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Author SHA1 Message Date
Google DeepMind 8191bf1e41 Update MuJoCo README with a link to mjswan. 
Add a note about mjswan, which extends the JavaScript/WebAssembly bindings with real-time policy control and interactive features. Requested by tatsuki.

PiperOrigin-RevId: 896513129
Change-Id: I984a41d281ffa1ad307f0b3db909140a201dd717
 2026-04-08 08:21:34 -07:00
Yuval Tassa 0e04436d51 Remove `mjWARN_VGEOMFULL, handle visual geom buffer full warnings in mjvScene`. 
PiperOrigin-RevId: 896483023
Change-Id: I6dde2c20d8e8e229cf95e1f002dd10525d3376e6
 2026-04-08 07:17:53 -07:00
Yuval Tassa 5a2cc6cee3 Improve torque-speed Figure (3b) in dcmotor.pdf 
PiperOrigin-RevId: 896453507
Change-Id: I3973b173db9035b71d69bc2c9dea990689d06a1c
 2026-04-08 06:04:57 -07:00
Haroon Qureshi c6a434a408 Move flex/skin Mesh creation into ModelObjects. 
PiperOrigin-RevId: 896419032
Change-Id: Ib0f0cd0c80c9f630127f2f72dbaed7c644046663
 2026-04-08 04:38:10 -07:00
Haroon Qureshi 87b0ea785e Move UpdateMeshData into model_objects.cc. 
PiperOrigin-RevId: 896346482
Change-Id: Id57586d652faca75d07ccfe0cee72e97afc823fc
 2026-04-08 01:48:38 -07:00
Haroon Qureshi 49b45bd993 Merge vertex_util into math_util. 
PiperOrigin-RevId: 896071837
Change-Id: Ieec0e4b4b11988805219739a84f413871ae34f1b
 2026-04-07 13:53:27 -07:00
Haroon Qureshi f7fd5fc58b Rename RenderTargetAndTextures to RenderTarget. 
Also rename render_target_util to render_target.

PiperOrigin-RevId: 896033907
Change-Id: I123cf98dc308f7cc4916f7b79dcc59a05564022d
 2026-04-07 12:30:39 -07:00
Yuval Tassa 382474bb9d Minor improvements to dcmotor 
PiperOrigin-RevId: 895907301
Change-Id: Ia50a6d06c1ede9894cc71f375db837d104f0211e
 2026-04-07 08:11:13 -07:00
Haroon Qureshi b61d304126 Rename buffer_util to mesh. 
PiperOrigin-RevId: 895897940
Change-Id: Ic6d4315fd6429efda81d24168548271a1a1f03c5
 2026-04-07 07:49:38 -07:00
Haroon Qureshi a3c9115d1e Use MeshData struct for creating Meshes. 
Consolidate all Vertex and Index buffer creation inside the
Mesh class. Users now set data pointers in the MeshData
from which the Mesh class will create the filament buffers.

PiperOrigin-RevId: 895871213
Change-Id: Ie086fcb5c31adf90e54cba168b03501e21720726
 2026-04-07 06:41:36 -07:00
Matija Kecman 9f3babd60c Group platform components into descriptive subfolders 
PiperOrigin-RevId: 895832492
Change-Id: I6cc56b0e4b002b2998579cde95f4b88dfbd88184
 2026-04-07 04:58:32 -07:00
Haroon Qureshi 6273331d82 Define a struct that can be used to create a Mesh. 
A future change will update all callers to use this
method for creating Meshes after which we will remove
the constructor that takes explicit filament objects.

PiperOrigin-RevId: 895807063
Change-Id: I50833817961ae57fbb9ed6b875c1ef286b9fdd26
 2026-04-07 03:58:21 -07:00
Haroon Qureshi 28d8ddcbeb Rename FilamentBuffers class to Mesh. 
Update the Mesh class so that it manages the lifetime of the
vertex and index buffers.

PiperOrigin-RevId: 895794022
Change-Id: I5eda578b8b7ed7f918e792f6181ec724729b5215
 2026-04-07 03:24:40 -07:00
Copybara-Service 6de35648d1 Merge pull request #3165 from thowell:mjwarp_per_world_meshes_doc 
PiperOrigin-RevId: 893971099
Change-Id: I57d44bf8f793356601ec6bde129a459ff114b91c
 2026-04-03 02:35:45 -07:00
Alessio Quaglino 0e3306b62d Add useful flex arrays to MJX API. 
This enables using name2id for flexes.

PiperOrigin-RevId: 893923892
Change-Id: I7c2a71791e26fa2280cfa75fd66db328f4599b0b
 2026-04-03 00:13:29 -07:00
Sam Haves db011b5100 Add condition to team notification of github actions that it's from 'main' 
PiperOrigin-RevId: 893437916
Change-Id: I0c0b22747e4e4cac23ad0f44cf8b667863cc79ae
 2026-04-02 04:42:39 -07:00
Taylor Howell e9de329e4e Import google-deepmind/mujoco_warp from GitHub. 
PiperOrigin-RevId: 892971818
Change-Id: Ibce0c41294a4fcf2825a246a9533e8927fdc7e82
 2026-04-01 09:33:20 -07:00
Yuval Tassa 70a7647ad9 Add <dcmotor> actuator and related docs and tests. 
PiperOrigin-RevId: 892927987
Change-Id: I38ed6412801341ba03ddf5fe7b93a6081df24d37
 2026-04-01 07:50:23 -07:00
Haroon Qureshi 6da210c794 Rename texture_util to texture. 
PiperOrigin-RevId: 892868713
Change-Id: I113132dc9e4535e94d48c4e71520acb159e2e216
 2026-04-01 05:14:47 -07:00
Haroon Qureshi 565e46da42 Update GuiView to use Texture class. 
PiperOrigin-RevId: 892866156
Change-Id: I2a2e9ef51df51472b675d69edcf2d5ba291721ea
 2026-04-01 05:06:08 -07:00
Haroon Qureshi 9fa9193a62 Split Texture creation into two structs. 
TextureConfig describes the properties of the texture (e.g.
width, height, pixel format, etc.).  TextureData contains
the binary payload of the texture.

PiperOrigin-RevId: 892854578
Change-Id: I604b926ac38ff1050cac8fdf9ec767b789c0798e
 2026-04-01 04:32:22 -07:00
Haroon Qureshi 95666da039 Introduce a Texture class that wraps filament::Texture. 
PiperOrigin-RevId: 892839636
Change-Id: I3c08fba0a514cfb758ec2842d8510c6d88300874
 2026-04-01 03:52:05 -07:00
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