583aa5ad4f
Update dependencies ahead of the 3.9.0 release.
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PiperOrigin-RevId: 921512490
Change-Id: Iac2e4e52dde5ca7aeda62f033fcc03aadcaeb904
2026-05-26 09:30:49 -07:00
99e626096f
Fix miniz include.
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PiperOrigin-RevId: 914519929
Change-Id: I0dc00ef3f4518571165e4be0e85016511e0cdd60
2026-05-12 15:51:27 -07:00
7f5be412a0
Put miniz in MujocoDependencies.cmake.
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PiperOrigin-RevId: 914322421
Change-Id: I3f6e821164eede979802c51a6f8ee00d3346d585
2026-05-12 09:27:00 -07:00
cb5a9caa5c
Update dependencies ahead of the 3.8.1 release.
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PiperOrigin-RevId: 913212199
Change-Id: I97e5a2367010c492e6277a8c333ae8eb8155f7f2
2026-05-10 00:51:43 -07:00
22e3217fc0
Replace TriangleMeshDistance with custom BVH-based SDF computation.
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The `mjCOctree::ComputeSdfCoeffs` function has been replaced by `mjCOctree::ComputeSdf`. The new implementation removes the dependency on the `triangle_mesh_distance` library. Instead, it uses a provided `mjCBoundingVolumeHierarchy` to perform closest point queries on the mesh. The signed distance is computed by finding the closest triangle face via the BVH and determining the sign based on the dot product of the vector from the closest point on the triangle to the octree vertex and the triangle's normal.
Optional Laplacian smoothing has been added to the SDF coefficients. This helps smooth out potential discontinuities at octree level boundaries.
PiperOrigin-RevId: 875093374
Change-Id: I6fa53243a2dda107ccf255bc6b876ca5a4554d4f
2026-02-25 04:47:46 -08:00
84f254f7c7
Update benchmark dep and add workaround for Clang breakage.
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PiperOrigin-RevId: 869687267
Change-Id: If4ce7a107b1489b30475d8778e7347503298dbbe
2026-02-13 05:39:24 -08:00
716ae107c6
Update dependencies and changelog ahead of the 3.5.0 release.
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PiperOrigin-RevId: 869221912
Change-Id: I77aa1f898009c5d24218434863d0588ddf8a058b
2026-02-12 08:08:14 -08:00
b663b7602b
Final preparations for the v3.4.0 release
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PiperOrigin-RevId: 838824676
Change-Id: Icb5a825cb41be4d0730f4a6729b63531d649066f
2025-12-01 10:06:33 -08:00
8eca9926dc
Fix various MuJoCo Studio build issues on Windows, MacOS and Linux
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PiperOrigin-RevId: 833313973
Change-Id: I7ec181374e0bb49c32420d025044c31f6fc3c657
2025-11-17 06:35:43 -08:00
4086261714
Add JavaScript bindings and WASM support
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Co-authored-by: Matija Kecman <matijak@google.com >
Co-authored-by: Sebastian Noreña Rendón <sebas.norena@creativa77.com.ar >
Co-authored-by: Kyle Bayes <kylebayes@google.com >
PiperOrigin-RevId: 826479070
Change-Id: I25acf36e6c20b091d8492e10798d028ae66f6733
2025-10-31 07:21:18 -07:00
f2badc05ac
Add JavaScript bindings and WASM support
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Co-authored-by: Matija Kecman <matijak@google.com >
Co-authored-by: Sebastian Noreña Rendón <sebas.norena@creativa77.com.ar >
Co-authored-by: Kyle Bayes <kylebayes@google.com >
PiperOrigin-RevId: 826109484
Change-Id: I327fd54122762bd2e239cc31c602a3eb73051c26
2025-10-30 11:11:52 -07:00
76e64d96bb
Add JavaScript bindings and WASM support
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Co-authored-by: Matija Kecman <matijak@google.com >
Co-authored-by: Sebastian Noreña Rendón <sebas.norena@creativa77.com.ar >
Co-authored-by: Kyle Bayes <kylebayes@google.com >
PiperOrigin-RevId: 826094938
Change-Id: Id2658a187bc078056f4410c71202696753319e64
2025-10-30 10:38:16 -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
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
624ae0ac26
Silence warning/error relating to not using a const-ref in a for loop.
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PiperOrigin-RevId: 817652277
Change-Id: Ia700c67fe2c163c7a1e6e35fbbaed632cca213c3
2025-10-10 08:22:11 -07:00
ea856a4c31
Refactor cmake_minimum_required handling in dependencies
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Removed PATCH_COMMAND for cmake_minimum_required updates and added checks for CMAKE_POLICY_VERSION_MINIMUM.
