58f6d52491
Introduce new logging API, fixes #858
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PiperOrigin-RevId: 930744288
Change-Id: I6ec1203b55c031390f3eef23192e2337508ce886
2026-06-11 14:36:57 -07:00
b935d4153c
Add new mju_threadpool API function, and delete old threading API.
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PiperOrigin-RevId: 922838541
Change-Id: Id9f7e0fb298ffde61fcc49a802dc78971858ce51
2026-05-28 10:11:44 -07:00
af4be63cd8
Add xmacros for MjSpec.
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PiperOrigin-RevId: 922169069
Change-Id: I01426596e49196996dfa324d5ab3849a90de2e3a
2026-05-27 09:12:35 -07:00
79aeceeaa3
Update MuJoCo version to 3.10.0 following the 3.9.0 release
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PiperOrigin-RevId: 922027849
Change-Id: I52dd7fb5eeb962c2670ab5dbbe7ce192ac9332c5
2026-05-27 03:50:22 -07:00
2810edd27a
Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
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PiperOrigin-RevId: 919020039
Change-Id: I441295c0baa0b7456f78239fbd5478d32ffc07c1
2026-05-21 06:43:29 -07:00
28548ce51c
Update MuJoCo version to 3.9.0 following the 3.8.1 release
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PiperOrigin-RevId: 913596257
Change-Id: Ib8b27fd2224e38560a209054c1d508a9bba21bbf
2026-05-11 02:58:56 -07:00
2b7cc28afa
Update MuJoCo version to 3.8.1 following the 3.8.0 release
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PiperOrigin-RevId: 905108575
Change-Id: Ief1f9c6f34559e7a5ccc60dcceec589316bcdf9e
2026-04-24 10:37:50 -07:00
15f61679bf
Update next MuJoCo version to 3.8.0 for pending breaking changes.
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PiperOrigin-RevId: 904496070
Change-Id: I0b8b01cbcf27f28ac80dbc283bc63090f745f403
2026-04-23 09:33:15 -07:00
4a98cc8bff
Update MuJoCo version to 3.7.1 following the 3.7.0 release
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PiperOrigin-RevId: 899835826
Change-Id: Ibe247b921e7dad7184acef69ee3199fec79c6e24
2026-04-14 16:49:03 -07:00
f2461f9ce6
Modify mj_PLUGIN_LIB_INIT to support multiple plugins in the same compilation unit.
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Previously on MSVC we used DllMain to register plugins, you cannot have multiple definitions of DllMain in a single unit so you would get errors if you tried to register two plugins. This modifies the implementation to insert a function pointer into the C runtime initialization instead.
PiperOrigin-RevId: 896612678
Change-Id: I07732147b955d741c836acff6da986db0e9b9eff
2026-04-08 11:35:16 -07:00
efae9157a7
Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y
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PiperOrigin-RevId: 884607673
Change-Id: If8088dbf37fed1055304778a7eb84dec52cba920
2026-03-16 13:25:25 -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
955d6c0b02
Update MuJoCo version from 3.5.1 to 3.6.0 prior to next release.
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The next release will include breaking changes, so this bumps the major
version to reflect that.
PiperOrigin-RevId: 881351265
Change-Id: I970c68a0211651c07fcb8109ebd0b138196cf50a
2026-03-10 04:30:07 -07:00
40e0007849
Restructure numeric constants table in API docs
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Break the monolithic numeric constants table into 6 sub-grouped tables:
Version, Engine constants, Array sizes, Visualization, Rendering, UI constants.
Fix stale values: mjMAXUITEXT (500->300), mjMAXUIMULTI (20->35),
mjMAXUIEDIT (5->7), mjMAXUIRECT (15->25).
Add missing constants: mjMAXLIGHT, mjMAXMATERIAL.
Fix placeholder description for mjMAXFLEXNODES.
