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
7667e7110e
Introduce mjtBool for boolean types.
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PiperOrigin-RevId: 920201340
Change-Id: I3b19c11a00357e06a1df08b8819832955c37f9ff
2026-05-23 09:13:54 -07:00
15d27b363f
Compile-time size assertions for MuJoCo basic types
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PiperOrigin-RevId: 919107499
Change-Id: I07fcba4f33c77a2a1e68528dba6d399af94d0220
2026-05-21 09:55:04 -07:00
88a293b5e4
Update docs to correctly reference mjtype.h
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PiperOrigin-RevId: 919071817
Change-Id: I829de7a22a49e6df604b0acf601a13f67ef5fbab
2026-05-21 08:44:11 -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
bdf00966f9
Add compiler timing diagnostics to mjsCompiler, printed by compile.cc
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For example, `compile mujoco_menagerie/robotis_op3/scene.xml` now outputs
```
Compile 1 (cold cache):
total: 317.2 ms
assets: 284.8 ms (wall clock)
load: 616.1 ms
hull: 26.4 ms
poly: 137.8 ms
inert: 177.8 ms
bvh: 568.2 ms
octr: 1.6 ms
tex: 25.3 ms
other: 32.4 ms
Compile 2 (warm cache):
total: 79.9 ms
assets: 54.5 ms (wall clock)
load: 888.5 ms
hull: 0.0 ms
poly: 0.0 ms
inert: 0.0 ms
bvh: 0.0 ms
octr: 0.0 ms
tex: 21.4 ms
other: 25.3 ms
```
PiperOrigin-RevId: 917850214
Change-Id: Iaec86230bec0faf2e47820e20cbff61de5b2621e
2026-05-19 08:28:47 -07:00
f712eed4ce
Allow flex sleeping
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PiperOrigin-RevId: 917817500
Change-Id: Ia3bd5e52e7c2eaa3f70c81352d82c130b1d357f6
2026-05-19 07:15:27 -07:00
2f5e5d3da1
Add documentation for mjpDecoder.
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PiperOrigin-RevId: 905048609
Change-Id: I6342673cdc53b80406ad77fc95cb8bb5790a5df6
2026-04-24 08:38:31 -07:00
6bf31cf68a
Update Windows build notes.
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PiperOrigin-RevId: 902480947
Change-Id: I69f099b3d7eabd6513a62e74e5ef697a5062e7b5
2026-04-20 01:13:17 -07:00
239aa1f856
Minor updates to documentation across multiple sections.
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PiperOrigin-RevId: 898652783
Change-Id: Idb671910c18ed3406722b8a1307f97ae9a194139
2026-04-13 10:54:28 -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
0c66585e39
Fix typos and minor corrections in MuJoCo documentation and comments.
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PiperOrigin-RevId: 875163889
Change-Id: Ic604d6235bf9cb999058f191e3ee41e47ec1a567
2026-02-25 07:56:31 -08:00
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
c54f1fe380
Use semantic versioning.
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PiperOrigin-RevId: 869102767
Change-Id: I8b01b9343289d4ad7d15bcc3634a28e661308a90
2026-02-12 02:11:20 -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
cb9a9c159c
Remove getdir from mjpResourceProvider.
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All known implementations were effectively the same as the default fallback. It was just adding unneeded complexity. Removing this now will help with upcoming improvements to resource providers.
PiperOrigin-RevId: 855163273
Change-Id: I529fc18d0d03a8dc676c909ec9e4b1da1454d414
2026-01-12 04:07:42 -08:00
775c0698c3
MJCF schema: use responsive grids for attributes
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PiperOrigin-RevId: 853263519
Change-Id: I79cb6e6208061d9546f0dca7a941838caa6b1a91
2026-01-07 08:00:16 -08:00
4830f5a79e
Add missing documentation for the asset cache.
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Also improve `compile` sample timing logic and documentation.
PiperOrigin-RevId: 852855741
Change-Id: I9b2798208198ca68cf4cee9c968772954ada91c5
2026-01-06 11:07:42 -08:00
3868ed0382
Improve XML schema usability
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PiperOrigin-RevId: 852820889
Change-Id: I04eea45161f9e71f9ccf49afad57ff28fd099b35
2026-01-06 09:51:36 -08:00
b77977a962
Update Programming/simulation chapter.
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PiperOrigin-RevId: 847424298
Change-Id: Icc6efb05dee5e67a5813ed04caa15a5703e59aee
2025-12-21 08:16:39 -08:00
4896e698f6
Update "mjModel changes" section in simulation.rst
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PiperOrigin-RevId: 838768328
Change-Id: I5c09186e52115df37e9412495ecc7dceddb2ed8a
2025-12-01 07:40:09 -08:00
a0cb97eb4d
Improve attach docs.
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PiperOrigin-RevId: 834366494
Change-Id: I9086097990f09e848d0b76d9c22f4fd2bbd70718
2025-11-19 11:08:36 -08:00
22c0b68903
Improve logic and documentation for sleeping sensors
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PiperOrigin-RevId: 830891115
Change-Id: Ife8309b165c085b54c9f668d825d69ed12a9a8f0
2025-11-11 06:45:56 -08:00
8734cab366
Add sleeping documentation
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https://youtu.be/vct493lGQ8Q
PiperOrigin-RevId: 829390353
Change-Id: I92f85a03be0bb585d2d8e29de1ed1a2e848f247f
2025-11-07 05:12:42 -08:00
53360f51a9
Update .readthedocs.yml to install MuJoCo Warp in order to generate API documentation. Additionally, mirror mujoco_warp/pyproject.toml in mjx/mujoco/mjx/third_party/mujoco_warp.
