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Author SHA1 Message Date
Haroon Qureshi abe88202d0 Remove redundant flags argument. 
PiperOrigin-RevId: 817115667
Change-Id: I4e5096206d7c24f5861e1bb9e8049149803dceeb
 2025-10-09 04:07:43 -07:00
Alessio Quaglino 98682ae284 Do not modify mesh position when fitting a geom to the mesh AABB. 
Also, unify the meaning of fitting a geom to an AABB: it now means to find the smallest geom such that its AABB contains the mesh AABB.

Fixes #2881.

PiperOrigin-RevId: 817097544
Change-Id: I883c686feffa803bd16ba461db24a474dfec7712
 2025-10-09 03:05:00 -07:00
Sam Haves 3a299c49ca Remove use of usdaFileFormat from mjcf_file_format. 
Previously this was just used for the USDA file format token, which we can confidently just construct ourselves.

Since [this PR in OpenUSD](https://github.com/PixarAnimationStudios/OpenUSD/commit/5bb9ad1fb2a034e1f9b48c7db936f296b5b78e25) the file lives in a different place now and public usage will be deprecated anyways.

PiperOrigin-RevId: 816801204
Change-Id: I42e92d2af52b0f9ff0a679ecb96f3d2dbf623531
 2025-10-08 11:54:44 -07:00
Haroon Qureshi 1335ec87e4 Move font assets data targets into toolbox library. 
PiperOrigin-RevId: 816654994
Change-Id: Ic56fab2b0af0c8d85682f8b233342a0d088d5cca
 2025-10-08 05:09:42 -07:00
Haroon Qureshi 8e4932170a Remove unused params. 
PiperOrigin-RevId: 816654011
Change-Id: Ib26bc90dcda167e8acf1feaa3b015acb5aa7aceb
 2025-10-08 05:05:59 -07:00
Haroon Qureshi e7e331b11e Update sensor decor elements to be of type mjOBJ_SENSOR. 
PiperOrigin-RevId: 816640568
Change-Id: I838608c0482ec1ee499fe9598ddb33aa6c5331e9
 2025-10-08 04:17:40 -07:00
Haroon Qureshi 7b9f6a5cc1 Invert early-out checks to reduce nesting. 
PiperOrigin-RevId: 816606107
Change-Id: I325d3f4695cdeb189694088d8a81b198d65f96ea
 2025-10-08 02:21:14 -07:00
Baruch Tabanpour b56cf98e41 Import google-deepmind/mujoco_warp from GitHub. Update MJX io.py. 
PiperOrigin-RevId: 816431884
Change-Id: I54881e7e350fbe5b2be1833e66745894b122f374
 2025-10-07 16:43:30 -07:00
Saran Tunyasuvunakool f83ee3fd73 Update mujoco_warp. 
Also remove mujoco_warp tests and test data from this repo.

PiperOrigin-RevId: 816239754
Change-Id: Ie89ef043d40bb43d1e1150acd33b5f4cbf162ab8
 2025-10-07 09:50:21 -07:00
Haroon Qureshi fbab761627 Cleanup how different rendering backends are selected. 
PiperOrigin-RevId: 816169098
Change-Id: I915aa45fa3a6d45a5178d3ff7bfdd0f1b1e01789
 2025-10-07 17:48:23 +01:00
Taylor Howell fd9b989bf8 Import google-deepmind/mujoco_warp from GitHub. 
PiperOrigin-RevId: 816099854
Change-Id: I6302a97c2f5d4594a08ebf4bc53a180b804360e6
 2025-10-07 17:47:55 +01:00
Yuval Tassa 414888b716 Mark some mjData fields as mutable. 
PiperOrigin-RevId: 815819490
Change-Id: I1a62fda556b4197aec451f2747c69f34bab13220
 2025-10-06 11:43:38 -07:00
Yuval Tassa 52eff3da0f Fix mismatched argument format in mju_mulInertVec declaration. 
PiperOrigin-RevId: 815818142
Change-Id: Id9caa581962705095f227a113505fc3e3ddd1054
 2025-10-06 11:40:32 -07:00
Yuval Tassa ab9575d8a6 Refactor and speed up mj_crb and add a benchmark. 
This is a no-op "prefactor" of `mj_crb` to reduce the number of lines changed in the upcoming sleeping CL. The main change here is that `mj_crb` now avoids accessing the model and data pointer repeatedly, but instead has the input and output pointers explicitly declared as local variables. A benchmark test found a healthy **14% perf bump** due to two changes:
- Adding `restrict` to `mju_mulInertVec`
- The function-local pointers.

