86bca81d18
Update mjx docs and changelog.
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PiperOrigin-RevId: 872535000
Change-Id: I51b05a22ac553c34b436de63f43c7efca6607724
2026-02-19 13:18:10 -08:00
ccd282b036
Update MJX docs with MJX-Warp.
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PiperOrigin-RevId: 872083735
Change-Id: Id09b82d1f6e7a69ec34353ba35a63edb5eae1046
2026-02-18 16:02:57 -08:00
42514920c4
Merge pull request #3111 from StafaH:main
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PiperOrigin-RevId: 871825088
Change-Id: I1e9c4a559a19427753cfdbacc7c7254ad0cb9c6c
2026-02-18 05:48:03 -08:00
b7875df580
Fixes
2026-02-17 14:54:26 -05:00
4d256c0ff1
MuJoCo Warp documentation: nccdmax / naccdmax
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PiperOrigin-RevId: 871221522
Change-Id: Ia4e5c9a700b809815bd40af048762bfecde9231a
2026-02-17 03:12:50 -08:00
911124f2c6
Add batch rendering to readme
2026-02-17 00:21:10 -05:00
5903d4826f
Sparse ten_J and ten_J_colind
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PiperOrigin-RevId: 869712136
Change-Id: Id2979684aa0c39552cb8453852483cbac55f0ea3
2026-02-13 06:57:22 -08:00
277f469239
Update sensor delay documentation to use "period" instead of "interval".
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PiperOrigin-RevId: 869711956
Change-Id: I981c04aea58b5ce8a1cf8f2cdceba841e7729ccb
2026-02-13 06:56:15 -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
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
54b8b68b23
Prepare changelog for release
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PiperOrigin-RevId: 869124525
Change-Id: I7ea6f3c1cf163e98b1bc0b8ed87f8e44afd59ab5
2026-02-12 03:16:34 -08:00
14116336e0
Clarify time argument semantics in delayed actuator/sensor reads.
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PiperOrigin-RevId: 869123314
Change-Id: Ib36ef6cfc8d12d1b8a9c98eadc144953447fc444
2026-02-12 03:12:45 -08:00
c54f1fe380
Use semantic versioning.
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PiperOrigin-RevId: 869102767
Change-Id: I8b01b9343289d4ad7d15bcc3634a28e661308a90
2026-02-12 02:11:20 -08:00
a8cf4e012d
Add Colab link for System Identification toolbox.
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PiperOrigin-RevId: 869091889
Change-Id: Ib5ec2e451c7037cc92b4cb1a9c58d05f0049b298
2026-02-12 01:41:40 -08:00
6af0d4c823
Replace margin/gap max with sum.
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PiperOrigin-RevId: 868842521
Change-Id: Ia4a4ca5c6821c5a7b3ba7b0af7f71d981c2866c1
2026-02-11 14:22:27 -08:00
336e1026a4
Sparse ten_J and ten_J_colind memory
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PiperOrigin-RevId: 868834376
Change-Id: Iec92d9e09e3134666895e54a78cb02439d74a4de
2026-02-11 14:05:43 -08:00
b466829482
Fix implicit integrator derivatives when actuator force is clamped.
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The derivatives of actuator velocity with respect to generalized velocities were incorrectly computed when the actuator force was limited by `forcerange`. This CL adds a check to zero out these derivatives when the actuator force is at its upper or lower limit, as the force is no longer a function of velocity in this clamped state.
PiperOrigin-RevId: 868818281
Change-Id: I89742a3f04989dd11f9cfada107200015b1472a7
2026-02-11 13:31:07 -08:00
d011285380
Sparse ten_J and ten_J_colind memory
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PiperOrigin-RevId: 868800229
Change-Id: Id83f9fd40dd9bece06fd99753e4202eea17ca884
2026-02-11 12:45:50 -08:00
883ba2134d
Add System Identification toolbox to changelog.
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PiperOrigin-RevId: 868759286
Change-Id: I7845c0858a9ba8188f02b84259306f2638823267
2026-02-11 11:13:27 -08:00
d881e9e374
Change tex_adr type to mjtSize.
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Adds a test which verifies that we can index into the texture buffer at offsets larger than can be represented by a 32-bit signed int.
