a5dc57c0c3
Move OpenUSD parsing to usd_decoder
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Add usd_decoder to mujoco/plugin.
- Previously was src/experimental/usd/usd_to_mjspec.cc, now that same spec is returned by the plugin.
PiperOrigin-RevId: 854350962
Change-Id: Ia980190a557c50ce8197980922a2594b613859b4
2026-01-09 14:48:29 -08:00
64a2345c07
Fix usethread check to enable multithreaded mesh compilation.
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PiperOrigin-RevId: 854260636
Change-Id: I18d1f47a1ef7f8abcce14e0351b9523fbbac8be6
2026-01-09 11:00:17 -08:00
9e9314a4a4
Ensure parsing always has a valid VFS.
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Explicitly free allocated memory for local resources. (Upcoming
changes to `mju_closeResource` will not work for local resources.)
PiperOrigin-RevId: 854254013
Change-Id: I5cbb8264b590327767d5500f0c2a32ebe036bc4f
2026-01-09 10:45:48 -08:00
e37c2268a6
Release gil when compiling spec.
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When compiling with threading, we will block the main thread anyways waiting for all threads to complete.
PiperOrigin-RevId: 854230560
Change-Id: Ief689d381afaa3aacc5d712a8df0cb4b6762251c
2026-01-09 09:50:15 -08:00
45e164bf8f
Refactor 'ParseXML' and 'ParseSpecFromString' to use a shared helper function.
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This allows us to remove the special "LoadModelFromString" resource provider.
PiperOrigin-RevId: 854207845
Change-Id: I6d00f2ab99b4351866e1d39dbeed96f29aaaf915
2026-01-09 08:40:40 -08:00
398e3dcf15
Use mj_parseXMLString instead of a test-specific LoadFromModelString.
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This removes the need for a custom mjResourceProvider, but does require
reimplementing part of mj_loadXML in the fixture.
PiperOrigin-RevId: 854170820
Change-Id: Ib455cc5cdb5138213eb7e996dc32ac156f22a859
2026-01-09 06:34:27 -08:00
2c4f710cf4
Ensure resource providers are correctly initialized.
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PiperOrigin-RevId: 854095105
Change-Id: I028265d7f51e6ab178f4f3a1d801ba773093214f
2026-01-09 02:07:24 -08:00
ce74475c39
Delete VFS created from assets dict before throwing error.
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PiperOrigin-RevId: 853838173
Change-Id: Id0dd33b69657813275d1f42db54fae222c337791
2026-01-08 12:13:55 -08:00
310ac0c5ac
MuJoCo Warp documentation: When To Use MJWarp?
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PiperOrigin-RevId: 853830564
Change-Id: I9208e9a2f2781efbedc7846f5c13036ef83d5770
2026-01-08 11:54:57 -08:00
166fa17a1c
MuJoCo Warp documentation: inertia matrix automatic sparsity.
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PiperOrigin-RevId: 853805011
Change-Id: I8c0040f3b2b08d8615f1fbf559cdc9841e33438a
2026-01-08 10:47:27 -08:00
2f2f9a30ba
When loading models use mj_parse instead of mj_parseXML, and allow non-xml file types.
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PiperOrigin-RevId: 853730923
Change-Id: I1c107daafd558bedb99338779c8174ee3e4d07e2
2026-01-08 07:22:51 -08:00
1f4bb39b53
Fix typo in comment.
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PiperOrigin-RevId: 853703158
Change-Id: Ic123f9273b99eeede1d76d3da20b5b5e9f898dcd
2026-01-08 05:56:29 -08:00
ab939683bc
MuJoCo Warp documentation: Why are numerical results from MJWarp and MuJoCo different?.
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PiperOrigin-RevId: 853696967
Change-Id: I0cf8539e341d2aa1cfd07ac75de18128ce9beb3b
2026-01-08 05:34:23 -08:00
765bd54c7c
Move GlobalModel class and functionality into its own file.
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We'll need some of this functionality for tests.
PiperOrigin-RevId: 853652149
Change-Id: Ib924d886b73784a0f370285e0b82b2ed833e3e77
2026-01-08 03:08:12 -08:00
8f5eb1e4f4
Improve bounds checking in engine_util_solve.c.
