7bf065c75b
Implement equivalents to mj_getState, mj_setState and mj_stateSize in mjx
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PiperOrigin-RevId: 823158825
Change-Id: I06bbf603f61ef2de8f83f32a211e8d468e0b7c5c
2025-10-23 13:09:51 -07:00
99c18f07d3
Increase buffer size.
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The smaller size is a warning/error on some targets:
```
error: ‘ bytes’ directive output may be truncated writing 6 bytes into a region of size between 0 and 15
```
PiperOrigin-RevId: 823047552
Change-Id: Id66b5828cf84a512dffc452753f1881deb685584
2025-10-23 08:16:54 -07:00
1fd9b47fea
Prefix assets path with "assets/".
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PiperOrigin-RevId: 823044312
Change-Id: I0bde4428bd1992d6d4356e107dac471fa7cdecc6
2025-10-23 08:07:33 -07:00
18e60369f3
If building simulate with USD support remove the no-deprecated warning due to deprecated header usage in USD.
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PiperOrigin-RevId: 822807399
Change-Id: I2765f4a7260b5ac8b3ef5894c1c5ce7a3a745baf
2025-10-22 17:56:43 -07:00
febe75d54b
Add tendon.cpp to mjcPhysics CMake
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PiperOrigin-RevId: 822694422
Change-Id: Ic2f7c7a3b85526d49eb98c19118e6936ccb4e0f7
2025-10-22 12:30:16 -07:00
ae33724de1
Set info string on wrap instead of tendon when wrapping a prim in the path.
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PiperOrigin-RevId: 822688877
Change-Id: I04f5f5576cc0ed43e0ec77d5fccb19d2d23d7349
2025-10-22 12:13:53 -07:00
c060385505
Add section in mjcPhysics documentation for MjcTendon.
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PiperOrigin-RevId: 822602481
Change-Id: Icf2b3accd323ee9506ca1838c9a2bfc0f0d159c7
2025-10-22 08:35:54 -07:00
f217a8f987
Implement FetchPackage; a simple wrapper around FindOrFetch.
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FetchPackage calls FindOrFetch, but sets USE_SYSTEM_PACKAGE to OFF
(i.e. do not find, just fetch). It also sets EXCLUDE_FROM_ALL.
PiperOrigin-RevId: 822565180
Change-Id: I70476f57b8d3371cefd02e840add279423913f3f
2025-10-22 06:43:51 -07:00
160b9480f9
Add support for tendons to mjcPhysics.
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PiperOrigin-RevId: 822230926
Change-Id: I232a9fbfb473186ac742d210458ff0221a561126
2025-10-21 12:30:12 -07:00
ac2cd5dfd6
Add support for querying of MjsTendon path from Python.
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Fixes #2670
PiperOrigin-RevId: 822215254
Change-Id: Ice5a264e54f963776093511c6e4ac830aae6d4f8
2025-10-21 11:51:24 -07:00
2f65e23779
Add mj_extractState as a public API function.
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This function allows the caller to extract a subset of components of a state previously obtained via `mj_getState` without having to first write it back into `mjData`.
PiperOrigin-RevId: 822165077
Change-Id: I6433261f4f5ec2e8d024bb7dee8f7dbf1e62666c
2025-10-21 10:01:22 -07:00
25f5be82ff
Provide option to disable keyboard events for SDL.
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PiperOrigin-RevId: 822154396
Change-Id: Ie4c8537de2c4b01437aae00ed6d6af1a8f419a73
2025-10-21 09:36:16 -07:00
9e1ed0720b
Revert PDF documentation update to .readthedocs.yml.
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PiperOrigin-RevId: 822102488
Change-Id: I223757e80c00421c2ea37c3b30718c93b0a3cee8
2025-10-21 07:09:57 -07:00
056945df20
Enable frames to create the same children as bodies.
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PiperOrigin-RevId: 822097998
Change-Id: I8477d8abe2d6f711421126825fd94d39af1a4e07
2025-10-21 06:57:01 -07:00
09682ade4b
Fix mjcPhysics island flag default.
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PiperOrigin-RevId: 822088739
Change-Id: If3a87976dd319502160fd886a1823c12d72bebf1
2025-10-21 06:27:28 -07:00
64add36adb
Update documentation to be compatible with PDF generation
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PiperOrigin-RevId: 822081040
Change-Id: I935b08751109e973398bc61c21f7217408983494
2025-10-21 06:02:53 -07:00
01d1ac34e0
Add quadratic interpolation to flex.
