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Author SHA1 Message Date
Haroon Qureshi ae2e8aa940 Rename mjrRenderTargetConfig to mjrfRenderTargetConfig. 
This rename was overlooked in the previous commit which updated
the prefixes for all filament-specific render objects.

PiperOrigin-RevId: 928710590
Change-Id: I0ff09cb077f7d5643371d43a43fc992352e6d85d
 2026-06-08 12:33:27 -07:00
Matija Kecman 66c0131840 Internal change 
PiperOrigin-RevId: 928689775
Change-Id: Idfbbafe44b74acf36ff82a72eabf026d4226d47c
 2026-06-08 11:50:55 -07:00
Haroon Qureshi 2fcd135179 Remove layer mask from public API. 
Instead, use materials to determine the layer mask of an object.

This hides the details/complexities of how layers are used
to render different passes from the user and will allow the
renderer to do more advanced rendering passes.

PiperOrigin-RevId: 928682525
Change-Id: I1f53dc8d12d2e574de6528977f55e79f896c6e42
 2026-06-08 11:37:47 -07:00
Haroon Qureshi 982e3be9ef Add mjrfCallback type. 
PiperOrigin-RevId: 928640487
Change-Id: Iebf470caafe924a976e4a1b39b0c47727e22195b
 2026-06-08 10:26:40 -07:00
Adrian Collister 74d1459a4a Enable contact sensors to work with Flex. 
The sensor engine now correctly retrieves body IDs for contacts involving Flex elements by using mj_flexBody when a geom ID is -1. This allows contact sensors to detect and report forces/torques on bodies involved in Flex contacts.

PiperOrigin-RevId: 928607416
Change-Id: Ia815e1b3345bcfb393c9c4a829dc98959f2da50c
 2026-06-08 09:31:42 -07:00
Yuval Tassa 828052e6f4 CG solver: Replace PRP+ with Hager-Zhang update 
Replace the Polak-Ribière-Plus (PRP+) conjugate direction update with the Hager-Zhang  formula in `mj_solPrimal`.

While this change has negligible effect under float64, it leads to a significant 17.5% throughput speedup over PRP+ under float32 (measured via `engine_cg_convergence_test`). This performance gain is driven by:
* A 9.4% reduction in CG iterations per step.
* A 12.1% reduction in line search evaluations per step.