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Add checks to ensure `snprintf` does not write beyond the allocated log buffer size, preventing buffer overflows.
Fixes #2661 , #2673
PiperOrigin-RevId: 853643867
Change-Id: Ibdc47810158466dc961767284ac297df98916dac
2026-01-08 02:44:38 -08:00
a92574837e
Fix XML loading in wasm demo app. Fixes #2960
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PiperOrigin-RevId: 853635752
Change-Id: I20226de32f3141d40ec56956451f91ec7299e727
2026-01-08 02:18:42 -08:00
07deca990a
Merge pull request #3006 from thowell:mujoco_warp_docs_modifying_fields
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PiperOrigin-RevId: 853619026
Change-Id: I5a5348e1cdbee22e40b516cf8ed649645f54bf6f
2026-01-08 01:32:50 -08:00
f4beb95212
Merge pull request #2990 from google-deepmind:mjwarp_doc_batched_model_field_warning
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PiperOrigin-RevId: 853420667
Change-Id: I540b36611485054851e497c8f74302ac0fbedd36
2026-01-07 14:46:36 -08:00
f703a0e023
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 853350801
Change-Id: Idb19c2865b94f4740daf8bc52ed3e7665a109d51
2026-01-07 11:42:11 -08:00
608115ab95
Add output attribute to camera elements.
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This attribute allows specifying the intended output types (e.g., RGB, depth, normal) for each camera in the XML. The output types are stored as bit flags in `mjModel`.
PiperOrigin-RevId: 853316261
Change-Id: I1ad2e94102593cf402756f8f4c80509371ca86d2
2026-01-07 10:22:27 -08:00
3c93d6b979
Move cache creation into lambda initializer to avoid data race.
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PiperOrigin-RevId: 853295269
Change-Id: Ic1c8f3d2fec876070da432f8b709b341f3c6cc0a
2026-01-07 09:29:54 -08:00
e1261ba5f1
Fix perturbation rendering in webdemo
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PiperOrigin-RevId: 853290958
Change-Id: Ifcea1091633597171c5268d5ee091bea3ddee45b
2026-01-07 09:18:45 -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
5febca9eeb
Remove gainprm trailing dimension in test_actuator_shortname.
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PiperOrigin-RevId: 853243753
Change-Id: Ia46df64a2308ef0bbc94a396f0732e221e174ea0
2026-01-07 06:59:50 -08:00
5be6f262b2
Fix legend call in MuJoCo tutorial notebook. Fixes #2447
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PiperOrigin-RevId: 853220360
Change-Id: I1920af5fd01bcf654c7d9d11d8dd1c2f637ef748
2026-01-07 05:42:45 -08:00
9743c2d385
Use mjResourceProvider instead of custom LoadAsset callbacks.
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PiperOrigin-RevId: 853172824
Change-Id: I60ef1207611c4da119cc3f0a7819088cffca6e4f
2026-01-07 03:03:23 -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
4a21b0ee01
Merge pull request #2831 from DavidPL1:fix-sample-compile-exitcodes
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PiperOrigin-RevId: 852832955
Change-Id: Iddc7c9366f6e81800ed48a0790336db7dfa3e9d1
2026-01-06 10:18:43 -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
fa044fe0e5
Use the word "primal" for things that relate to both Newton and CG.
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PiperOrigin-RevId: 852634373
Change-Id: I2c7641bb92d9c01252f861b9c36e72ef6ddc6e98
2026-01-05 23:56:57 -08:00
fa70f73691
fix generate_spec_bindings.py
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PiperOrigin-RevId: 852414826
Change-Id: I50ddba2d238866ba313338040f020ff3a645e1e4
2026-01-05 12:42:26 -08:00
90449f7521
Update codegen for mjSpec add functions to add typed arguments and docstring.
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PiperOrigin-RevId: 852351892
Change-Id: If785accdf8c9e48dd9924c54942856c1e00fd031
2026-01-05 10:14:49 -08:00
47ea0e76ae
mujoco warp documentation: update modifying fields
2026-01-04 14:00:53 +00:00
fba2021091
MuJoCo Warp documentation: Modifying fields.
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PiperOrigin-RevId: 851709416
Change-Id: I48071a9dddd79b1e765f8ae170594d4687615877
2026-01-03 10:49:09 -08:00
28f14b3258
MuJoCo Warp documentation: Update Batched Model Fields code example.
