1f2587fe3e
Make preprocessor checks for ADDRESS_SANITIZER compatible with GCC
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PiperOrigin-RevId: 884468086
Change-Id: I5742f023689fd8cc1747df1af5f0a9687a0e77ac
2026-03-16 09:03:52 -07:00
bb38a34869
Skip shared dofs for contact constraints
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PiperOrigin-RevId: 884455239
Change-Id: I7ee36a13c28be88e12380b4790f150ad62f268c1
2026-03-16 08:36:58 -07:00
eca5758bf9
Define ADDRESS_SANITIZER portably using standard compiler macros
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Use `__SANITIZE_ADDRESS__` (GCC) and `__has_feature(address_sanitizer)` (Clang)
to define ADDRESS_SANITIZER when the toolchain doesn't provide it natively.
Fixes #3160
PiperOrigin-RevId: 884447485
Change-Id: I48ef51bca8f5c5f15f62089e73cd8fa649723636
2026-03-16 08:18:11 -07:00
63bab26536
MuJoCo Warp documentation: CCD margin
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PiperOrigin-RevId: 884410781
Change-Id: I61171639503ce2a08c79c0e99ed5ebc09c36bf63
2026-03-16 06:49:32 -07:00
c651a0daeb
Merge friction and limit constraint counting into instantiation functions.
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PiperOrigin-RevId: 884379952
Change-Id: I23605f3e5ada0ed0fbdcf3e1903f54788700e2d3
2026-03-16 05:23:20 -07:00
a47a18dd28
Rollback of 1cda1e7a8c, fixes #3163
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Note this change re-opens issue #2472
PiperOrigin-RevId: 884378131
Change-Id: Ifefc345f1a296e5245cbb10047bb678ffea3598f
2026-03-16 05:17:43 -07:00
55f5ac0a1d
Remove mj_jacDifPairCount by incorporating the counting into mj_jacDifPair
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PiperOrigin-RevId: 884366070
Change-Id: I7490ca205a315bc661414e32c91ad1ec753a8fe7
2026-03-16 04:44:59 -07:00
50dfc255b8
Fix pybind11 v3.0 compatibility in callbacks.cc
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PiperOrigin-RevId: 884074529
Change-Id: I20e7a8d6f6069895afbc3e18d0612f3b2edfaeb7
2026-03-15 12:46:11 -07:00
7324864366
Add random seed to SensorTest to prevent flakiness.
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PiperOrigin-RevId: 884055306
Change-Id: Ia053d2661ed30835e66a145659c1e1b7275ab251
2026-03-15 11:23:44 -07:00
28def7d25d
Internal changes.
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PiperOrigin-RevId: 883932254
Change-Id: Ic93097dde6425e7de00001b8d74ecc61adcde321
2026-03-15 03:38:34 -07:00
88ba8ffdbc
Remove const qualifier on mjData in mjfCollision type as mjData is non-const in mjc_SDF via mjpPlugin.
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PiperOrigin-RevId: 883225786
Change-Id: I5fecaa1d575b340a6510212db7b3e7db48f361cc
2026-03-13 10:21:53 -07:00
7ec4fe2c50
Refactor: Update MuJoCo WASM README structure
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Reorganize the README to clearly separate the "User Guide" (including npm installation) from the "Build from source" instructions.
Also added npm install instruction.
PiperOrigin-RevId: 883180811
Change-Id: I874b101c941d3a2fbff8995fb7e4d104e6f4fec2
2026-03-13 08:34:38 -07:00
b18657acde
Remove unused flag.
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PiperOrigin-RevId: 883113888
Change-Id: I098669f8a873694903159649567bc2f68397f955
2026-03-13 05:37:47 -07:00
910fbbb111
Merge pull request #3141 from ocadotechnology:recompile-release-gil
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PiperOrigin-RevId: 883109831
Change-Id: I75c22ec071aae8f78b8354de40d8f58e8e952a50
2026-03-13 05:25:45 -07:00
86aae0f5a5
Use user::ThreadPool for actuator lengthrange calculation in addition to mesh and texture compilation
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PiperOrigin-RevId: 883099169
Change-Id: Id6832c2ca0b8f45e2f428615ae54df4b8bb6f434
2026-03-13 04:54:57 -07:00
ce0356b78f
Update relevant test for passive spring/damper settings
2026-03-12 16:32:41 +00:00
1704f51df6
Merge pull request #3174 from MatiasManevi:fix-wasm-package
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PiperOrigin-RevId: 882626629
Change-Id: Iecb61e39f3e994d7b64cec9492ae35e6a1194f9c
2026-03-12 09:14:51 -07:00
7f437810fd
Move MjrRect pybind11 definition to structs.cc.