The full output of the comparison is

```
================================================================
1/4: HZ + float64
================================================================

CG Convergence: 2humanoid100.xml
  1000 Newton steps, 100 evaluation points
  nv = 654, nq = 756
  metric: ||qacc_cg - qacc_newton|| / ||qacc_newton||

  Warmstart (tolerance = 0):
   Iters |    Mean Err |     Max Err | Mean Iters | LS evals
  -------+-------------+-------------+------------+---------
       5 |  3.8532e-01 |  1.4285e+00 |       5.00 |    22368
      10 |  2.0809e-01 |  9.9315e-01 |      10.00 |    44591
      20 |  6.4977e-02 |  2.3410e-01 |      20.00 |    89417
      40 |  5.2839e-03 |  2.1916e-02 |      40.00 |   180984
      80 |  3.9709e-05 |  3.0010e-04 |      80.00 |   364241
     160 |  3.2498e-09 |  3.5480e-08 |     160.00 |   730131
  -------+-------------+-------------+------------+---------

  No warmstart (tolerance = 0):
   Iters |    Mean Err |     Max Err | Mean Iters | LS evals
  -------+-------------+-------------+------------+---------
       5 |  9.0740e-01 |  5.0045e+00 |       5.00 |    22123
      10 |  3.9506e-01 |  2.1927e+00 |      10.00 |    44879
      20 |  1.2496e-01 |  6.8911e-01 |      20.00 |    90341
      40 |  1.2846e-02 |  6.9533e-02 |      40.00 |   182869
      80 |  1.0288e-04 |  8.6457e-04 |      80.00 |   368312
     160 |  5.9820e-09 |  5.0903e-08 |     160.00 |   738479
  -------+-------------+-------------+------------+---------

  Tolerance sweep (iterations = 100, warmstart):
         Tol |    Mean Err |     Max Err | Mean Iters |  Max Iters |   Solver us | LS evals
  -----------+-------------+-------------+------------+------------+-------------+---------
       1e-04 |  1.1297e-02 |  8.9331e-02 |      34.88 |         51 |   131002.94 |    12052
       1e-06 |  1.0907e-03 |  7.7468e-03 |      50.87 |         72 |   184172.44 |    16700
       1e-08 |  1.1485e-04 |  1.0085e-03 |      66.82 |         91 |   232189.34 |    20194
       1e-10 |  1.1357e-05 |  8.1547e-05 |      81.97 |        100 |   276114.42 |    23264
       1e-12 |  3.7695e-06 |  2.8592e-05 |      90.47 |        100 |   299526.58 |    24964
           0 |  3.5019e-06 |  2.8592e-05 |     100.00 |        100 |  2062208.36 |   456276
  -----------+-------------+-------------+------------+------------+-------------+---------
  Total solver time: 3185214.08 us, avg time per iter: 74.9445 us

  Pipeline mode (consecutive mj_step, tolerance = 1e-8):
  1000 steps, nv = 654
  Steps/s          : 380
  us/step (total)  : 2630.0
  us/step (constr) : 2103.7  (80.0%)
  CG iters/step    : 63.28
  LS evals/step    : 190.75
  us/iter          : 33.24

================================================================
2/4: PRP+ + float64
================================================================

CG Convergence: 2humanoid100.xml
  1000 Newton steps, 100 evaluation points
  nv = 654, nq = 756
  metric: ||qacc_cg - qacc_newton|| / ||qacc_newton||

  Warmstart (tolerance = 0):
   Iters |    Mean Err |     Max Err | Mean Iters | LS evals
  -------+-------------+-------------+------------+---------
       5 |  3.8533e-01 |  1.4285e+00 |       5.00 |    22228
      10 |  2.0808e-01 |  9.9315e-01 |      10.00 |    44873
      20 |  6.4978e-02 |  2.3410e-01 |      20.00 |    89349
      40 |  5.2895e-03 |  2.1916e-02 |      40.00 |   179827
      80 |  4.0188e-05 |  3.0010e-04 |      80.00 |   363740
     160 |  3.2891e-09 |  3.5480e-08 |     160.00 |   733905
  -------+-------------+-------------+------------+---------

  No warmstart (tolerance = 0):
   Iters |    Mean Err |     Max Err | Mean Iters | LS evals
  -------+-------------+-------------+------------+---------
       5 |  9.0740e-01 |  5.0045e+00 |       5.00 |    22590
      10 |  3.9506e-01 |  2.1927e+00 |      10.00 |    45093
      20 |  1.2496e-01 |  6.8911e-01 |      20.00 |    90393
      40 |  1.2846e-02 |  6.9533e-02 |      40.00 |   182422
      80 |  1.0288e-04 |  8.6457e-04 |      80.00 |   367264
     160 |  5.9811e-09 |  5.0903e-08 |     160.00 |   739556
  -------+-------------+-------------+------------+---------

  Tolerance sweep (iterations = 100, warmstart):
         Tol |    Mean Err |     Max Err | Mean Iters |  Max Iters |   Solver us | LS evals
  -----------+-------------+-------------+------------+------------+-------------+---------
       1e-04 |  1.1325e-02 |  8.9941e-02 |      34.95 |         52 |   129456.81 |    12060
       1e-06 |  1.0910e-03 |  7.7469e-03 |      50.85 |         72 |   181004.51 |    16687
       1e-08 |  1.1488e-04 |  1.0085e-03 |      66.83 |         91 |   228183.13 |    20189
       1e-10 |  1.1401e-05 |  8.1547e-05 |      81.98 |        100 |   269635.40 |    23259
       1e-12 |  3.8040e-06 |  2.8592e-05 |      90.52 |        100 |   293811.25 |    24967
           0 |  3.5543e-06 |  2.8592e-05 |     100.00 |        100 |  2051927.47 |   456000
  -----------+-------------+-------------+------------+------------+-------------+---------
  Total solver time: 3154018.57 us, avg time per iter: 74.1895 us

  Pipeline mode (consecutive mj_step, tolerance = 1e-8):
  1000 steps, nv = 654
  Steps/s          : 382
  us/step (total)  : 2616.6
  us/step (constr) : 2091.8  (79.9%)
  CG iters/step    : 63.57
  LS evals/step    : 193.35
