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
9af1f55862
Merge pull request #2713 from vidurvij-apptronik:vidur/remove-installing-glfw3-headers
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PiperOrigin-RevId: 808125077
Change-Id: If87b65d2d8607f153dfd66fbfa9a6ca39c98845f
2025-09-17 06:17:42 -07:00
7eab0117f7
Don't smooth tracking camera motion
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PiperOrigin-RevId: 808110613
Change-Id: Ib8631e5ace6db7c7bb780f26b79a72e26e72f451
2025-09-17 05:25:17 -07:00
9740705510
Add cache functions to Python bindings.
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PiperOrigin-RevId: 807813218
Change-Id: Ieab2843d92e79c07bc9f98196db51297a456dedb
2025-09-16 13:02:59 -07:00
f2fcd05b1b
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 807766737
Change-Id: I1c22361ffa61f27fd8e0fd534b96488531761916
2025-09-16 11:08:56 -07:00
52da7586dc
Clean up includes in src/engine
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PiperOrigin-RevId: 807726978
Change-Id: I02800deb79bfb3c328d941861ded9d817e8f6e32
2025-09-16 09:36:44 -07:00
5bbda2186d
Make the Octree interpolation continuous.
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This is done by detecting the hanging nodes and compute the function at those location by interpolating the corresponding coarse vertices.
PiperOrigin-RevId: 807700228
Change-Id: I27dcb85361ca445c2099dd07b280cae5c92d3131
2025-09-16 08:15:26 -07:00
04380890d5
MuJoCo Warp documentation.
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PiperOrigin-RevId: 807693732
Change-Id: I6a49e195eb9f9ac2d562f1aa4745c1206e069caf
2025-09-16 07:56:41 -07:00
afbefc38a6
Ensure noise is injected when the simulation is paused and a single step is manually requested
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PiperOrigin-RevId: 807688008
Change-Id: I8de9706c633565d6d6944b58d34de9da1037a837
2025-09-16 07:35:42 -07:00
eacad44a1a
Update changelog for 3.3.6 release
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PiperOrigin-RevId: 807337529
Change-Id: I48bffe879a462a68ad0e55a75a8461bf3a98e97b
2025-09-15 12:27:46 -07:00
ac4874226c
Support NULL in dir parameter in mj_addFileVFS.
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Fixes #2839 .
PiperOrigin-RevId: 807208005
Change-Id: I8def3b1e388dc19fa2fa8a92d53abef30dee5b88
2025-09-15 06:00:13 -07:00
dd398f47b9
Merge pull request #2850 from google-deepmind:cmake
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PiperOrigin-RevId: 807207617
Change-Id: I3e54ea0c79560bcf283b16ee9ee5772ae8e99a8c
2025-09-15 05:58:59 -07:00
155d6c686a
remove UpdateCMakeMinimumRequired.cmake
2025-09-15 13:30:56 +01:00
85a7ac8e82
Merge pull request #2851 from traversaro/patch-43
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[cmake branch] Refactor cmake_minimum_required handling in dependencies
2025-09-15 05:26:58 -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
c79b2d064b
add description of file utility
2025-09-15 12:17:41 +01:00
1b7e508f17
add copyright header
2025-09-15 12:16:15 +01:00
83a619c5b7
patch for cmake_minimum_required version
2025-09-15 11:40:08 +01:00
4fc69fa64d
Ensure that the Octree is balanced.
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This means that two adjacent nodes can only have at most one level of refinement difference.
Note: This is a small breaking change for mjWarp since the order of the children was flipped.
PiperOrigin-RevId: 806299445
Change-Id: Ia326a31c7a8162ae02d70c868d87779198e805be
2025-09-12 08:34:15 -07:00
2287b9f815
Don't prepend meshdir to asset paths in MjSpec.to_zip.