PiperOrigin-RevId: 875010581
Change-Id: Id47846de4d98b62cb96087b72ecd28358d5db9c7
2026-02-25 00:54:35 -08:00
42958aab81
Update MuJoCo version from 3.5.0 to 3.5.1 following the 3.5.0 release
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PiperOrigin-RevId: 869654894
Change-Id: I9cacaf4cbb70ad17faa24c3c30ec38ffe91b5deb
2026-02-13 03:54:25 -08:00
c54f1fe380
Use semantic versioning.
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PiperOrigin-RevId: 869102767
Change-Id: I8b01b9343289d4ad7d15bcc3634a28e661308a90
2026-02-12 02:11:20 -08:00
4fa062c7e5
Update unreleased MuJoCo version from 3.4.1 to 3.5.0.
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PiperOrigin-RevId: 868169291
Change-Id: I8041842811f5f664c80116993315f50d549b5575
2026-02-10 08:52:04 -08:00
96e376451c
Update MuJoCo version from 3.4.0 to 3.4.1 following the 3.4.0 release
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PiperOrigin-RevId: 840914696
Change-Id: Iffabc70dd174384ba1c535cafcd34982ff8e5712
2025-12-05 16:15:56 -08:00
b6e162d6fa
Update MuJoCo version from 3.3.8 to 3.4.0
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PiperOrigin-RevId: 836719207
Change-Id: I28cbc90cee42aebfb5a4201561289ef6747cdc83
2025-11-25 10:16:02 -08:00
252a0d73df
Add sleep related data structures
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PiperOrigin-RevId: 829055431
Change-Id: I1ccbd77a57044a754ae7db611b4c2c0010fbda53
2025-11-06 12:10:55 -08:00
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
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
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
8e9eb2fa38
Update MuJoCo's version number following the 3.3.6 release.
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PiperOrigin-RevId: 808180152
Change-Id: I23de64cb0968b94c489b29622e4308d16513793a
2025-09-17 09:13:04 -07:00
ed3ff15870
Update MuJoCo's version number following the 3.3.5 release.
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PiperOrigin-RevId: 792806341
Change-Id: Ic68ecceacc48ddbd6b0c741ae8f0791551e1b4dd
2025-08-08 16:45:12 -07:00
a771fc6c09
Increase mjNSENS to 3
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PiperOrigin-RevId: 788468705
Change-Id: Id22f131bebb6accc9a29c9aa285efa75fa8b2c16
2025-07-29 08:38:13 -07:00
83435361fa
Increase max points in 2D plot from 1000 to 1001.
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PiperOrigin-RevId: 787513580
Change-Id: I573c779932fa7411b132020213637a25fa859844
2025-07-26 12:46:31 -07:00
3c99705f85
Update MuJoCo's version number following the 3.3.4 release.
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PiperOrigin-RevId: 781596261
Change-Id: Iac050c4b9cb65542b52fa6b8c54ff2537bc6a648
2025-07-10 10:47:26 -07:00
a3d251f552
Add mjModel.sensor_intprm, integer parameters of sensors
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PiperOrigin-RevId: 781053754
Change-Id: I90e5ef1cab3f87b894dbc70dccfc8bf0046ce1b6
2025-07-09 08:00:21 -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
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
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
440ce5eb7a
Update the version number to 3.3.2 following the 3.3.1 release.
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PiperOrigin-RevId: 746147577
Change-Id: Idb7b4e7e06a4730b4f2eea8f6600b898e998f8db
2025-04-10 13:17:20 -07:00
06e217df7e
[MJ3.3.1] Bumping internal version number.
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PiperOrigin-RevId: 731876412
Change-Id: I1c0f4a18bbc2e0bf80e01512ea196841848220af
2025-02-27 14:53:28 -08:00
9996500de9
update the version number to 3.3.0 instead of 3.2.8
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PiperOrigin-RevId: 731397143
Change-Id: I54089f1678097acf7e4998958effb396da1e47be
2025-02-26 11:42:55 -08:00
6436055c6c
Update the version number to 3.2.8 following the 3.2.7 release.