PiperOrigin-RevId: 868756646
Change-Id: Ibc1a2b269fce41aec370611b0aab77803837e7a8
2026-02-11 11:09:36 -08:00
7f74487a26
Fix implicit integrator derivatives for actearly actuators.
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The derivative calculation for actuator velocity in implicit integrators now correctly accounts for the `actearly` flag, using the next activation value when `actearly` is true.
PiperOrigin-RevId: 868598722
Change-Id: Ia180afb15b31a718170aeaf9d4ac514bb9e6073b
2026-02-11 04:03:46 -08:00
6715a0ceaa
Expose mju resource functions to public header.
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Many of these functions are useful when writing a custom decoder.
PiperOrigin-RevId: 868321921
Change-Id: I7e0dd285e0559b6f486acf8cbf4376ff8d91943d
2026-02-10 14:31:41 -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
0041fdcbb0
Add implicit stiffness for flex_interp to mj_implicitSkip.
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PiperOrigin-RevId: 867706885
Change-Id: Ic94c65b618a415609bffe3d69a86f9034f2d2400
2026-02-09 11:54:27 -08:00
c1b3b3063e
Fix gravcomp being ignored for movable bodies without joints. Fixes #3066
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PiperOrigin-RevId: 867679545
Change-Id: I8c16d3a4c93d121fcc30cab5179ba44fe49aaa19
2026-02-09 10:55:07 -08:00
ed15493aef
Reorganize changelog
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PiperOrigin-RevId: 867201472
Change-Id: I5841bd10656546db7c544ff910ed2983ce88415e
2026-02-08 06:48:14 -08:00
6419534bad
Add actuator and sensor delays. Fixes #1004
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PiperOrigin-RevId: 866478839
Change-Id: Id21a6da0f98454c8fa39ea5af8a5e213d6eae497
2026-02-06 08:47:36 -08:00
a52180069c
MuJoCo Warp documentation: Options update
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PiperOrigin-RevId: 865820928
Change-Id: I36fd4c52ad8bcb9cc8ecae7c93410023a4e56ed0
2026-02-05 01:47:51 -08:00
d07f39b4a0
Add graph mode to MJX, in preparation of supporting staged graph capture.
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PiperOrigin-RevId: 865380826
Change-Id: I840b48027e1142f87eb745d0d19b0cd3e87904b2
2026-02-04 06:38:13 -08:00
0ec7259e5c
MuJoCo Warp documentation: Options
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PiperOrigin-RevId: 864932415
Change-Id: I54fc7e8972ea38da783c5537fdfa62644f180e51
2026-02-03 10:14:22 -08:00
24e5b966c3
MuJoCo Warp documentation: remove beta software warning.
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PiperOrigin-RevId: 864761934
Change-Id: I56afaf9bf9e86ed3ea34ff576230d3b3bc4bf28a
2026-02-03 01:56:35 -08:00
55f300b78c
Fix typo
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PiperOrigin-RevId: 862781462
Change-Id: I88844e2148e821ec92e37aa8aab3554c132a4d43
2026-01-29 09:57:09 -08:00
883e69d7b1
Minor improvements to collision sensor documentation.
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PiperOrigin-RevId: 862767431
Change-Id: I53861430e7868b23e37be9694f195a2dd3685db4
2026-01-29 09:22:23 -08:00
57b5ebc92b
MuJoCo Warp documentation: height field collision overflow
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PiperOrigin-RevId: 862454467
Change-Id: Iaccc44aa0c57faf6ad2dbc62f2b727cea2e4980d
2026-01-28 16:55:10 -08:00
8889c13fa7
MuJoCo Warp documentation: Inertia matrix factorization
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PiperOrigin-RevId: 862290080
Change-Id: I7acd30f1fff5cca95ca1139f71710cab5c493561
2026-01-28 10:18:50 -08:00
c5925e7b0e
Improve wording in changelog
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PiperOrigin-RevId: 862288773
Change-Id: I2dcd09ed1fb929396218ee32e99242d9be508b3b
2026-01-28 10:15:11 -08:00
1d44f7a0d0
Minor fix to changelog
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PiperOrigin-RevId: 862213255
Change-Id: I20017785aca047efaead582f84a1ba9769411d41
2026-01-28 06:48:39 -08:00
1d2d0b1c37
Remove batching optimization from GEOM* sensors
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PiperOrigin-RevId: 861938606
Change-Id: Ibb135a4d99cab9ce23a04f844f7c730e8f3b31c8
2026-01-27 16:44:10 -08:00
5fb47df197
Add mjData flags marking lazily evaluated pipeline stages
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PiperOrigin-RevId: 861763477
Change-Id: Ib613c56949264573a16306800658f868d2aa7665
2026-01-27 09:45:06 -08:00
ba32568138
Move flex vertex-edge adjacency to mjModel.