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PiperOrigin-RevId: 806287351
Change-Id: I9afc8251f9cbced9ecd370b39cec6aeff424514b
2025-09-12 07:54:16 -07:00
7e048b7535
Refactor: Convert mjCOctree::MakeOctree from recursive to iterative.
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The octree construction is now performed using a breadth-first search with a `std::deque` to manage tasks. A new `OctreeTask` struct encapsulates the state for each node to be processed, and a helper function `Subdivide` is introduced for subdividing the Octree nodes.
Also reduce the number of (center, size) to (min, max) conversion for the bounding box representation in order to avoid duplicated vertices in the Octree due to floating point errors.
PiperOrigin-RevId: 806214441
Change-Id: Iff9015ebe4705522db743c478cef5acf1a7312b7
2025-09-12 03:22:17 -07:00
f61f89bf54
Update use of absl::MutexLock in fixture.cc
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PiperOrigin-RevId: 806203271
Change-Id: Ia058d117aedb12c1014912bf5ff192fcc9782964
2025-09-12 02:46:22 -07:00
89152fb39e
Import NVIDIA/warp from GitHub.
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PiperOrigin-RevId: 806000657
Change-Id: I5127baf8d212c5fc7bd597c843957f4b279d52db
2025-09-11 15:06:55 -07:00
ad5f07e060
Extract functions from mjv_updateCamera for calculating frames and frustums.
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PiperOrigin-RevId: 805770746
Change-Id: Id2a6022a2ee2e8b1a783debf54b470a9df81051a
2025-09-11 04:10:59 -07:00
017e7d5a73
Add light ids.
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PiperOrigin-RevId: 805755907
Change-Id: I92a1b1ea4ce1495c2746fd518f33ab2d1ad81399
2025-09-11 03:20:44 -07:00
da2fad4530
Catch RuntimeErrors when importing warp.
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PiperOrigin-RevId: 805586914
Change-Id: Ica3ca016c8056316d1d2f052e4d3481f578a8aad
2025-09-10 17:53:41 -07:00
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
9d5063799f
Resize keyframes also at the start of compilation.
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Previously, it was assumed that attaching was the last operation performed on the mjSpec, so keyframes resulted in the incorrect size. In order to prevent information loss, we now only allow the resize function to expand the keyframe array, since attach should never remove a degree of freedom.
PiperOrigin-RevId: 804917828
Change-Id: Icfacd207ced1c6aac600d514f8d9065ceff2d347
2025-09-09 08:16:32 -07:00
3b738ebb67
In USD exporting docs change NVIDIA mujoco-usd-converter to Newton.
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PiperOrigin-RevId: 804866989
Change-Id: I9ee060a85a0671e4ca07654a48d791b456a6e1f9
2025-09-09 05:39:07 -07:00
ea660f4c13
Expose minimal asset cache API.
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PiperOrigin-RevId: 803126923
Change-Id: Iabf63802572f7cb86864b5ece85f44b3f15a4ec0
2025-09-04 12:18:36 -07:00
02a535b44f
Update https://pypi.org/project/glfw/ to 2.9.0.
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This ensures that Python bindings build also uses GLFW 3.4, similar to C/C++
MuJoCo.
The hashes are from https://pypi.org/project/glfw/2.9.0/#files .
PiperOrigin-RevId: 802536702
Change-Id: Ie9cfc17a5f9146fe6731681115f7aaa98fcb323e
2025-09-03 07:01:53 -07:00
767996ab17
Transform inputs to global before calling rayMesh in SDF collisions.
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PiperOrigin-RevId: 802523399
Change-Id: I889b020e4e721fbf471992f5c87446df601ba766
2025-09-03 06:12:34 -07:00
7a93e22514
Refactor MJMODEL_POINTERS into category-specific macros.
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PiperOrigin-RevId: 802089588
Change-Id: Id3443f88e8243c5167a23b6e42eb32a32f88e8d3
2025-09-02 04:41:50 -07:00
8d884585dd
Add target relative mouse motion actions.