  us/iter          : 32.91

================================================================
3/4: HZ + float32
================================================================

CG Convergence: 2humanoid100.xml
  1000 Newton steps, 100 evaluation points
  nv = 654, nq = 756
  metric: ||qacc_cg - qacc_newton|| / ||qacc_newton||

  Warmstart (tolerance = 0):
   Iters |    Mean Err |     Max Err | Mean Iters | LS evals
  -------+-------------+-------------+------------+---------
       5 |  3.6748e-01 |  1.2281e+00 |       5.00 |    19239
      10 |  2.0034e-01 |  6.8689e-01 |      10.00 |    39001
      20 |  6.1972e-02 |  1.9859e-01 |      20.00 |    80112
      40 |  4.0704e-03 |  1.5797e-02 |      40.00 |   168211
      80 |  2.4380e-05 |  1.5803e-04 |      79.45 |   347735
     160 |  7.7413e-07 |  4.4732e-06 |     157.27 |   704210
  -------+-------------+-------------+------------+---------

  No warmstart (tolerance = 0):
   Iters |    Mean Err |     Max Err | Mean Iters | LS evals
  -------+-------------+-------------+------------+---------
       5 |  9.3385e-01 |  4.9648e+00 |       5.00 |    19272
      10 |  3.6117e-01 |  1.9618e+00 |      10.00 |    37982
      20 |  9.7490e-02 |  5.1451e-01 |      20.00 |    76502
      40 |  9.5924e-03 |  5.5088e-02 |      40.00 |   162782
      80 |  6.7689e-05 |  5.1113e-04 |      79.91 |   344281
     160 |  1.5541e-06 |  7.6955e-06 |     157.30 |   697076
  -------+-------------+-------------+------------+---------

  Tolerance sweep (iterations = 100, warmstart):
         Tol |    Mean Err |     Max Err | Mean Iters |  Max Iters |   Solver us | LS evals
  -----------+-------------+-------------+------------+------------+-------------+---------
       1e-04 |  1.5891e-02 |  1.2929e-01 |      32.56 |         50 |   136254.00 |    10980
       1e-06 |  1.5719e-03 |  1.0990e-02 |      47.42 |         68 |   193566.00 |    15418
       1e-08 |  1.6260e-04 |  1.0680e-03 |      62.70 |         86 |   252661.00 |    20162
       1e-10 |  1.5664e-05 |  1.0999e-04 |      78.10 |        100 |   311535.00 |    24509
       1e-12 |  2.8152e-06 |  1.5236e-05 |      90.39 |        100 |   356814.00 |    27902
           0 |  2.4989e-06 |  1.5025e-05 |      99.05 |        100 |  1980580.00 |   436825
  -----------+-------------+-------------+------------+------------+-------------+---------
  Total solver time: 3231410.00 us, avg time per iter: 78.7726 us

  Pipeline mode (consecutive mj_step, tolerance = 1e-8):
  1000 steps, nv = 654
  Steps/s          : 349
  us/step (total)  : 2862.7
  us/step (constr) : 2379.3  (83.1%)
  CG iters/step    : 61.97
  LS evals/step    : 199.01
  us/iter          : 38.39

================================================================
4/4: PRP+ + float32
================================================================

CG Convergence: 2humanoid100.xml
  1000 Newton steps, 100 evaluation points
  nv = 654, nq = 756
  metric: ||qacc_cg - qacc_newton|| / ||qacc_newton||

  Warmstart (tolerance = 0):
   Iters |    Mean Err |     Max Err | Mean Iters | LS evals
  -------+-------------+-------------+------------+---------
       5 |  3.6753e-01 |  1.2281e+00 |       5.00 |    19052
      10 |  2.0028e-01 |  6.8689e-01 |      10.00 |    38761
      20 |  6.1737e-02 |  1.9863e-01 |      20.00 |    79937
      40 |  4.0915e-03 |  1.5821e-02 |      39.99 |   168159
      80 |  2.4360e-05 |  1.5808e-04 |      79.59 |   348385
     160 |  7.8367e-07 |  4.1549e-06 |     157.04 |   700760
  -------+-------------+-------------+------------+---------

  No warmstart (tolerance = 0):
   Iters |    Mean Err |     Max Err | Mean Iters | LS evals
  -------+-------------+-------------+------------+---------
       5 |  9.3385e-01 |  4.9648e+00 |       5.00 |    19494
      10 |  3.6117e-01 |  1.9618e+00 |      10.00 |    38480
      20 |  9.7485e-02 |  5.1451e-01 |      20.00 |    77213
      40 |  9.5904e-03 |  5.5078e-02 |      40.00 |   162472
      80 |  6.7647e-05 |  5.1087e-04 |      79.87 |   342990
     160 |  1.4979e-06 |  7.2291e-06 |     157.92 |   699052
  -------+-------------+-------------+------------+---------

  Tolerance sweep (iterations = 100, warmstart):
         Tol |    Mean Err |     Max Err | Mean Iters |  Max Iters |   Solver us | LS evals
  -----------+-------------+-------------+------------+------------+-------------+---------
       1e-04 |  1.5998e-02 |  1.3172e-01 |      32.49 |         50 |   135111.00 |    10953
       1e-06 |  1.5878e-03 |  1.1052e-02 |      47.33 |         67 |   190914.00 |    15418
       1e-08 |  1.5901e-04 |  1.0680e-03 |      62.65 |         84 |   250609.00 |    20215
       1e-10 |  1.5953e-05 |  1.1116e-04 |      78.01 |        100 |   307067.00 |    24562
       1e-12 |  2.8520e-06 |  1.5174e-05 |      90.27 |        100 |   353010.00 |    27931
           0 |  2.5161e-06 |  1.5129e-05 |      99.39 |        100 |  1999478.00 |   438790
  -----------+-------------+-------------+------------+------------+-------------+---------
  Total solver time: 3236189.00 us, avg time per iter: 78.9045 us

  Pipeline mode (consecutive mj_step, tolerance = 1e-8):
  1000 steps, nv = 654
  Steps/s          : 298
  us/step (total)  : 3352.8
  us/step (constr) : 2832.0  (84.5%)
  CG iters/step    : 68.43
  LS evals/step    : 226.33
  us/iter          : 41.39
```