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mjrRect is a common type that will be re-used across different
rendering APIs, not just mjr_ APIs.
PiperOrigin-RevId: 882620060
Change-Id: I7f77ac9298c52c454d94c46379ff5270fd833f26
2026-03-12 09:00:39 -07:00
035fb5acc7
Merge branch 'google-deepmind:main' into unity/passive-resubmit
2026-03-12 15:52:46 +00:00
a07763f13b
Restore npm pack
2026-03-12 11:42:29 -03:00
8c3e70998d
Fix npm publish command to work with OIDC
2026-03-12 11:39:59 -03:00
b294d15558
Add from_xml_string to MuJoCo WASM bindings.
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This change introduces new functions to load an `mjModel` from an XML string. Two overloads are provided: one that creates a temporary VFS and one that uses a MjVFS arg.
Also updated other places where `from_xml_string` should be used: demos, readme, etc.
PiperOrigin-RevId: 882581762
Change-Id: I8428196f8f56ae9630fcd4f0bb6763cdc1c43da0
2026-03-12 07:35:47 -07:00
df0bc58578
Add aliases for MjModel loading functions and expose string constants as properties.
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Introduces `from_xml_path` and `from_binary_path` as more idiomatic aliases for `mj_loadXML` and `mj_loadModel` respectively. Refactors the binding of `mj*STRING` constants. Instead of exposing `get_mj*STRING` functions, these constants are now available as properties on the `Module` object. Runtime getters are added via EM_ASM to lazily call the underlying C++ functions.
PiperOrigin-RevId: 882566011
Change-Id: Id3bd5c23704fd122af30a50aed089bd3143fbc96
2026-03-12 06:58:50 -07:00
a62501f305
Merge pull request #3168 from MatiasManevi:npm-workflow-dispatch
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PiperOrigin-RevId: 882559989
Change-Id: Ia02f38e632dcd3064433b44f6e14427aa3b36735
2026-03-12 06:43:37 -07:00
b62aed86f9
Recreate swap chain when the window size changes.
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PiperOrigin-RevId: 882521107
Change-Id: I0d29d2e323e7830256c24eead439b3f2eb55de40
2026-03-12 04:56:50 -07:00
4d0c4666db
Merge pull request #3169 from MatiasManevi:npm-pkg-name
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PiperOrigin-RevId: 882503732
Change-Id: I20494c3258ba39f382483e82934964472603aa17
2026-03-12 04:07:12 -07:00
16d618e7b9
Ensure we have a valid vfs when loading a spec.
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PiperOrigin-RevId: 882503274
Change-Id: Iddbd6f00c0344bb34d68bb72a640c0a8e81076a2
2026-03-12 04:06:05 -07:00
99af6fb9a5
Merge pull request #3167 from MatiasManevi:npm-auth-mechanism
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PiperOrigin-RevId: 882500557
Change-Id: Iaa81896c82bac7bf332eefce950ed38c6d4f489d
2026-03-12 03:59:43 -07:00
3601b063dc
Modify mjCMesh vert_ field to be vector<float> instead of vector<double>.
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PiperOrigin-RevId: 882162404
Change-Id: Ia97439420f284d594f5cb1a91cd0fb640ac8dff0
2026-03-11 13:15:32 -07:00
c1586cc86f
Change package name to scoped
2026-03-11 15:22:36 -03:00
bf51c3389a
Configure publish npm manual dispatch
2026-03-11 15:17:02 -03:00
de3b9d3426
Merge pull request #3166 from MatiasManevi:npm-package-repo
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PiperOrigin-RevId: 882092397
Change-Id: Ib4eba5a31816d35469415e8a90b4fd9f6562f363
2026-03-11 10:43:13 -07:00
eda9bbbbd4
Remove workflow dispatch
2026-03-11 14:29:12 -03:00
ad57721e2c
Add missing state.