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PiperOrigin-RevId: 814656860
Change-Id: Ie4c0e9076c90b598dedc65a3e9793ed3d2375c37
2025-10-03 05:39:45 -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
243c011ea0
Add note about performance and release builds.
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PiperOrigin-RevId: 781460349
Change-Id: I7defa9bf31376afa31b32f26523e8ebd9da3fc0e
2025-07-10 03:40:25 -07:00
18d5d5d03f
Improve documentation related to mjSpec element deletion.
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PiperOrigin-RevId: 775677830
Change-Id: I02e51b57956b0b6a20c654326b54e001b498dd96
2025-06-25 07:23:51 -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
c3e71a3fb1
Update simulation.rst
2025-05-06 16:46:46 -07:00
a02a27d4a4
Combine all mjs_attach functions into one.
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PiperOrigin-RevId: 742702092
Change-Id: I89e35c59ada017cd061e2031584eeea71776743d
2025-04-01 08:05:58 -07:00
019e0a806c
Throw an error if a child attached by reference to a parent is compiled.
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Fixes #2482 .
PiperOrigin-RevId: 735665098
Change-Id: Ia3436fdd2ff572f8f0c1ded434742a4a9186f2f7
2025-03-11 01:24:17 -07:00
ed16f2daf2
Set nativeccd as default.
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PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
2025-02-26 09:15:15 -08:00
f554b38c36
Fix syntax bug in simulation.rst
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PiperOrigin-RevId: 729710215
Change-Id: I49899ed50d5e97a2c5ad35e5de2e93186b7c64ec
2025-02-21 17:28:59 -08:00
fb07e0d1f7
Convert qLD to CSR format.
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PiperOrigin-RevId: 728196818
Change-Id: I31bdf32e251293284426ed345019f27fd051a0e1
2025-02-18 07:14:45 -08:00
f73f0e1d0d
Fix aspect ratios of embedded videos in docs.
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Note that small videos, for some reason, need an aspect ratio that is different from the actual aspect ratio.
PiperOrigin-RevId: 724879307
Change-Id: I681f071baf4eb09cfda41edeca0d1ee16be4181a
2025-02-09 03:33:10 -08:00
8c22181156
Fix documentation typos.
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PiperOrigin-RevId: 720232771
Change-Id: I176db4d4168c37b2819df14b439c4cde838e2025
2025-01-27 10:58:22 -08:00
4ab274aea9
Fix missing arg for mj_compile in model-editing doc example code.
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PiperOrigin-RevId: 720005405
Change-Id: Idf71a1a12fe4cfcc450cd80c91b13ee8a75e1636
2025-01-26 20:25:50 -08:00
c2138c3fb0
Do not copy the spec during attach.
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Use a reference count for managing the memory.
PiperOrigin-RevId: 716169486
Change-Id: Id270c4858c17b9250115e9544d5ea143584e2d5f
2025-01-16 03:53:17 -08:00
6f7fba794b
Merge pull request #2336 from xela-95:patch-2
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PiperOrigin-RevId: 713991183
Change-Id: I0869a068f463513e89fe2f88bca4b82177cfffa3
2025-01-10 03:46:20 -08:00
b0f885ead0
Minor edits to the Programming/Simulation docs page.
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PiperOrigin-RevId: 713952376
Change-Id: I5b7230a001bd49954d401846f40cd122ee4e748c
2025-01-10 01:11:27 -08:00
6654d63438
Add spec lookup in the attached spec array using the compiler option pointer.
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This enables to find the spec associated with the compiler option stored in the objects, which do not necessarily belong to the model that owns them.
PiperOrigin-RevId: 713259419
Change-Id: I579c770147ff07ed2a5edd20e7a795ee7cc27147
2025-01-08 05:44:00 -08:00
7a6bf06706
Update simulation.rst
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Add missing backticks to `mjData.xfrc_applied`
2025-01-08 14:27:46 +01:00
661c3e01dc
Update simulation.rst
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Add missing backticks to `mjData.mocap_quat` in simulation.rst
2025-01-08 14:21:24 +01:00
b6037d1759
Improve mjSpec documentation. Fixes #2074 .
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PiperOrigin-RevId: 692251710
Change-Id: Ia46bbbe5b7eaa890433b38fed66824f716cc9ea0
2024-11-01 12:06:14 -07:00
32df8a515a
Fix typos. fixes #2139
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PiperOrigin-RevId: 691429879
Change-Id: I929b7a387ec41f68b8d85fe20de83083216da36a
2024-10-30 08:34:39 -07:00
6703a40fcf
Improve plugin documentation.
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PiperOrigin-RevId: 690974299
Change-Id: Iadaabafb7434ada9579d6e2f64aae435cdfedbd8
2024-10-29 05:07:31 -07:00
3d920e6a70
Update build documentation to include instructions on how to build the docs locally.
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PiperOrigin-RevId: 690616910
Change-Id: I717988e3adc67cb6d65488d39bc804c3d4f0e3b5
2024-10-28 08:17:16 -07:00
55962538c4
Fix typo in programming documentation
2024-09-24 15:33:27 +08:00
Kyle Bayes