Adding `restrict` to the local pointers had no effect. Note that `mj_crb` is not a particularly expensive function so these speed bumps are not significant per se, but rather indicative of possible future gains with these techniques.

```
Benchmark                Time(ns)        CPU(ns)     Iterations
---------------------------------------------------------------

ORGINAL BASELINE
BM_CRB_BASELINE_mean         4325           4348         993200  230.052k items/s

BASELINE + RESTRICT
BM_CRB_BASELINE_mean         4057           4090        1186150  244.573k items/s

LOCAL POINTERS + RESTRICT
BM_CRB_mean                  3772           3800        1001750  263.209k items/s
```

PiperOrigin-RevId: 815798225
Change-Id: Iffdf57b544e8e10562807c617f73ca4ccd1c614f
 2025-10-06 10:54:01 -07:00
Taylor Howell b75af81c75 Update .readthedocs.yml. 
PiperOrigin-RevId: 815776443
Change-Id: I6637a7d303232ca41840e80e27b6dd9d6b6d803c
 2025-10-06 10:07:55 -07:00
Taylor Howell 9e5c5b110d Update .readthedocs.yml. 
PiperOrigin-RevId: 815693650
Change-Id: Ibeb1ceab983768b4af5759d9654ea857faa2db64
 2025-10-06 06:15:51 -07:00
Taylor Howell e10853e52e MuJoCo Warp basic usage and minimal example documentation. 
PiperOrigin-RevId: 815654625
Change-Id: Ifa90a7469ef827777317bd3c4cda216130a5c7e9
 2025-10-06 04:03:36 -07:00
Yuval Tassa 431f96572e Remove unused mjOption.apirate. 
PiperOrigin-RevId: 815633571
Change-Id: Ib98f3eb2df47f96fa1fe6e987a3a0cd23a9479f6
 2025-10-06 02:51:17 -07:00
Haroon Qureshi a849fedcd2 Separate mjv_addGeoms into separate functions for each category. 
PiperOrigin-RevId: 815607891
Change-Id: I16b29061c7e2229146bd0e0152721bca40fa4fd1
 2025-10-06 01:30:26 -07:00
Taylor Howell 680f880b03 Remove unused functions from collision_convex.py. 
PiperOrigin-RevId: 815605363
Change-Id: Ia1978a2e84cedd3c4382164562d672d1d6f20c43
 2025-10-06 01:21:47 -07:00
Sam Haves e4704cd28b Create list_dependencies sample to list all dependencies for an MCJF file. 
PiperOrigin-RevId: 814816067
Change-Id: Idc6232e5d1ef1ff0318aeacd0e3d4b4a5a303485
 2025-10-03 13:47:28 -07:00
Baruch Tabanpour 6ae9cc8061 Fix #2508. 
PiperOrigin-RevId: 814761747
Change-Id: Ic3d1ed359f377799126987c3640b7e534e764c6b
 2025-10-03 11:17:14 -07:00
Baruch Tabanpour d321ba7642 Bump warp-lang version. 
PiperOrigin-RevId: 814757185
Change-Id: Ia3ee1fd731bf19b621a8816fdb7ce670f2bc035c
 2025-10-03 11:05:48 -07:00
Yuval Tassa 6e6253c4d5 Remove redundant line in types.py 
PiperOrigin-RevId: 814749110
Change-Id: Ic335e3ffc724a62a2d0660295afdfeb288f6c96a
 2025-10-03 10:43:52 -07:00
Yuval Tassa 18779ab54a Clean up engine_core_util 
PiperOrigin-RevId: 814709359
Change-Id: If4ec66808e7de51e16b772afdb8485fa4ff30030
 2025-10-03 08:48:11 -07:00
Sam Haves b5c35f87fc Add material parsing path for colliders instead of strictly visual gprims. 
PiperOrigin-RevId: 814692421
Change-Id: If92a36d0382f60e0d92c7d90320dec51c20ea739
 2025-10-03 07:52:55 -07:00
Taylor Howell 709caa0628 Update .readthedocs.yml. 
PiperOrigin-RevId: 814687463
Change-Id: Ia319c9bb77cb954d71b7afd27eedf33a65aeb5d1
 2025-10-03 07:34:50 -07:00
Haroon Qureshi 24679b47e4 Separate out site and geom frame construction. 
PiperOrigin-RevId: 814677737
Change-Id: I623f9d1e23ac6b3076a577e97911f7ec73492f52
 2025-10-03 06:56:53 -07:00
Taylor Howell 9f796c3e70 Add missing constants to Python bindings. 
PiperOrigin-RevId: 814663674
Change-Id: Ib5abb561a8b950cc6db86b4786ab01cd3326de78
 2025-10-03 06:06:22 -07:00
Taylor Howell 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. 
PiperOrigin-RevId: 814656860
Change-Id: Ie4c0e9076c90b598dedc65a3e9793ed3d2375c37
 2025-10-03 05:39:45 -07:00
Kyle Bayes 50920450d2 Update box geom docs. 
PiperOrigin-RevId: 814646973
Change-Id: I6ef294c2b740ca2ebbf2501974120d13d08bf56e
