOrigin-RevId: 758636638
Change-Id: If78acc423601d2911f514929b27f7b6d0af9ef58
2025-05-14 05:26:19 -07:00
fa95fe0c59
Add intensity and range parameters to lights.
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PiperOrigin-RevId: 758603199
Change-Id: I74e88bdfeedd9224e84d953f237d68eca79e6cb7
2025-05-14 03:28:03 -07:00
34e8ff1aad
Add flex edge flap connectivity to mjModel.
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PiperOrigin-RevId: 758593152
Change-Id: I79836df961972c9eae8037e5fcbfc3d0122645de
2025-05-14 02:50:37 -07:00
79c74d7eae
Add mjData.M, not yet used.
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PiperOrigin-RevId: 758351796
Change-Id: I0786966b2f2c2e699db845cda6940a8821b23f49
2025-05-13 13:28:03 -07:00
1e02d66c3d
Remove M matrix structure from mjData.
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Introduced in March 2025 as a temporary measure, this is not considered a breaking change.
PiperOrigin-RevId: 758311298
Change-Id: Ia08857c18b791f6a62a2d8d136b45fc075507b93
2025-05-13 11:47:18 -07:00
627fffdef9
Switch mjData.{qH,qLD} from full ("M") to reduced ("C") inertia matrix structure.
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PiperOrigin-RevId: 758273074
Change-Id: If1a2e663ea70044694af985e0119afd6d58115ac
2025-05-13 10:20:32 -07:00
755564a348
Remove unused code related to legacy island implementation.
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Also fix a docstring.
PiperOrigin-RevId: 757939564
Change-Id: I3a970fd38c63886d34cd23b1fb45617a9ce5c147
2025-05-12 15:39:16 -07:00
8a7c42c747
Add SDF functions to public API.
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PiperOrigin-RevId: 757829339
Change-Id: I81ee7c3f33acf234835bf34cbb632e23cb9e284e
2025-05-12 10:53:39 -07:00
d77126dc58
Add vertcollide option for adding spheres at flex vertices.
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PiperOrigin-RevId: 757789990
Change-Id: I8ccba52b13e8c02a7be78f992297d6f414d98f8e
2025-05-12 09:13:48 -07:00
dfe22f7ef7
Remove stale reference to uncompressed sparse matrix.
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PiperOrigin-RevId: 757775265
Change-Id: Ic18c0c89ab84285a7d93e24c65e50832ebc53c6f
2025-05-12 08:30:43 -07:00
924ee3070a
Modify user values in mujoco to allow users to provide cleanup functions to avoid memory leaks.
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For the MJCF -> USD plugin, and I suspect other usecases for user values, it's necessary to give ownership of the object to Mujoco. However since they get type erased, we can't clean up the data automatically for the user. Instead this allows c++ clients to provide a cleanup function with their data.
PiperOrigin-RevId: 756832010
Change-Id: I80b8e7822e1a0e399a0d19dcaa57ee69b3ccc16a
2025-05-09 11:03:06 -07:00
421c487d9d
Set mocap_pos/quat in make_data. Fixes #2606 .
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PiperOrigin-RevId: 755903897
Change-Id: Ied04e9bd3febfe1bbbba24ed1f52b3c0c6e50f38
2025-05-07 10:13:17 -07:00
ecb769fc3a
Refactor islands to be memory contiguous.
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PiperOrigin-RevId: 755803476
Change-Id: I41972b07e0d5ef5d0117c94f565b93367b87458b
2025-05-07 05:06:27 -07:00
c3e71a3fb1
Update simulation.rst
2025-05-06 16:46:46 -07:00
3e9d130092
Add mjs_getPluginAttributes.
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PiperOrigin-RevId: 752691116
Change-Id: Ib503a99f8d10661b8bf92410ccf471420f924986
2025-04-29 05:19:09 -07:00
4137a4c774
Bump version to 3.3.3 following the 3.3.2 release
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PiperOrigin-RevId: 752482043
Change-Id: I3dae8a0b9de2be4d456e856825c18f16f62bf51a
2025-04-28 16:09:25 -07:00
1dc5bcb04a
Update changelog for 3.3.2 release
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PiperOrigin-RevId: 752389725
Change-Id: I0976279bece09a099b6a34029575b24ba2d8fd1b
2025-04-28 11:46:41 -07:00
Taylor Howell