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PiperOrigin-RevId: 822055781
Change-Id: Ibc252ac560de666b0b28f868e46b88d3ed92f67d
2025-10-21 04:36:36 -07:00
59f14485e0
Move mjCWrap type to mjsWrap.
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PiperOrigin-RevId: 821851540
Change-Id: I53382a8a21312a96aea46eec130f43e7cad70f92
2025-10-20 16:28:41 -07:00
88ac02dad3
Add UI to visualize the State
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PiperOrigin-RevId: 821641514
Change-Id: I41fd5602d0d52162b374149fb0080f6c387d7847
2025-10-20 07:32:41 -07:00
e75c5aa83c
Fix various include paths.
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PiperOrigin-RevId: 821564663
Change-Id: Ic84489b7f3e1ba97810f60049dcf2f4a4d31edcf
2025-10-20 02:55:22 -07:00
36bed9a9da
MuJoCo documentation in PDF format. Fixes #2736 , #470 .
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PiperOrigin-RevId: 820682295
Change-Id: Ib9d6d53594c99a7e80af0fd3f1273ce44f831afd
2025-10-17 07:29:17 -07:00
85b5230dc0
MuJoCo Warp API documentation.
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PiperOrigin-RevId: 820672892
Change-Id: I1339bdc4772560e69aa2c4b615825e7faffbe2ba
2025-10-17 06:59:19 -07:00
bd8c921475
Update doc/conf.py.
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PiperOrigin-RevId: 820636602
Change-Id: I20d8b44f9b933f14a72cb6e394be149bb459c552
2025-10-17 04:38:10 -07:00
fdc0e64e5c
Update .readthedocs.yml.
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PiperOrigin-RevId: 820614563
Change-Id: I76d10cbb3cbcd55ab5a84ce74ab2cc3c3cc4ecaf
2025-10-17 03:13:46 -07:00
ff7c94de8a
Add quadratic interpolation to mju_interpolate3D.
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PiperOrigin-RevId: 820252349
Change-Id: I983175eb51d7e1a81da06c0911326fcb8f5fe764
2025-10-16 08:48:20 -07:00
87adb7e5d6
Use the ImGui OpenGL3 backend.
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PiperOrigin-RevId: 820249390
Change-Id: I43fc85bf75a2c01b76218a2ff67a1526ee9e2bdb
2025-10-16 08:39:51 -07:00
2893c3344c
Allow mjx.ray to exclude multiple bodies.
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PiperOrigin-RevId: 820236386
Change-Id: I41229fa52043d844d116b540d60053628d1a842b
2025-10-16 08:03:46 -07:00
2fc8306e3d
Update .readthedocs.yml.
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PiperOrigin-RevId: 820223836
Change-Id: If0567dc022cea8133773c89d738841de2945b049
2025-10-16 07:26:05 -07:00
ffdfe542cf
Add mju_interpolate3D.
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This is a more general API in preparation of a higher interpolation order
PiperOrigin-RevId: 820174741
Change-Id: I81bd52ab44e0485d72579e21d1c8a48a1b35ec3f
2025-10-16 04:39:24 -07:00
48f10bfcb6
Update MuJoCo to v3.3.8 following the 3.3.7 release.
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PiperOrigin-RevId: 819919328
Change-Id: Ib34f959f6f8efd83362d49e784aa8e0594036899
2025-10-15 14:39:05 -07:00
8cbfc42767
Fix issue with zero size cache.
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PiperOrigin-RevId: 819773517
Change-Id: Iff1523e17ffbd1dff02bee71db896c64bd8b565c
2025-10-15 08:46:00 -07:00
5715cebbb9
MSAN: Don't clear mjData.sensordata in mj_resetData
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This is strictly an out array and should not be read before it is written to. This change improves MSAN coverage of engine code.
PiperOrigin-RevId: 819767673
Change-Id: I57500c8147f4774d326cf87ea3bac5420e4dd54d
2025-10-15 08:31:03 -07:00
99d93124f0
Update .readthedocs.yml.
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PiperOrigin-RevId: 819751628
Change-Id: Idf88c9169c63b80e6ae608b6e89911adbc7cb0b4
2025-10-15 07:47:07 -07:00
fec7a576ad
Revert the Eigen3 version due to an [upstream bug in Eigen]( https://gitlab.com/libeigen/eigen/-/issues/2986 )
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PiperOrigin-RevId: 819709602
Change-Id: I948daf46419547a598b23810c2c4a7adca74fb05
2025-10-15 05:47:03 -07:00
9174c87203
Minor fixes.