PiperOrigin-RevId: 928590104
Change-Id: I1a96730f50f444d6141d8978feb3519009daf320
 2026-06-08 08:54:07 -07:00
Haroon Qureshi 7e790879ef Fix namespace for filament-specific "mjrf" API. 
PiperOrigin-RevId: 928582582
Change-Id: Idc312607b2f063d8ace8d5cc79bfbc8ac588d13f
 2026-06-08 08:37:52 -07:00
Alessio Quaglino 7a7dc7ccad Add support for loading 1D flex components from OBJ line segments. 
The obj_decoder plugin is updated to parse line segments ('l') from OBJ files and represent them as degenerate triangles. The user_flexcomp compiler now supports flex dimensions of 1, using these parsed line segments to define the 1D flex elements. The compile sample's error reporting is also improved.

PiperOrigin-RevId: 928566870
Change-Id: I6920729d1b1d5aeb391401c3245ebb1d4784c190
 2026-06-08 08:03:30 -07:00
Kyle Bayes ac7f198536 Tune constants for nativeccd to perform better with single precision. 
PiperOrigin-RevId: 928549147
Change-Id: Ic28c60f73e92bb1b9578c56f790b6cda94875907
 2026-06-08 07:21:17 -07:00
Yuval Tassa a0f014593b Support float32 in mujoco.rollout Python wrapper and tests. 
- Update rollout.py to use mujoco.MJTNUM_DTYPE instead of np.float64.
- Update rollout_test.py to use DTYPE for all state/control/sensor arrays to avoid copies and type mismatches.