 2025-10-03 05:00:26 -07:00
Taylor Howell 33a30480f8 Updates for MJX viewer related to Warp backend. 
PiperOrigin-RevId: 814604809
Change-Id: I1cdb135f8f01b399163ece7415b09fd977ce7ad8
 2025-10-03 02:25:24 -07:00
Haroon Qureshi 493d73062c Misc cleanup to addFrameGeoms. 
PiperOrigin-RevId: 814582959
Change-Id: I2546bf1c13334628d379ad24737de095085e1b1f
 2025-10-03 01:14:32 -07:00
Baruch Tabanpour 8eacacfd13 Import NVIDIA/warp from GitHub. 
PiperOrigin-RevId: 814423562
Change-Id: Ibf441f161e25c51c494de84b0d263b32af76545c
 2025-10-02 16:08:26 -07:00
Sam Haves 32e08f9507 Expose userfacenormal to mjsMesh 
PiperOrigin-RevId: 814253177
Change-Id: I644974feea0722f03e7c3b01be7b702dba233f0a
 2025-10-02 08:53:42 -07:00
Sam Haves 6320b95957 Add mju_getXMLDependencies that given an MJCF file returns filepaths to all of it's dependencies. 
PiperOrigin-RevId: 814203235
Change-Id: Ib5c2e2f4dd42224a768c88d76473544190c72bc0
 2025-10-02 06:14:48 -07:00
Taylor Howell 7e16ecaa25 Updates for testspeed.cc ctrl noise. 
PiperOrigin-RevId: 814192687
Change-Id: I0498c8efc8e71cd578e6b9d40ffa1411447d3e43
 2025-10-02 05:37:48 -07:00
Haroon Qureshi 6ed2ceaa83 Add non-decorative elements before decorative elements. 
PiperOrigin-RevId: 814165875
Change-Id: Iab09e2fe1fa129b0c19760c969b5639e690a95d9
 2025-10-02 03:59:06 -07:00
Kyle Bayes 91257896c0 Implement faster mju_isZeroByte. 
PiperOrigin-RevId: 814148714
Change-Id: Iaf5ed9d3502eaaaee8d46a986f2db00811ae0707
 2025-10-02 02:53:53 -07:00
Taylor Howell 401bf431b8 Modify Simulate::InjectNoise to set target of exponential decay to value from key_ctrl if a valid key is provided as input. 
PiperOrigin-RevId: 813819040
Change-Id: I79508039b17fb3484b71ae0d19614c32adacfa10
 2025-10-01 10:46:29 -07:00
Yuval Tassa edbdb5195c Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2 
PiperOrigin-RevId: 813754244
Change-Id: I6836e41c3b021cb727e922c25c60f629b9814c93
 2025-10-01 07:58:17 -07:00
Sam Haves c439628f82 When parsing USD, infer gravity from stage metadata if UsdPhysicsScene missing or undefined. 
PiperOrigin-RevId: 813705210
Change-Id: I13741af6dc87ecd9efb83219e978f5f06c72d021
 2025-10-01 05:19:31 -07:00
Haroon Qureshi b1ae44d10f Refactor duplicated frame drawing logic into a utility function. 
PiperOrigin-RevId: 813675737
Change-Id: I7f9094852f26b2ddc08534bf87cf2f71476d99ec
 2025-10-01 03:36:14 -07:00
Haroon Qureshi f9d0bedb44 Minor cleanup: Move geom-related functions together. 
PiperOrigin-RevId: 813661319
Change-Id: I6cdf74ff57f39f932ddd39268f15f1128ddf1df4
 2025-10-01 02:46:45 -07:00
Haroon Qureshi 328a4ab293 Merge geomsExhausted into acquireGeom. 
PiperOrigin-RevId: 813347956
Change-Id: I07bd566388383cc5c49e675f5b85fffb379ef6d1
 2025-09-30 11:19:53 -07:00
Kyle Bayes de0ae73da7 Fix broken "building from source" link on Mujoco's README. 
PiperOrigin-RevId: 813338644
Change-Id: I5a1e198556914619823ae180a63afac7450b3d6d
 2025-09-30 10:59:10 -07:00
Sam Haves 4d590afdad Instead of caching PNGImage results, cache mjCTexture and mjCHField assets. 
PiperOrigin-RevId: 813307632
Change-Id: I9de8b46423f57240d22811571d0533b010ee1e2b
 2025-09-30 09:44:45 -07:00
Haroon Qureshi 59d0676dcc Remove redundant checks for exhausted geoms. 
PiperOrigin-RevId: 813284297
Change-Id: I565c517bef782ba07ff323e206b75f6f905e5809
 2025-09-30 08:44:17 -07:00
Sam Haves 2dc533b63b Allow flipping textures with any number of channels and user provided pixel data. 
PiperOrigin-RevId: 813256285
Change-Id: I0d49885dc483ab8f093b2566ec4bef355575505e
 2025-09-30 07:28:13 -07:00
Kyle Bayes bdccbcc60a Add multiccd fields to MJX and add simplex box-mesh model. 
PiperOrigin-RevId: 813190617
Change-Id: Idc450da59d6420825077a642719525750f6551ec
 2025-09-30 03:40:29 -07:00