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
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
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
cc5d544d15
Update typos in sysid/README.md
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PiperOrigin-RevId: 868690171
Change-Id: Iffc71fb7bad73e18be767429600936014095ed9e
2026-02-11 08:25:56 -08:00
91751a506b
Merge pull request #3082 from aftersomemath:sysid-pr2
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PiperOrigin-RevId: 868599752
Change-Id: Ifb57f34857d542b542b8ac9f047397c651f8008b
2026-02-11 04:06:44 -08:00
e89dae359e
sysid: named ic construction, bug fixes, docstrings, README, more tests
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Co-authored-by: Kevin Zakka <kevinarmandzakka@gmail.com >
2026-02-11 00:22:56 -05:00
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
3ec09f7296
Merge pull request #3079 from aftersomemath:sysid-pr
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PiperOrigin-RevId: 868229512
Change-Id: I790bc08fc8b0745583a2f92d9ee2c5a19ba558ea
2026-02-10 11:04:12 -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
146a5c08f7
System identification toolbox for MuJoCo.
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This resulted from a lengthy collaboration with @kevinzakka, @jonathanembleyriches, @nimrod-gileadi, @gizemozd, @quagla, and @yuval.
2026-02-09 12:12:24 -05:00
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
1381e8adee
Add mjMINAWAKE to constants.cc
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PiperOrigin-RevId: 862784740
Change-Id: I309fca497027cd8cb7cee6c998fc34d0cb5e94fd
2026-01-29 10:04:43 -08:00
55f300b78c
Fix typo
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PiperOrigin-RevId: 862781462
Change-Id: I88844e2148e821ec92e37aa8aab3554c132a4d43
2026-01-29 09:57:09 -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
e977b0d660
Fix GIL deadlock in Python viewer methods
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Removed the GIL lock in set_figures, clear_figures, set_texts, clear_texts, set_images, and clear_images
PiperOrigin-RevId: 861245200
Change-Id: I52f21d82f9813752c7cb357213c24ea6188583db
2026-01-26 10:11:16 -08:00
54ace777c1
Add convenient plugin assignment in Python bindings.
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PiperOrigin-RevId: 861168536
Change-Id: I274fbf3460d475434f837ab58bf5e2b0988369fd
2026-01-26 06:37:31 -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
5ae6b5fe31
Fix MjSpec.add_texture gridlayout argument to accept strings and character lists
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PiperOrigin-RevId: 859599919
Change-Id: If785f36010a7437b354ec0ce7db30c2b7ec69fe6
2026-01-22 07:28:16 -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
23c56ec4bb
mjSpec python bindings for add functions: accept size with 1, 2, or 3 parameters
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PiperOrigin-RevId: 858494291
Change-Id: I8a02dcac1d2419fbc728607907425b401cf66da4
2026-01-20 02:39:04 -08:00
e56b31e98f
Reduce flexedge_J size from nflexedge x nv to the effective sparse size.
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PiperOrigin-RevId: 856290141
Change-Id: Ide297d1b6f0e3aa07e3e20bf9ab44b6501097695
2026-01-14 11:18:41 -08:00
cbc1136502
Roll back VFS refactor due internal breakages
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PiperOrigin-RevId: 856273160
Change-Id: I4097e05ed4e48ebee05b4347d0f227d4f39c1b09
2026-01-14 10:38:29 -08:00
d387578783
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: 856166919
Change-Id: Id723d612ffc0bff020705cf19ef95fbf24676840
2026-01-14 05:19:57 -08:00
218226fc95
Breaking change: Add surface normal output to MuJoCo raycast functions.
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PiperOrigin-RevId: 855781592
Change-Id: Id96b1ca7eaf722e260cc69d7706c28dc51f52d92
2026-01-13 10:22:21 -08:00
a49576e469
Move flexedge sparse Jacobian indices to mjModel.
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PiperOrigin-RevId: 855718305
Change-Id: Ic136f4efa6735b934288f65c332d71ee8b0f6da5
2026-01-13 07:33:17 -08:00
09a6fb7d4d
#mjspec Enforce that material textures array is always of length mjNTEXROLE.
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PiperOrigin-RevId: 855684213
Change-Id: Id8a3734c75841dfb91bd2252114249f08461b7f2
2026-01-13 05:55:09 -08:00
7e45bbb51c
Add urdf file extension case to mj_parse.
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fixes #3004
PiperOrigin-RevId: 855249634
Change-Id: I6c21d0ada4fe482059f64e96d413796f5c1c66ce
2026-01-12 08:59:00 -08:00
d7e4038be8
Expose mj_copyData in Python bindings.
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This allows calling `mujoco.mj_copyData(dest, model, src)` to copy data between existing `mjData` instances.
PiperOrigin-RevId: 855150139
Change-Id: If122cb7acf590846e25ee15f9770c3c087147169
2026-01-12 03:21:15 -08:00
a26f09accf
Standardize function docstring style in MuJoCo API.
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Updates function comments to consistently use a semicolon (`;`) before describing the return value and to use the imperative form "return" instead of "returns".
Also fix error in docstring of `mjp_registerResourceProvider`
PiperOrigin-RevId: 854888532
Change-Id: I311239a2770ded5febece9958ae4e94c1e522600
2026-01-11 09:00:35 -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
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
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
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
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
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
7fddeeaff6
Minor fixes to mj_multiRay
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PiperOrigin-RevId: 847780959
Change-Id: I3588415f215bd5f1592bec6678a5bae45d5f0980
2025-12-22 08:52:36 -08:00
b8a4ac5d48
Refactor camera orthographic attribute to projection enum.
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PiperOrigin-RevId: 847069028
Change-Id: I7f686fe654e9b56519cab8bd2f37c9cc40091d3f
2025-12-20 03:28:29 -08:00
7190bd4912
Add flag for depth rendering.
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PiperOrigin-RevId: 846203691
Change-Id: I5ec494446bcfc1f7c81536a87dd24f9967973563
2025-12-18 04:36:26 -08:00
3c19b63ed3
Refactor texture.data to be handled using py::bytes
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PiperOrigin-RevId: 843226742
Change-Id: I7ab920da3c387467b1fced27f557c6edd1af4bce
2025-12-11 08:06:12 -08:00
1ff74ba810
Change the type of state signature arguments from unsigned int to int
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PiperOrigin-RevId: 843162492
Change-Id: I51d3324f088e8055898e115bdd32267c5950a412
2025-12-11 04:34:36 -08:00
caec236b2f
Make mj_loadModelBuffer a public API.
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PiperOrigin-RevId: 843105390
Change-Id: I4058471b4cf64995dd5ab43e9c8c24e322004b62
2025-12-11 01:24:17 -08:00
bf49fe3daa
Enable reading textures from spec in Python
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PiperOrigin-RevId: 842151742
Change-Id: I477d118cc7e2385d29b395b192fa89e9facb9c3e
2025-12-09 03:08:32 -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
b663b7602b
Final preparations for the v3.4.0 release
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PiperOrigin-RevId: 838824676
Change-Id: Icb5a825cb41be4d0730f4a6729b63531d649066f
2025-12-01 10:06:33 -08:00
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