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PiperOrigin-RevId: 715870970
Change-Id: I9fc9a09d959043f3029faa7296a717ea56f75c89
2025-01-15 11:13:27 -08:00
c90a63a926
Update the version number to 3.2.7 following the 3.2.6 release.
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PiperOrigin-RevId: 702103729
Change-Id: Id5581cc823a17360e7bb98ac0aa4342020c1aefa
2024-12-02 15:30:52 -08:00
276f5b04cd
Bump MuJoCo version to 3.2.6.
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PiperOrigin-RevId: 693472991
Change-Id: Ic202f52dd42c55c43ba05ca21b5cc6a4024b0c72
2024-11-05 14:13:08 -08:00
ffdb800e45
Update the MuJoCo version for the 3.2.5 release following the 3.2.4 release.
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PiperOrigin-RevId: 686641388
Change-Id: I68d5183c9d369b7617f692ab97c12c53f0d2504c
2024-10-16 14:24:06 -07:00
c2024ef6d1
Update the MuJoCo version for the 3.2.4 release.
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PiperOrigin-RevId: 686261295
Change-Id: Ib59e44a6829a79fd480f2822a68cb05f94c38732
2024-10-15 15:34:09 -07:00
2c56946547
Increase mjVERSIONSTRING to 3.2.3 after release.
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PiperOrigin-RevId: 660891033
Change-Id: I2bda69d11cab60a83b0c77bb53214240eacaea62
2024-08-08 10:31:57 -07:00
ebc48d2783
Update the MuJoCo version to v3.2.2 following the 3.2.1 release.
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PiperOrigin-RevId: 660036707
Change-Id: I7e649e5a0ce6db863bcb99dc4fc1aa851b3f5140
2024-08-06 11:39:30 -07:00
d538bf994d
Update version to 3.2.1 following the 3.2.0 release.
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PiperOrigin-RevId: 658412236
Change-Id: I4bd6ccb5dee18059eb6fc0d187afe62598845793
2024-08-01 08:35:42 -07:00
22ce22ac8a
Update the MuJoCo version number ahead of the 3.2.0 release.
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PiperOrigin-RevId: 652578624
Change-Id: I8ed6f66ff1247ff7421e3ed0521cf15e1c0b6c79
2024-07-15 13:16:06 -07:00
57e6760ec9
Re-implement VFS internals in C++, removing the constraints of the previous implementation.
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PiperOrigin-RevId: 649433087
Change-Id: Icaa3e6b7f2ef14f56b04fef2f4360b46d8b5f022
2024-07-04 09:22:23 -07:00
3f3b39bbb1
Fix type-related issues in dependent code. Remove hardcoded mjUSEDOUBLE. Add mjUSESINGLE compiler flag.
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This CL does not change the default build behavior of MuJoCo. To use single-precision floating-point, build MuJoCo with `-DmjUSESINGLE`.
PiperOrigin-RevId: 644782648
Change-Id: Ie815df9916798ca8054306437b39a33f84ce9e08
2024-06-19 10:52:18 -07:00
171b0d6e06
Improve order and categorization in function API reference.
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Also, move macros to the globals section.
PiperOrigin-RevId: 641936967
Change-Id: I5b1f6aa52c69e68cc6310093c5811f0f20828bab
2024-06-10 10:01:09 -07:00
1bf90af0e0
Bumping mjVERSIONSTRING from 3.1.6 to next version 3.1.7
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PiperOrigin-RevId: 639959152
Change-Id: I7b88bae6ea56b0173f00c6f0899ba4a156614f01
2024-06-04 15:27:47 +01:00
4eca3b048d
Bumping mjVERSIONSTRING from 3.1.5 to version 3.1.6
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PiperOrigin-RevId: 631544334
Change-Id: Iadf8fa25e30da5b00172c8212786b1f9edb22e1a
2024-05-07 14:11:38 -07:00
225619c964
Update MuJoCo internal version to be the external version +1
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PiperOrigin-RevId: 623607403
Change-Id: Ia8f6516bb6b2fb6a3ecb8273b59e61667098f308
2024-04-10 14:32:54 -07:00
Yuval Tassa