ac2cd5dfd6
Add support for querying of MjsTendon path from Python.
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Fixes #2670
PiperOrigin-RevId: 822215254
Change-Id: Ice5a264e54f963776093511c6e4ac830aae6d4f8
2025-10-21 11:51:24 -07:00
2f65e23779
Add mj_extractState as a public API function.
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This function allows the caller to extract a subset of components of a state previously obtained via `mj_getState` without having to first write it back into `mjData`.
PiperOrigin-RevId: 822165077
Change-Id: I6433261f4f5ec2e8d024bb7dee8f7dbf1e62666c
2025-10-21 10:01:22 -07:00
25f5be82ff
Provide option to disable keyboard events for SDL.
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PiperOrigin-RevId: 822154396
Change-Id: Ie4c8537de2c4b01437aae00ed6d6af1a8f419a73
2025-10-21 09:36:16 -07:00
9e1ed0720b
Revert PDF documentation update to .readthedocs.yml.
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PiperOrigin-RevId: 822102488
Change-Id: I223757e80c00421c2ea37c3b30718c93b0a3cee8
2025-10-21 07:09:57 -07:00
056945df20
Enable frames to create the same children as bodies.
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PiperOrigin-RevId: 822097998
Change-Id: I8477d8abe2d6f711421126825fd94d39af1a4e07
2025-10-21 06:57:01 -07:00
09682ade4b
Fix mjcPhysics island flag default.
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PiperOrigin-RevId: 822088739
Change-Id: If3a87976dd319502160fd886a1823c12d72bebf1
2025-10-21 06:27:28 -07:00
64add36adb
Update documentation to be compatible with PDF generation
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PiperOrigin-RevId: 822081040
Change-Id: I935b08751109e973398bc61c21f7217408983494
2025-10-21 06:02:53 -07:00
01d1ac34e0
Add quadratic interpolation to flex.
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PiperOrigin-RevId: 822055781
Change-Id: Ibc252ac560de666b0b28f868e46b88d3ed92f67d
2025-10-21 04:36:36 -07:00
59f14485e0
Move mjCWrap type to mjsWrap.
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PiperOrigin-RevId: 821851540
Change-Id: I53382a8a21312a96aea46eec130f43e7cad70f92
2025-10-20 16:28:41 -07:00
88ac02dad3
Add UI to visualize the State
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PiperOrigin-RevId: 821641514
Change-Id: I41fd5602d0d52162b374149fb0080f6c387d7847
2025-10-20 07:32:41 -07:00
e75c5aa83c
Fix various include paths.
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PiperOrigin-RevId: 821564663
Change-Id: Ic84489b7f3e1ba97810f60049dcf2f4a4d31edcf
2025-10-20 02:55:22 -07:00
36bed9a9da
MuJoCo documentation in PDF format. Fixes #2736 , #470 .
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PiperOrigin-RevId: 820682295
Change-Id: Ib9d6d53594c99a7e80af0fd3f1273ce44f831afd
2025-10-17 07:29:17 -07:00
85b5230dc0
MuJoCo Warp API documentation.
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PiperOrigin-RevId: 820672892
Change-Id: I1339bdc4772560e69aa2c4b615825e7faffbe2ba
2025-10-17 06:59:19 -07:00
bd8c921475
Update doc/conf.py.
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PiperOrigin-RevId: 820636602
Change-Id: I20d8b44f9b933f14a72cb6e394be149bb459c552
2025-10-17 04:38:10 -07:00
fdc0e64e5c
Update .readthedocs.yml.
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PiperOrigin-RevId: 820614563
Change-Id: I76d10cbb3cbcd55ab5a84ce74ab2cc3c3cc4ecaf
2025-10-17 03:13:46 -07:00
ff7c94de8a
Add quadratic interpolation to mju_interpolate3D.
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PiperOrigin-RevId: 820252349
Change-Id: I983175eb51d7e1a81da06c0911326fcb8f5fe764
2025-10-16 08:48:20 -07:00
87adb7e5d6
Use the ImGui OpenGL3 backend.
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PiperOrigin-RevId: 820249390
Change-Id: I43fc85bf75a2c01b76218a2ff67a1526ee9e2bdb
2025-10-16 08:39:51 -07:00
2893c3344c
Allow mjx.ray to exclude multiple bodies.
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PiperOrigin-RevId: 820236386
Change-Id: I41229fa52043d844d116b540d60053628d1a842b
2025-10-16 08:03:46 -07:00
2fc8306e3d
Update .readthedocs.yml.