2025-09-15 13:44:10 +02:00
0ddb840395
add comments explaining patches
2025-09-15 12:28:38 +01:00
83a619c5b7
patch for cmake_minimum_required version
2025-09-15 11:40:08 +01:00
4b18009f47
Revert Eigen version
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PiperOrigin-RevId: 805395095
Change-Id: I9c8184f2e667dd7595a6211626be606878f9c04f
2025-09-10 09:34:06 -07:00
6ec5f8b9c2
Update Mujoco Deps in preperation for the 3.3.6 release
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PiperOrigin-RevId: 805007266
Change-Id: I9332d0b8439f8941b9dc9889c1e27d54e9a70b99
2025-09-09 12:01:53 -07:00
3152458a6b
Update Mujoco Deps in preperation for the 3.3.5 release
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PiperOrigin-RevId: 792755404
Change-Id: I9776bb5e5bf2a891e0fa0fbf486875727e1d13b4
2025-08-08 14:07:00 -07:00
e45150747a
Import qhull/qhull from GitHub.
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#MIGRATION_3P_QHULL__DEFAULT
- 49bbade5bc43b2267334bb30926f838e7fa7a903 Remove tools from CMake exported targets (#152 ) by StefanBruens <stefan.bruens@rwth-aachen.de >
- 62ccc56af071eaa478bef6ed41fd7a55d3bb2d80 Cmake improvements (#158 ) by Cristian Le <github@lecris.me >
PiperOrigin-RevId: 791673333
Change-Id: Ib231db3cd58988faf4d5288a2ddf761a106080c8
2025-08-06 07:00:26 -07:00
b81f1db8af
Replace SdfLib with linear octree interpolation of TriangleMeshDistance.
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Temporary changes to the octree:
- Changed frame from mesh to geom
Before change (tolerance 1e-3):
```
Simulation time : 2.34 s
Steps per second : 4275
Realtime factor : 8.55 x
Time per step : 233.9 µs
Newton iters / step : 2.26
Contacts / step : 3.69
Constraints / step : 14.76
Degrees of freedom : 12
Dynamic memory usage : 0.7% of 14M
```
After change (6 octree levels):
```
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
```
PiperOrigin-RevId: 781019754
Change-Id: Ib15581244dfe9e571e1c6c2cac4a101cf3d8ba3d
2025-07-09 06:21:41 -07:00
2a32babb78
Update Mujoco Deps in preperation for the 3.3.4 release
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PiperOrigin-RevId: 780712420
Change-Id: Ib13d18bcf0f248acff93c04f977eec59185dc932
2025-07-08 14:21:53 -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
da1850760a
Prepare for v3.3.1 release.
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PiperOrigin-RevId: 745602958
Change-Id: I412fd58bb063959d5a151f4bca9b3ba26e942d02
2025-04-09 08:40:30 -07:00
e1f18a747e
Update dependencies and the changelog ahead of the 3.3.0 release.
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PiperOrigin-RevId: 731406295
Change-Id: I05027722a9681f71549b7e022dfe13fc381b8564
2025-02-26 12:07:55 -08:00
61973a33c9
Update eigen3 and the changelog ahead of the 3.2.7 release.
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PiperOrigin-RevId: 715467319
Change-Id: I4a6a168bc981c976890c46b784e94805afc86323
2025-01-14 11:51:12 -08:00
0f64959e27
Update the version of eigen3 ahead of the 3.2.6 release
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PiperOrigin-RevId: 702026493
Change-Id: Ibb0447b7106e9b873386c153283c81685583350f
2024-12-02 11:12:39 -08:00
072039ac60
Update Google Benchmark library to v1.9.0.
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The old version doesn't build under LLVM 19 with -Werror.
PiperOrigin-RevId: 697919386
Change-Id: I6cfa64936af9e2ea3b2c03e724b33f5bde7c799a
2024-11-19 01:27:36 -08:00
d1e004aa97
Update version hashes in MuJoCo CMake files ahead of the 3.2.4 release.
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PiperOrigin-RevId: 686208889
Change-Id: I19d3e6566e76c44e199f427aed984b9a530f4262
2024-10-15 13:03:13 -07:00
dde25d039b
Update Mujoco dependencies to latest versions.
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PiperOrigin-RevId: 674003245
Change-Id: Ib758fa361cb34a786dcd3d55fbf3e5a459b75a3f
2024-09-12 14:10:21 -07:00
828b900358
Update dependency versions.
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PiperOrigin-RevId: 659624959
Change-Id: I21bb1f352107ed399a1029aa1d7f5b6ed29ab3cf
2024-08-05 11:37:14 -07:00
cb4cb7d09b
Update version hashes in MuJoCo CMake files ahead of the 3.2.0 release.
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PiperOrigin-RevId: 652555501
Change-Id: I4279ea670e837414adbfc69f6e1e96a4c635f17d
2024-07-15 12:00:25 -07:00
efbcd86e29
Update abseil to LTS 20240116.2.
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This is a minor update to the previous version, LTS 20240116.1. The only change is a fix for a bug in the `absl::StrFormat` function.