PiperOrigin-RevId: 928539946
Change-Id: Iee2250c049de799cb0e23ffe5558fe6eea8b3fd8
 2026-06-08 06:59:22 -07:00
Haroon Qureshi 116cfe9c70 Remove initial width/height arguments. 
The ValidateSwapChains function will correctly set up swap chains
before any render calls, negating the need to have something done
in the constructor.

PiperOrigin-RevId: 928529339
Change-Id: Ie584d57f649730adc092f8683f18697892a5a14f
 2026-06-08 06:34:40 -07:00
Kyle Bayes 318880126f Provide better dedupe logic in multiccd in edge collision case. 
PiperOrigin-RevId: 928519426
Change-Id: I67531d1c346b1b38c098eaf32c3b13fa7d0c8eaf
 2026-06-08 06:07:31 -07:00
Yuval Tassa 6c33e16bf1 Canonicalize mjVisual macros to include type and dimension. 
PiperOrigin-RevId: 928506110
Change-Id: If5d031f9d87892f13486ae9ccde23c16131212de
 2026-06-08 05:30:57 -07:00
Haroon Qureshi da5500c202 Implement additional draw modes: 
- Default rendering but without textures.
- Island coloring based on sleep state.
- Selected object highlighting.

PiperOrigin-RevId: 928482603
Change-Id: I5eda1307bc6e71a4b0b2933b5b941e945cb9de75
 2026-06-08 04:29:27 -07:00
Haroon Qureshi 543165a6cc Expose hsv2rgb as internally public function. 
PiperOrigin-RevId: 928464175
Change-Id: I57ef75f28663b0da89b9af7bf730d82b965093bf
 2026-06-08 03:44:50 -07:00
Copybara-Service a36758c26b Merge pull request #3322 from mhasek:mhasek/add_light_and_mat_prop_to_mjx_model 
PiperOrigin-RevId: 928464101
Change-Id: I066caa1b0d45700160909d7452138e557af6b365
 2026-06-08 03:42:53 -07:00
Haroon Qureshi b17b5f7918 Expose mjv_flexBodyIdAndPoint as a helper function. 
Use the above in studio rather than a custom implementation.

PiperOrigin-RevId: 928432476
Change-Id: I99d772c4baf7260abbf9ac8f6d8032704f1ba769
 2026-06-08 02:28:39 -07:00
Yuval Tassa ea2d785e0a Improve quality of maxhullvert coarse convex hulls using Qhull's Q9 option. 
PiperOrigin-RevId: 928417339
Change-Id: I59ecd454f063f2e32e1c3ce08eb4a18506ddf8c8
 2026-06-08 01:56:24 -07:00
Haroon Qureshi 0093210173 Remove hard-coded render target formats. 
The formats are defined in the config.

PiperOrigin-RevId: 928412818
Change-Id: I20ea72214d8e1484723793d8a3f89cdcb4b617b1
 2026-06-08 01:45:24 -07:00
Copybara-Service d79520dc87 Merge pull request #3299 from tkelestemur:tarik/mjx-warp-nested-dataclass-methods 
PiperOrigin-RevId: 928341876
Change-Id: I0c89bcbbd95a14fadbf33d7785bf212c2c074c99
 2026-06-07 22:50:49 -07:00
Mustafa Hasekioglu 994cfa0e4a update mjx model and shims 2026-06-06 14:39:01 -04:00
Taylor Howell 2e43279ac3 MuJoCo Warp documentation: remove parallel linesearch 
PiperOrigin-RevId: 927417172
Change-Id: I43f72ec0be89e9370b6e7699a8080d8ecf02b4ab
 2026-06-05 12:05:58 -07:00
Kevin Zakka 5fe916045c Replace strncpy with memcpy for gridlayout initialization. 
memcpy is more appropriate here as the source and destination buffers have the same size, ensuring the entire buffer is copied.