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PiperOrigin-RevId: 861717037
Change-Id: I2ad8090b0318cb04b43d13966cb42260c82ef930
2026-01-27 07:41:47 -08:00
0ddbb46fa1
Refactor mjVFS and resource management.
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Resource operations (e.g. mju_openResource, mju_readResource, and
mju_closeResource, etc.) are now all handled by a VFS instance. It
is now up to the VFS to determine which provider to use in order to
handle those operations.
This allows us to dynamically add/remove (aka "mount") providers to
a VFS to handle special requests. mj_addFileVFS and mj_addBufferVFS
have been reimplemented as two such use-cases. Moreover, we expose
the mounting behaviour with two new functions: mj_mountVFS and
mj_unmountVFS.
PiperOrigin-RevId: 861550939
Change-Id: I070eb4bcc2982466c8f368f7918005538baa5185
2026-01-26 23:53:29 -08:00
5fc6ed4eda
Make XML schema dropdown titles clickable links.
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PiperOrigin-RevId: 861182944
Change-Id: I01fec8f102a87f8daf65ad5ba5ed3a09c0022cd0
2026-01-26 07:26:27 -08:00
7f8084ae1d
Rename XML reference icons to avoid anchor issues.
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Before this change:
`https://mujoco.readthedocs.io/en/latest/XMLreference.html#body-site-m `
After this change:
`https://mujoco.readthedocs.io/en/latest/XMLreference.html#body-site `
PiperOrigin-RevId: 861180069
Change-Id: I6f15906c8be463825248487021f9f46fc82a95da
2026-01-26 07:16:08 -08:00
7da271c687
Add vertex equality option.
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PiperOrigin-RevId: 860299454
Change-Id: I7befd8e5f4c8bac6d74684a96a9cc3cee9ae1e29
2026-01-23 16:30:05 -08:00
30b903b6c0
Migrate mjModel size fields from int to mjtSize.
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This change updates all size-related members within the `mjModel` struct from `int` to `mjtSize`. This allows MuJoCo to handle models with a larger number of elements. Corresponding changes were made to macros, function signatures, and I/O routines to accommodate the new `mjtSize` type.
PiperOrigin-RevId: 860144595
Change-Id: I701c6d607715d240766b6210a9773cd9e4258c59
2026-01-23 09:41:49 -08:00
4a64017a5f
Add documentation for MJX API
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PiperOrigin-RevId: 860108133
Change-Id: I85469efcfe49d320ef8b89c9d174f33499a22b31
2026-01-23 07:53:17 -08:00
54dd623650
Add vertex-based flex constraints (dim=2).
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PiperOrigin-RevId: 859552050
Change-Id: I61d4b9dc40f041c5b930e5f8810a803e8bccb87a
2026-01-22 04:54:53 -08:00
d173ee5bee
MuJoCo Warp documentation: option-ccd-iterations -> option-ccd_iterations
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PiperOrigin-RevId: 858100397
Change-Id: I358875ba56e6769fda75dba72377286c40771716
2026-01-19 02:42:04 -08:00
9ba545b8b0
MuJoCo Warp documentation: Memory.
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PiperOrigin-RevId: 857148640
Change-Id: I7f21bebb2186a5dd4287a8d2ee9b430f823b9051
2026-01-16 07:13:38 -08:00
d86acd7e12
MuJoCo Warp documentation: Warmstart.
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PiperOrigin-RevId: 856608941
Change-Id: Iae1bd0a3916d98affff4d5dbb442f9d951622e52
2026-01-15 04:50:27 -08:00
Baruch Tabanpour