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PiperOrigin-RevId: 802072880
Change-Id: I1ff204594a126f8e50df4c703709f70ec4dd458c
2025-09-02 03:39:49 -07:00
ee777f74d3
Explain how to build Python and C/C++ sources from the same codebase.
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The previous instructions use a pre-built binary from MuJoCo and do not cover
the use-case of building C/C++ and Python bindings from the same codebase.
PiperOrigin-RevId: 802060401
Change-Id: I6d0b9c7c2269ff596ac706b716ff6c95b42c5d99
2025-09-02 02:51:49 -07:00
8acd83f317
Add passive collision mode for flexes.
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PiperOrigin-RevId: 801754907
Change-Id: I4147af2ee2596519d42cb9a03cf8d5488f0bc3e8
2025-09-01 04:13:58 -07:00
b9900db00e
Extract memory allocation functions and core utilities
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PiperOrigin-RevId: 801745499
Change-Id: Iaf05c3430769d3115743d8ab020d13148cb2eb59
2025-09-01 03:38:25 -07:00
5d598a49a2
Documentation bug fixes.
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PiperOrigin-RevId: 801283863
Change-Id: I85bb11f4970bd6206f99a91cee04c2b99f73c576
2025-08-30 11:03:43 -07:00
b092563cab
Remove mjDSBL_PASSIVE, split it into mjDSBL_SPRING and mjDSBL_DAMPING.
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PiperOrigin-RevId: 800870384
Change-Id: I273e0ceec090901e2620febb67e57914928e94bb
2025-08-29 06:06:28 -07:00
0eea5d6dbd
Add libwayland-dev and libxkbcommon-dev to GitHub Actions YAML.
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PiperOrigin-RevId: 800462182
Change-Id: I771df8af3f827f0fe7f2d9975eb6fd04940f17dc
2025-08-28 07:40:38 -07:00
508d22f794
Update the GLFW dependency used by MuJoCo to 3.4.
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This makes it possible to build open-source MuJoCo with Wayland support out of
the box.
Currently, it is necessary to run cmake with -DGLFW_USE_WAYLAND=ON and ensure
cmake can find the "ECM" package somehow (a dependency of the 3.3.6 version of
GLFW), for which there is no automated fetching setup. As this is no longer a
dependency of GLFW it seems to make more sense to update GLFW to make out of the
box builds on Wayland.
PiperOrigin-RevId: 800456607
Change-Id: Iffdf1d65319bfb134e580faceb63ac3bed7b9c84
2025-08-28 07:24:26 -07:00
b1c94c3761
Add printing of block-diagonalized matrices
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PiperOrigin-RevId: 800345520
Change-Id: I4996c5a7509cb451744d3e428a975cceee845ea5
2025-08-28 00:54:39 -07:00
ba47402853
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 800210640
Change-Id: I06d05ee2560f54d975458f0e13b37157c088c33b
2025-08-27 16:11:11 -07:00
79f2bbc727
Fix memory error when placing images in viewport
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PiperOrigin-RevId: 800148735
Change-Id: I1c12ef23b0af9538b285d032460cf832eb48bf49
2025-08-27 13:20:45 -07:00
28aa33b673
expose glfw
2025-08-27 12:00:37 -05:00
643dc5bf4f
Update USD schema formatting
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PiperOrigin-RevId: 800018484
Change-Id: I7677cd099415af1271c7475d80a660653199b984
2025-08-27 07:02:50 -07:00
ed6fa7fe09
Remove unused mjMOUSE_SELECT option.
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PiperOrigin-RevId: 799957524
Change-Id: I69d091781dc2a2e4a762d2255d04fc411295602a
2025-08-27 03:19:04 -07:00
7443e685ac
Allow contact sensor subtree1/subtree2 to be any body.
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PiperOrigin-RevId: 799632590
Change-Id: If9cd6c5a3a5f83d89ae024a8f64232ab1f1d603a
2025-08-26 11:00:39 -07:00
Rishi Krishnan