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PiperOrigin-RevId: 851699741
Change-Id: I30d98db7ee6bfe2104408fb0f84e472da649887b
2026-01-03 09:57:11 -08:00
e3ddb126f5
Fix target name; should be PLATFORM not STUDIO.
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(This was caused by a bad merge on my end.)
PiperOrigin-RevId: 851315742
Change-Id: Ifd5afa7f6cbd566ef2c15603e91a7360ea65c86a
2026-01-02 06:03:13 -08:00
b9fa8ee6e9
Move all specialized rendering logic into Renderer class.
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(We may consider splitting this class up into specialized subclasses at a later date.)
PiperOrigin-RevId: 851290789
Change-Id: Iee00b8e906eeb911de5799f784475ac6916ab55b
2026-01-02 04:25:07 -08:00
14e90f3897
MuJoCo Warp documentation: Array shapes.
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PiperOrigin-RevId: 850969970
Change-Id: I41dce50644c9a6521e0bab9c84fea63f78e7a6ce
2026-01-01 02:46:48 -08:00
451f40fa87
Link to Rust bindings in README.
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fixes #2857
PiperOrigin-RevId: 850003287
Change-Id: I8ed1727206fb1a6a7655e61c37492eab8103d555
2025-12-29 03:57:23 -08:00
9f674b04a9
Fix ground plane rendering when using filament backend
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PiperOrigin-RevId: 848473849
Change-Id: I096b20c6a5538ff95396bdf09f84ed5f2d3015ed
2025-12-24 01:25:51 -08:00
70bc7be4bc
Add additional data fields that can be reported by rangefinder sensors.
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PiperOrigin-RevId: 848316991
Change-Id: Idbf7ba81b4da711a22c23302c8782ab2b0b98d82
2025-12-23 15:33:00 -08:00
f2e9097ed6
Change mjsCamera.resolution type from float to int.
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Resolution is inherently an integer quantity (pixels).
PiperOrigin-RevId: 848276456
Change-Id: I92ee1aa88fd552fd42cb3871442f020f26d6fa6a
2025-12-23 13:14:32 -08:00
9d646e6548
Extend rangefinder sensor to support cameras.
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PiperOrigin-RevId: 848255889
Change-Id: I6e1a9ed13d29d2242558625a47e24e47ad6e87db
2025-12-23 12:04:49 -08:00
4a871990e9
Fix mismatched signature in engine_ray.c
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PiperOrigin-RevId: 847834144
Change-Id: Ib42008880f495cf7f3b9e0fd2394a4df64c66ad4
2025-12-22 11:41:23 -08:00
b28b5db680
Add mj_multiRayNormal for multi-ray casting with normal computation (not exposed in public header)
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PiperOrigin-RevId: 847821078
Change-Id: I616441d3460406a92a10731d1a086af6163e96ad
2025-12-22 11:02:58 -08:00
7fddeeaff6
Minor fixes to mj_multiRay
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PiperOrigin-RevId: 847780959
Change-Id: I3588415f215bd5f1592bec6678a5bae45d5f0980
2025-12-22 08:52:36 -08:00
a3e66cd5df
Combine performance charts; add fullscreen mode.
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PiperOrigin-RevId: 847751915
Change-Id: I819eb8d36224ddba38ef8532a038a2ef350890c8
2025-12-22 07:08:20 -08:00
223ba99ec2
Add mju_rayFlexNormal (not exposed in public header)
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PiperOrigin-RevId: 847746174
Change-Id: Ia8f597d296bf6a3eed9bd48b1c39b2ff2b5fcf90
2025-12-22 06:49:22 -08:00
c7f5766345
Add frustum visualization for orthographic cameras.
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PiperOrigin-RevId: 847698917
Change-Id: I13633e8ba2d4718b127a5838c404ab74c6180e3d
2025-12-22 03:43:54 -08:00
158525269b
Refactor camera intrinsic parameter handling.
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Move logic from parser to compiler.
PiperOrigin-RevId: 847689906
Change-Id: I844746081973205e1b33a3845add842e8b8c3c07
2025-12-22 03:08:18 -08:00
Sam Haves