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Author SHA1 Message Date
Gabe Oppenheimer ae1febd83f Automated g4 rollback of changelist 818694877. 
*** 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
Gabe Oppenheimer 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. 
PiperOrigin-RevId: 818719010
Change-Id: I865b0f647003d579af9d6c87fa081c4f7cbe34d0
 2025-10-13 10:13:01 -07:00
Gabe Oppenheimer 02d2d4d49a Bump the version to 3.4.0 ahead of the next release. 
PiperOrigin-RevId: 818694877
Change-Id: I42e261956a0219e549bec6a54cbf330a74f02f9f
 2025-10-13 09:22:49 -07:00
Yuval Tassa bbeb0b95a7 Reset contact efc_address in mj_clearEfc, fixes #2869 
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
Haroon Qureshi 9b7e7e471d Add line and linebox geom primitives. 
PiperOrigin-RevId: 818570050
Change-Id: If02873dd878a23b442368ce69bc024e0310e9d02
 2025-10-13 02:59:13 -07:00
Haroon Qureshi 66a1c22cae Label all bodies, not just selected bodies, when mjLABEL_BODY is set. 
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
Taylor Howell d9399d6f84 Update doc/conf.py. 
PiperOrigin-RevId: 818544892
Change-Id: I4bb14309ebb4abe9eca1a61fa91b1bba6992a1e5
 2025-10-13 01:47:09 -07:00
Yuval Tassa a7fe06c717 Further simplification to mj_crb 
PiperOrigin-RevId: 818241421
Change-Id: I67dd2a60f415eb17b41f5ee553939118ab124123
 2025-10-12 01:43:30 -07:00
Yuval Tassa 12f0e3df9a Quick return for static bodies in mj_object{Velocity,Acceleration} 
PiperOrigin-RevId: 818238459
Change-Id: I340a2f61439db2a149cc64a5fee543680fdcad0f
 2025-10-12 01:25:05 -07:00
Kyle Bayes 9e0885a4fa Handle exceptions in VFS C API. 
PiperOrigin-RevId: 817688877
Change-Id: Ia2e306fe4cd1848eb5731212aa4e959080a9d377
 2025-10-10 10:03:36 -07:00
Haroon Qureshi b63252e4bb Render labels for any geom with a label, not just label geoms. 
PiperOrigin-RevId: 817686605
Change-Id: I030626dd942e50eef33e0de7e9d0f314fd2f457d
 2025-10-10 09:58:21 -07:00
Taylor Howell 5f55e96810 Fix _get_data_into_warp. 
PiperOrigin-RevId: 817681130
Change-Id: Iceb622e5655021ac25388ec28f1f78fe61f58ddc
 2025-10-10 09:44:35 -07:00
Matija Kecman 624ae0ac26 Silence warning/error relating to not using a const-ref in a for loop. 
PiperOrigin-RevId: 817652277
Change-Id: Ia700c67fe2c163c7a1e6e35fbbaed632cca213c3
 2025-10-10 08:22:11 -07:00
Haroon Qureshi ff7c613c79 Initial implementation of the filament rendering backend for mujoco. 
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
Matija Kecman bd68f0c6cc Update CMake to use C++20 
PiperOrigin-RevId: 817573868
Change-Id: I22c98515763623d7411fd12910cf88cdaa336e6e
 2025-10-10 03:54:47 -07:00
Matija Kecman 59a5a7bf5f Improve error messages in LoadMujocoModel 
PiperOrigin-RevId: 817565307
Change-Id: I367298cdf77d26b6f8deb5c6a0d5c3cab1e4d065
 2025-10-10 03:24:50 -07:00
Taylor Howell 38af2e2d00 Export mujoco_warp/pyproject.toml. 
PiperOrigin-RevId: 817541914
Change-Id: I271f66c26699c1c9d15133420e189d5c525deae6
 2025-10-10 02:02:57 -07:00
Baruch Tabanpour 192da87475 Remove _full_compat from MJX io. 
PiperOrigin-RevId: 817337868
Change-Id: Ic61b8d57937452371b85416c624ff2672c908aac
 2025-10-09 14:26:19 -07:00
Erik Frey 50e163748d Use correct tile sizes in 3p mujoco_warp now that launch_tiled bugs are fixed. 
PiperOrigin-RevId: 817310391
Change-Id: I652509ba8d6dcd514b264eb450952e6980e48f1e
 2025-10-09 13:18:45 -07:00
Taylor Howell a9632a9825 MuJoCo Warp feature parity documentation. 
PiperOrigin-RevId: 817123818
Change-Id: I21e4fd64943d68ffd714a1d84309ed5085764d6a
 2025-10-09 04:33:24 -07:00
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