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PiperOrigin-RevId: 820223836
Change-Id: If0567dc022cea8133773c89d738841de2945b049
2025-10-16 07:26:05 -07:00
ffdfe542cf
Add mju_interpolate3D.
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This is a more general API in preparation of a higher interpolation order
PiperOrigin-RevId: 820174741
Change-Id: I81bd52ab44e0485d72579e21d1c8a48a1b35ec3f
2025-10-16 04:39:24 -07:00
48f10bfcb6
Update MuJoCo to v3.3.8 following the 3.3.7 release.
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PiperOrigin-RevId: 819919328
Change-Id: Ib34f959f6f8efd83362d49e784aa8e0594036899
2025-10-15 14:39:05 -07:00
8cbfc42767
Fix issue with zero size cache.
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PiperOrigin-RevId: 819773517
Change-Id: Iff1523e17ffbd1dff02bee71db896c64bd8b565c
2025-10-15 08:46:00 -07:00
5715cebbb9
MSAN: Don't clear mjData.sensordata in mj_resetData
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This is strictly an out array and should not be read before it is written to. This change improves MSAN coverage of engine code.
PiperOrigin-RevId: 819767673
Change-Id: I57500c8147f4774d326cf87ea3bac5420e4dd54d
2025-10-15 08:31:03 -07:00
99d93124f0
Update .readthedocs.yml.
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PiperOrigin-RevId: 819751628
Change-Id: Idf88c9169c63b80e6ae608b6e89911adbc7cb0b4
2025-10-15 07:47:07 -07:00
fec7a576ad
Revert the Eigen3 version due to an [upstream bug in Eigen]( https://gitlab.com/libeigen/eigen/-/issues/2986 )
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PiperOrigin-RevId: 819709602
Change-Id: I948daf46419547a598b23810c2c4a7adca74fb05
2025-10-15 05:47:03 -07:00
9174c87203
Minor fixes.
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PiperOrigin-RevId: 819680566
Change-Id: Ie2480eab3c974227268222190fdb84ed671303f2
2025-10-15 04:07:36 -07:00
0d4f6231be
Make JAX-Warp FFI more robust. Prepare for warp-lang 1.10. Fix #2894
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PiperOrigin-RevId: 819381906
Change-Id: I1f16abcbe02884445725c3087aa97af941131533
2025-10-14 13:48:43 -07:00
b6f25ca623
Check mjs_getName return value in XML parser. Fixes #2898 .
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PiperOrigin-RevId: 819351410
Change-Id: I0807d71328068f6388991ae15274c7d61b4d3e53
2025-10-14 12:40:28 -07:00
67960543a0
Updates for MJX viewer to help avoid graph recapture when impl='warp'.
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PiperOrigin-RevId: 819312078
Change-Id: I2f94eff9720fac8d06017123a51770d39743f2d6
2025-10-14 11:14:59 -07:00
f1d45bd542
Fix minor formatting issues and use nullptr consistently.
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PiperOrigin-RevId: 819178621
Change-Id: I3f6bfb6888075188d49e32110af2074b07c6b918
2025-10-14 06:15:57 -07:00
f7708954cb
Update changelog to version 3.3.7 and reformat lists.
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We won't be bumping the minor version until the next release.
PiperOrigin-RevId: 818748607
Change-Id: I34d0ac8836eeb6512f8dde112980f49f17125400
2025-10-13 11:16:16 -07:00
ae1febd83f
Automated g4 rollback of changelist 818694877.
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*** Reason for rollback ***
BEGIN_PUBLIC
Holding off on a minor version bump until the next release.
*** Original change description ***
#mujoco update the version to 3.4.0 ahead of the 3.4.0 release.
Bump the version to 3.4.0 ahead of the next release.
***
PiperOrigin-RevId: 818748143
Change-Id: I722e9beb80c61a48bd997da6a1840777a81d5036
2025-10-13 11:14:42 -07:00
27e8736fc7
This CL updates the changelog to mark the release of MuJoCo 3.4.0. It also updates the versions of Eigen3, Abseil, and benchmark used in the CMake build.
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PiperOrigin-RevId: 818719010
Change-Id: I865b0f647003d579af9d6c87fa081c4f7cbe34d0
2025-10-13 10:13:01 -07:00
02d2d4d49a
Bump the version to 3.4.0 ahead of the next release.