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PiperOrigin-RevId: 882072832
Change-Id: I6ad75af67edc7672350c775c1a560e3db6d16969
2026-03-11 10:06:43 -07:00
f6434110bb
Add the required OIDC permissions for trusted published
2026-03-11 13:36:09 -03:00
ecc22667fa
Correct polygon winding order for all meshes not only when loaded from a file.
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PiperOrigin-RevId: 882053060
Change-Id: I94ee81838fa4074a1a890de4f282eca45ee9e820
2026-03-11 09:25:27 -07:00
44848de05b
chore: run npm pkg fix to normalize repository URL
2026-03-11 13:24:06 -03:00
db9ab94555
Refactor parts of the toolbar GUI into the GUI library.
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PiperOrigin-RevId: 882024591
Change-Id: I3ac73247973666f4d60e9d8d028d20d3ef709bcc
2026-03-11 08:23:12 -07:00
6d70e66810
Update MuJoCo version from 3.6.0 to 3.7.0 following the 3.6.0 release
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PiperOrigin-RevId: 881995135
Change-Id: I0c1a3b4a22c4c7cfada580b49a2cacde64cc84f3
2026-03-11 07:09:24 -07:00
ed2f34baa0
Fix logic for looking up root model within an archive.
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PiperOrigin-RevId: 881976329
Change-Id: I7771b84ff0aed83d55ee830deb2f92357355eb88
2026-03-11 06:18:14 -07:00
00707ddb89
mujoco warp documentation: per-world meshes
2026-03-11 13:15:08 +00:00
df02fe4bc0
BodyAddChild PopupContext needs to happen immediately upon triggering it.
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PiperOrigin-RevId: 881955422
Change-Id: I03675431d78c93550ff2ad6d562daf1a0e3d0d08
2026-03-11 05:20:39 -07:00
acf7f030a6
Remove const qualifier from mjData in mj_geomDistance. The function mj_geomDistance will require data stack space as nativeccd memory is determined from opt.ccd_iterations.
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PiperOrigin-RevId: 881946592
Change-Id: I524b9fa41018a581e58647d44de6ca3db4c6608b
2026-03-11 04:55:44 -07:00
64ee2d041f
Merge pull request #3105 from NandiniDhanrale:fix/vfs-move-3098
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PiperOrigin-RevId: 881946056
Change-Id: Ide041ff1dcdae00133251d928936920b47cf6c0d
2026-03-11 04:53:57 -07:00
6d1c3343af
Update MJX documentation reference to MJWarp viewer
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PiperOrigin-RevId: 881941624
Change-Id: Ieafb85f5b543a3d9212b33191579c1f7a7c09d16
2026-03-11 04:42:45 -07:00
87ebe69c00
Remove stale comment
2026-03-11 09:59:54 +00:00
6e6655ee19
Reapply removal of the passive option
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Co-authored-by: joanllobera <joan.llobera@gmail.com >
2026-03-11 09:56:25 +00:00
3cada28be7
Update changelog for 3.6.0 release.
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PiperOrigin-RevId: 881671049
Change-Id: I28a1a3341e6f01d916b35ee9fb3a6c12c627fe89
2026-03-10 16:21:14 -07:00
6890e133c0
Add mjs_getCompiler C API and compiler property to Python spec elements.
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PiperOrigin-RevId: 881488083
Change-Id: I3aa1c0562bf2fd27057b8056048e3156fc1b067c
2026-03-10 09:57:36 -07:00
0c9083723c
fix: release the gil when calling compile in spec.recompile
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The pybind for recompile was not releasing the GIL when it called mj_recompile, this can caused deadlocks with the
asset loading threads. For example if a resource provider was trying to call Python.
To resolve this the GIL is release just for the mj_recompile.
Addresses: https://github.com/google-deepmind/mujoco/issues/3118
2026-03-10 15:44:01 +00:00
Yuval Tassa