PiperOrigin-RevId: 927395770
Change-Id: Idbe9dade3160f593060fae5783743b28c0452695
 2026-06-05 11:25:49 -07:00
Haroon Qureshi 511cf27ff8 Move segmentation coloring logic into renderer. 
PiperOrigin-RevId: 927300828
Change-Id: I994c5742ec30993d2245df167042e72820f91ac7
 2026-06-05 07:57:59 -07:00
Copybara-Service fdd82ac420 Merge pull request #3287 from kevinzakka:sysid-issue-3284-fixes 
PiperOrigin-RevId: 927249817
Change-Id: I63db037d24238dd0ce82ffe157a2e1bb33c9314a
 2026-06-05 05:56:46 -07:00
Taylor Howell 2a4af3246e Import google-deepmind/mujoco_warp from GitHub. 
PiperOrigin-RevId: 927227210
Change-Id: Ic72c58524c8e91e6fff44b4cab7f4a0f7de2bb33
 2026-06-05 04:56:58 -07:00
Yuval Tassa d80a847bae Move CompareModel to a separate library. 
PiperOrigin-RevId: 927174846
Change-Id: Ia8b8b2c8593133d8910399be755e614282bf3252
 2026-06-05 02:44:53 -07:00
Yuval Tassa 5ce9a0ad0b Split large parameterized tests into dedicated files. 
PiperOrigin-RevId: 927159897
Change-Id: Ib0e11727c49195bc03d190b736c01b14c10268fe
 2026-06-05 02:07:47 -07:00
Haroon Qureshi 8fbacf2883 Introduce MaterialManager to allow sharing of material instances. 
PiperOrigin-RevId: 927139826
Change-Id: I923a24f28ab7af3a8c854286f064e851b9fd494e
 2026-06-05 01:17:37 -07:00
btaba 7078f38163 Update generate_warp_types.py 2026-06-04 12:28:38 -07:00
Kevin Zakka 2b9960a617 Address reviewer feedback. 2026-06-04 09:53:17 -07:00
Kevin Zakka ab4102ea42 Add opt-in cond(J^T J) check to sysid optimize(). 
Pass check_conditioning=True to FD the Jacobian at the starting point
and warn if cond(J^T J) suggests numerical ill-conditioning.
 2026-06-04 09:53:17 -07:00
Kevin Zakka d75b709892 Forward x_scale through the sysid mujoco backend. 
mujoco.minimize.least_squares now supports x_scale natively, so the
sysid wrapper becomes a thin pass-through. 'jac' is adaptive per
iteration (was static at x0).
 2026-06-04 09:53:17 -07:00
Kevin Zakka 5ae677f026 Warn and rescue sysid parameters that start at a box bound. 
ParameterDict.move_off_bounds() shifts at-bound values into the interior;
optimize() warns when any non-frozen component starts at a bound.
 2026-06-04 09:53:17 -07:00
Kyle Bayes 66156c7d9a Update tolerances on engine_collision_gjk_test.cc to run with single precision. 
PiperOrigin-RevId: 926681633
Change-Id: I14f7b756fd3cf7b8f797b5f7b917efba00006b88
 2026-06-04 07:37:15 -07:00
Copybara-Service dadd624255 Merge pull request #3244 from google-deepmind:dependabot/npm_and_yarn/wasm/postcss-8.5.10 
PiperOrigin-RevId: 926661082
Change-Id: Ic0d56385914f82aca61268a0372a6163388378f3
 2026-06-04 06:48:02 -07:00
Michael Moss a2f08767cf Workaround for CMake "subproject language bug" triggered by recent Filament change. 
PiperOrigin-RevId: 926623512
Change-Id: I4aefd6b13bc55881a7013a0f2b7d48ce0b78bd7c
 2026-06-04 05:06:09 -07:00
Haroon Qureshi 53ac994759 Add missing files. 
PiperOrigin-RevId: 926123240
Change-Id: I59b9baaa106ef12a9bf3c7a6399558753c2c5415
 2026-06-03 10:27:41 -07:00
Google DeepMind 36f5c4899c Remove the usage of Texture::setImage that uses FaceOffsets 
PiperOrigin-RevId: 926092842
Change-Id: I8010804c6dda89d41ebaf650af776505e5c5ed34
 2026-06-03 09:47:37 -07:00
Tarik Kelestemur b4dd8e2d9c Emit TileSet methods in MJX Warp codegen 2026-06-03 12:31:23 -04:00
Haroon Qureshi 4d70b18048 Manage reflections at the scene level. 
Renderables may be created/destroyed frequently causing issues with
the underlying RenderTargets used for reflections. Instead, use a
ReflectionManager (associated with a Scene) to manage the RenderTargets.