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PiperOrigin-RevId: 818694877
Change-Id: I42e261956a0219e549bec6a54cbf330a74f02f9f
2025-10-13 09:22:49 -07:00
bbeb0b95a7
Reset contact efc_address in mj_clearEfc, fixes #2869
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The truth is that all these solver-related values should be moved out of `mjContact` altogether, but that can be done in a future followup.
PiperOrigin-RevId: 818624976
Change-Id: I5b9e63927098cdf26b9f8acfdd9d86e75d6ce331
2025-10-13 06:18:41 -07:00
9b7e7e471d
Add line and linebox geom primitives.
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PiperOrigin-RevId: 818570050
Change-Id: If02873dd878a23b442368ce69bc024e0310e9d02
2025-10-13 02:59:13 -07:00
66a1c22cae
Label all bodies, not just selected bodies, when mjLABEL_BODY is set.
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An earlier refactor incorrectly assumed that only selected bodies needed
labels.
PiperOrigin-RevId: 818568645
Change-Id: I7aea07c5342673dd589e1891d0db1f2b0c489fe4
2025-10-13 02:54:34 -07:00
d9399d6f84
Update doc/conf.py.
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PiperOrigin-RevId: 818544892
Change-Id: I4bb14309ebb4abe9eca1a61fa91b1bba6992a1e5
2025-10-13 01:47:09 -07:00
a7fe06c717
Further simplification to mj_crb
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PiperOrigin-RevId: 818241421
Change-Id: I67dd2a60f415eb17b41f5ee553939118ab124123
2025-10-12 01:43:30 -07:00
12f0e3df9a
Quick return for static bodies in mj_object{Velocity,Acceleration}
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PiperOrigin-RevId: 818238459
Change-Id: I340a2f61439db2a149cc64a5fee543680fdcad0f
2025-10-12 01:25:05 -07:00
9e0885a4fa
Handle exceptions in VFS C API.
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PiperOrigin-RevId: 817688877
Change-Id: Ia2e306fe4cd1848eb5731212aa4e959080a9d377
2025-10-10 10:03:36 -07:00
b63252e4bb
Render labels for any geom with a label, not just label geoms.
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PiperOrigin-RevId: 817686605
Change-Id: I030626dd942e50eef33e0de7e9d0f314fd2f457d
2025-10-10 09:58:21 -07:00
5f55e96810
Fix _get_data_into_warp.
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PiperOrigin-RevId: 817681130
Change-Id: Iceb622e5655021ac25388ec28f1f78fe61f58ddc
2025-10-10 09:44:35 -07:00
624ae0ac26
Silence warning/error relating to not using a const-ref in a for loop.
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PiperOrigin-RevId: 817652277
Change-Id: Ia700c67fe2c163c7a1e6e35fbbaed632cca213c3
2025-10-10 08:22:11 -07:00
ff7c613c79
Initial implementation of the filament rendering backend for mujoco.
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This is intended as a drop-in replacement for mjr_render to enable high
quality, physically-based rendering (PBR) using the filament render engine.
This is a work-in-progress and, as such, some features may be missing. This
is also a code-only drop; build files (including instructions on how to
generate the filament materials) will be provided at a later date.
This library is intended to be run with the experimental studio app.
PiperOrigin-RevId: 817593684
Change-Id: Ib9cd14c1881e4897c1111275bd749aa38ebb5317
2025-10-10 05:01:39 -07:00
bd68f0c6cc
Update CMake to use C++20
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PiperOrigin-RevId: 817573868
Change-Id: I22c98515763623d7411fd12910cf88cdaa336e6e
2025-10-10 03:54:47 -07:00
59a5a7bf5f
Improve error messages in LoadMujocoModel
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PiperOrigin-RevId: 817565307
Change-Id: I367298cdf77d26b6f8deb5c6a0d5c3cab1e4d065
2025-10-10 03:24:50 -07:00
38af2e2d00
Export mujoco_warp/pyproject.toml.
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PiperOrigin-RevId: 817541914
Change-Id: I271f66c26699c1c9d15133420e189d5c525deae6
2025-10-10 02:02:57 -07:00
192da87475
Remove _full_compat from MJX io.
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PiperOrigin-RevId: 817337868
Change-Id: Ic61b8d57937452371b85416c624ff2672c908aac
2025-10-09 14:26:19 -07:00
50e163748d
Use correct tile sizes in 3p mujoco_warp now that launch_tiled bugs are fixed.
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PiperOrigin-RevId: 817310391
Change-Id: I652509ba8d6dcd514b264eb450952e6980e48f1e
2025-10-09 13:18:45 -07:00
Sam Haves