PiperOrigin-RevId: 631495397
Change-Id: I28aec52fb526a2168900a4ee93ffc6e11650a3be
2024-05-07 11:40:44 -07:00
4647f79c55
Update MarchingCubeCpp to version f03a1b3ec29b1d7d865691ca8aea4f1eb2c2873d.
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PiperOrigin-RevId: 631401047
Change-Id: I3e82f7f1188470f8c40bd2e6ce1df2bd813c96c5
2024-05-07 06:22:49 -07:00
e2c14188ad
Updated abseil for release version v3.1.3
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PiperOrigin-RevId: 612939979
Change-Id: I0e5c5301d6d6f2139a71d8df95966124e584e14d
2024-03-05 12:57:23 -08:00
7e87c6ac44
Updated Eigen3 hash in below files for Mujoco release version v3.1.3
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- CMakeLists.txt
- MujocoDependencies.cmake
PiperOrigin-RevId: 612910476
Change-Id: I67ec8b4550abde82378a875809552fa10d4924cd
2024-03-05 11:26:16 -08:00
edc4db6898
Update sdflib version.
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PiperOrigin-RevId: 612389341
Change-Id: Id3e7a4fb51e63b7fef7e9ca7f94a0bc7e54e8413
2024-03-04 03:41:58 -08:00
f75923a48d
Updated version numbers to cmake files
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build / windows-2022 (push) Has been cancelled
build / macos-12 (push) Has been cancelled
build / ubuntu-20.04-clang-10 (push) Has been cancelled
build / ubuntu-20.04-clang-11 (push) Has been cancelled
build / ubuntu-20.04-clang-12 (push) Has been cancelled
build / ubuntu-22.04-clang-13 (push) Has been cancelled
build / ubuntu-22.04-clang-14 (push) Has been cancelled
build / ubuntu-22.04-gcc-10 (push) Has been cancelled
build / ubuntu-22.04-gcc-11 (push) Has been cancelled
build / ubuntu-22.04-gcc-12 (push) Has been cancelled
build / ubuntu-22.04-gcc-9 (push) Has been cancelled
PiperOrigin-RevId: 604406364
Change-Id: I85ab41b048fff9484c81e858c2bbcfeb6066fd4b
2024-02-05 12:55:30 -08:00
0df1c9c733
Updated version number in cmakelist, mujcodepencies.cmake for v 3.1.0
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PiperOrigin-RevId: 590312529
Change-Id: Ie4fb2a76f88d5032c53365995a2bb7b691485e96
2023-12-12 13:17:35 -08:00
23cdfef7fe
Update C++ dependency versions.
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PiperOrigin-RevId: 583105482
Change-Id: Ieeffd477a3b3baafd1d7f622881c81944298d233
2023-11-16 11:15:01 -08:00
db067a3b94
Update SdfLib to latest version.
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PiperOrigin-RevId: 574140359
Change-Id: Icbbf1c863204bef45252cfd184e0d80046261dc4
2023-10-17 07:20:26 -07:00
efdc89e347
Update dependency versions.
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PiperOrigin-RevId: 573323079
Change-Id: I01fbcc582626b179ce72b2aabcac0f389801a97f
2023-10-13 14:41:48 -07:00
e76e1c72f9
Fix SdfLib relative path.
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PiperOrigin-RevId: 565884473
Change-Id: I77e25b55a5062ec089bbb643bd722ec2fbc7b211
2023-09-16 00:41:28 -07:00
492b6a72ec
Prevent patches to be applied to an already patched dependency.
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See https://gitlab.kitware.com/cmake/cmake/-/issues/21146
BEGIN_PUBLIC
Prevent patches to be applied to an already patched dependency.
END_PUBLIC
PiperOrigin-RevId: 565624168
Change-Id: I29b36d2cd02f58d5d9e84f9cae5e5bbf8be1b404
2023-09-15 02:58:54 -07:00
1afd98ec4b
Add [SdfLib]( https://github.com/UPC-ViRVIG/SdfLib ) plugin to first-party SDFs.
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The following dependencies are disabled with a cmake patch file.
- Enoki
- OpenMP
- Assimp
- FCPW
PiperOrigin-RevId: 565352386
Change-Id: Icff9de68408e0afa2032bb83b24491fc4e41d181
2023-09-14 06:42:42 -07:00
fdb041580c
Add Signed Distance Field to collision geometries.
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PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
2023-08-16 09:15:23 -07:00
c9246e1f50
Release version 2.3.7.
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PiperOrigin-RevId: 549565890
Change-Id: I56db138998e43637bdde86de6490a567f0f255ec
2023-07-20 02:13:55 -07:00
516c5a8bbe
Merge pull request #935 from traversaro:patch-25
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PiperOrigin-RevId: 542013022
Change-Id: I1339ff72c961e815143e9ab423497f603a4b2dd4
2023-06-20 12:23:49 -07:00
Michael Moss