PiperOrigin-RevId: 926072766
Change-Id: I56c70000183417a92ab9297bc6fec5779f484cbd
 2026-06-03 09:18:32 -07:00
Kevin Zakka 25afa6b732 Fix wasm OOM on large models: 32mb stack, raise MAXIMUM_MEMORY to 4gb. 
PiperOrigin-RevId: 926060014
Change-Id: I8c4e152321737b1f4cc963f3c6c424af2fe951b4
 2026-06-03 08:59:05 -07:00
Tarik Kelestemur 319b3975a0 Merge remote-tracking branch 'origin/main' into tarik/mjx-warp-nested-dataclass-methods 
# Conflicts:
#	mjx/mujoco/mjx/warp/types.py
 2026-06-03 11:36:53 -04:00
Kevin Zakka 0897e3aec1 Skip the prefetcher when the URL scheme isn't fetchable. 
Drag-and-drop uploads go through Module.loadFile and never reached the prefetcher. This is a guard for future provider schemes (e.g., vfs) that shouldn't be passed to fetch().

PiperOrigin-RevId: 926042158
Change-Id: I119d5b1a7512f8e84bb4c752414797593a1e98cd
 2026-06-03 08:23:19 -07:00
Yuval Tassa 45d5f2ed5f Improve link in light/directional docs 
PiperOrigin-RevId: 926006386
Change-Id: Idfd3eae6c127f29919587ae88aa4291c290e2944
 2026-06-03 07:12:04 -07:00
Kyle Bayes 558366f364 Always normalize in planeNormal to reduce rounding errors in single precision. 
PiperOrigin-RevId: 926002329
Change-Id: I682f3b90249e60838c2432231b3181e57c565c28
 2026-06-03 07:04:12 -07:00
Taylor Howell 5d231c64cd Import google-deepmind/mujoco_warp from GitHub. 
PiperOrigin-RevId: 925939529
Change-Id: Idb92c2d50d5be9df7b6e91113b576e9c706847ca
 2026-06-03 04:41:10 -07:00
Haroon Qureshi 4cfdf5f34b Bind materials before rendering reflection passes. 
PiperOrigin-RevId: 925911124
Change-Id: I134d29424233ccbf57f56e7379e8830662a57836
 2026-06-03 03:31:03 -07:00
Haroon Qureshi 0fe2064847 Cleanup Renderable API. 
Add function for getting the material. Remove unused/unneeded functions.

PiperOrigin-RevId: 925847769
Change-Id: Iefaf9112b7419830eb2dc4d1323e9c27725c4b16
 2026-06-03 01:06:21 -07:00
Yuval Tassa 7b9b88060e Refactor mj_fullM. This change is part of the deprecation of mjData.qM. 
PiperOrigin-RevId: 925669464
Change-Id: I4889c66591bc1df4c31135a13776052aad491f7a
 2026-06-02 17:22:55 -07:00