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PiperOrigin-RevId: 819680566
Change-Id: Ie2480eab3c974227268222190fdb84ed671303f2
2025-10-15 04:07:36 -07:00
0d4f6231be
Make JAX-Warp FFI more robust. Prepare for warp-lang 1.10. Fix #2894
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PiperOrigin-RevId: 819381906
Change-Id: I1f16abcbe02884445725c3087aa97af941131533
2025-10-14 13:48:43 -07:00
b6f25ca623
Check mjs_getName return value in XML parser. Fixes #2898 .
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PiperOrigin-RevId: 819351410
Change-Id: I0807d71328068f6388991ae15274c7d61b4d3e53
2025-10-14 12:40:28 -07:00
67960543a0
Updates for MJX viewer to help avoid graph recapture when impl='warp'.
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PiperOrigin-RevId: 819312078
Change-Id: I2f94eff9720fac8d06017123a51770d39743f2d6
2025-10-14 11:14:59 -07:00
f1d45bd542
Fix minor formatting issues and use nullptr consistently.
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PiperOrigin-RevId: 819178621
Change-Id: I3f6bfb6888075188d49e32110af2074b07c6b918
2025-10-14 06:15:57 -07:00
f7708954cb
Update changelog to version 3.3.7 and reformat lists.
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We won't be bumping the minor version until the next release.
PiperOrigin-RevId: 818748607
Change-Id: I34d0ac8836eeb6512f8dde112980f49f17125400
2025-10-13 11:16:16 -07:00
ae1febd83f
Automated g4 rollback of changelist 818694877.
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*** Reason for rollback ***
BEGIN_PUBLIC
Holding off on a minor version bump until the next release.
*** Original change description ***
#mujoco update the version to 3.4.0 ahead of the 3.4.0 release.
Bump the version to 3.4.0 ahead of the next release.
***
PiperOrigin-RevId: 818748143
Change-Id: I722e9beb80c61a48bd997da6a1840777a81d5036
2025-10-13 11:14:42 -07:00
27e8736fc7
This CL updates the changelog to mark the release of MuJoCo 3.4.0. It also updates the versions of Eigen3, Abseil, and benchmark used in the CMake build.
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PiperOrigin-RevId: 818719010
Change-Id: I865b0f647003d579af9d6c87fa081c4f7cbe34d0
2025-10-13 10:13:01 -07:00
02d2d4d49a
Bump the version to 3.4.0 ahead of the next release.
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PiperOrigin-RevId: 818694877
Change-Id: I42e261956a0219e549bec6a54cbf330a74f02f9f
2025-10-13 09:22:49 -07:00
bbeb0b95a7
Reset contact efc_address in mj_clearEfc, fixes #2869
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The truth is that all these solver-related values should be moved out of `mjContact` altogether, but that can be done in a future followup.
PiperOrigin-RevId: 818624976
Change-Id: I5b9e63927098cdf26b9f8acfdd9d86e75d6ce331
2025-10-13 06:18:41 -07:00
9b7e7e471d
Add line and linebox geom primitives.
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PiperOrigin-RevId: 818570050
Change-Id: If02873dd878a23b442368ce69bc024e0310e9d02
2025-10-13 02:59:13 -07:00
66a1c22cae
Label all bodies, not just selected bodies, when mjLABEL_BODY is set.
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An earlier refactor incorrectly assumed that only selected bodies needed
labels.
PiperOrigin-RevId: 818568645
Change-Id: I7aea07c5342673dd589e1891d0db1f2b0c489fe4
2025-10-13 02:54:34 -07:00
d9399d6f84
Update doc/conf.py.
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PiperOrigin-RevId: 818544892
Change-Id: I4bb14309ebb4abe9eca1a61fa91b1bba6992a1e5
2025-10-13 01:47:09 -07:00
a7fe06c717
Further simplification to mj_crb
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PiperOrigin-RevId: 818241421
Change-Id: I67dd2a60f415eb17b41f5ee553939118ab124123
2025-10-12 01:43:30 -07:00
12f0e3df9a
Quick return for static bodies in mj_object{Velocity,Acceleration}
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PiperOrigin-RevId: 818238459
Change-Id: I340a2f61439db2a149cc64a5fee543680fdcad0f
2025-10-12 01:25:05 -07:00
9e0885a4fa
Handle exceptions in VFS C API.
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PiperOrigin-RevId: 817688877
Change-Id: Ia2e306fe4cd1848eb5731212aa4e959080a9d377
2025-10-10 10:03:36 -07:00
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