ae7efead09
Show MuJoCo version in the help menu.
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PiperOrigin-RevId: 875061430
Change-Id: I4d4ce32eebd8ca4af4622e9b4d1cd50d180d0b96
2026-02-25 03:11:13 -08:00
27dc92b056
Fix typo in modeling.rst.
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PiperOrigin-RevId: 875053694
Change-Id: Idb6d09d2713f2cc2a09d2b0912a227fe9ac9396a
2026-02-25 02:51:26 -08:00
40e0007849
Restructure numeric constants table in API docs
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Break the monolithic numeric constants table into 6 sub-grouped tables:
Version, Engine constants, Array sizes, Visualization, Rendering, UI constants.
Fix stale values: mjMAXUITEXT (500->300), mjMAXUIMULTI (20->35),
mjMAXUIEDIT (5->7), mjMAXUIRECT (15->25).
Add missing constants: mjMAXLIGHT, mjMAXMATERIAL.
Fix placeholder description for mjMAXFLEXNODES.
PiperOrigin-RevId: 875010581
Change-Id: Id47846de4d98b62cb96087b72ecd28358d5db9c7
2026-02-25 00:54:35 -08:00
a83fa7299d
Add support for loading XML models with VFS in WASM bindings.
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PiperOrigin-RevId: 874756898
Change-Id: If2c30aef4c690cf0852587261ca32a3b91448621
2026-02-24 13:09:20 -08:00
09c7633a76
Add caching for flex stiffness computation.
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This change introduces methods to cache and load the computed stiffness matrix and nodal masses for flex elements. The cache key is generated based on material properties (Young's modulus, Poisson's ratio), interpolation order, and the bounding box of the flex. This avoids redundant expensive computations when compiling models with identical flex definitions.
PiperOrigin-RevId: 874689771
Change-Id: I6d1e299baf294a984b507e2a2602b2c068610536
2026-02-24 10:45:23 -08:00
f383e60721
Merge pull request #3130 from MatiasManevi:fix-wasm-demo
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PiperOrigin-RevId: 874640066
Change-Id: Ib869283e36343f41cb13cce7405aca3a1584b76e
2026-02-24 09:04:11 -08:00
94acdb33bd
Fix Impl.CPP memory leaks due to mjModel/mjData not clearing from pytree.
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PiperOrigin-RevId: 874622402
Change-Id: I38a00633dea77d940e4b0422f93e9456ad84daf9
2026-02-24 08:17:06 -08:00
1d6ff2cece
Display Bodies as a tree in Spec Explorer.
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Display all other elements under "Elements" or "Assets" group.
Show properties for mjSpec, mjModel, and mjData for selected
elements.
PiperOrigin-RevId: 874614195
Change-Id: I128c2bec844983ac5d35a3a0b1e58b8a5b0109cb
2026-02-24 07:57:44 -08:00
5fc580a8ba
Refactor SDF coefficient computation into mjCOctree.
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The logic for computing Signed Distance Function (SDF) coefficients using TriangleMeshDistance is moved from `mjCPlugin::Make` in `user_mesh.cc` to a new method `mjCOctree::ComputeSdfCoeffs` in `user_objects.cc`. This encapsulates the SDF computation within the octree class.
PiperOrigin-RevId: 874572414
Change-Id: Ia2365c9c4527a252ff1d1bb43fe2c2593761e471
2026-02-24 06:03:59 -08:00
c791f950cb
Enable COOP/COEP headers for wasm Vite dev servers
2026-02-23 18:41:47 -03:00
82e92cbcaa
Remove PluginTest and make MujocoTest load plugins.
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MujocoTest now loads plugins from MUJOCO_PLUGIN_DIR if set.
PluginTest is removed; all tests use MujocoTest directly.
testspeed binary loads plugins from MUJOCO_PLUGIN_DIR.
This is in preparation for moving common asset format parsing (obj, msh, stl, etc.) where we will always want to load those plugins.
PiperOrigin-RevId: 874194428
Change-Id: Id90805a9ba5de4627911b56d8b9c4ab4e1b29310
2026-02-23 12:15:22 -08:00
6ec808e2ce
Fix attach for spatial tendon. Fixes #3119 .
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PiperOrigin-RevId: 874067521
Change-Id: If8d415278dde2bccf269cc90e8c176e3d7edefa6
2026-02-23 07:38:43 -08:00
a043df6bdf
Update supported Python versions and remove obsolete 3.9 references.
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PiperOrigin-RevId: 874063785
Change-Id: Ia4b2956b632aae5f0211fa766b6d413edcba8fe2
2026-02-23 07:29:47 -08:00
37e993f67e
Improve upper bound for nJmom by computing maximum number of dofs for tendon transmissions
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PiperOrigin-RevId: 874057077
Change-Id: I83736719cc2d91a899cd5997ea4a91d21cf06c9e
2026-02-23 07:11:31 -08:00
2bf9539234
MJX put_data with impl='warp'
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PiperOrigin-RevId: 874017611
Change-Id: I23a25727d41cd888d90f2ea15b2b534eba5583be
2026-02-23 05:20:07 -08:00
ba0a5fe4db
Fix section underline length in MJWarp docs
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PiperOrigin-RevId: 873954878
Change-Id: I40b668b24d04721d8fd4bb61bb5ac7b902ea31f1
2026-02-23 02:25:10 -08:00
6b9e0b9e15
MJX API documentation: add Any to exclude-members
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PiperOrigin-RevId: 873954713
Change-Id: Iafbdb571c4e5b0491d7d91159e84874c58c01a71
2026-02-23 02:24:06 -08:00
9d6d9089e5
Improve solver parameter documentation, in particular for frictional constraints.
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PiperOrigin-RevId: 873364458
Change-Id: Ie4da21abc2ee54d9eaaefc81b3d2624a520ad96e
2026-02-21 09:14:56 -08:00
c428f675e7
MuJoCo Warp documentation: Update installation instructions
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PiperOrigin-RevId: 873032865
Change-Id: I7f75de9ed0d9239b47bc80b321f213aa4014fda6
2026-02-20 12:45:23 -08:00
0f36b0fc2e
Import NVIDIA/warp from GitHub.
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PiperOrigin-RevId: 872969263
Change-Id: Ic890cb53c32593c158a1f3926906b492c7f85348
2026-02-20 10:29:13 -08:00
e5a236774d
Add has_side_effect for pmap bvh refit in mjx-warp.
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PiperOrigin-RevId: 872934001
Change-Id: If48cab439718b9e783c4b1da4fb1b1a08521a602
2026-02-20 09:21:43 -08:00
7d4b615edb
Use correct WIN32 define, not WINDOWS.
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PiperOrigin-RevId: 872866601
Change-Id: I35bb5cc0fdef80cf816a63bb7fc1619ef424c0d0
2026-02-20 06:10:00 -08:00
f9a39413cf
Fix: Include ancestor DOFs in flex interpolation factorization.
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The reduced dense factorization for flex interpolation now considers all DOFs in the kinematic chain of the body containing the flex, using mj_bodyChain, instead of only the DOFs directly associated with that body. This is necessary for correctly handling pinned flexes when their parent body is part of a larger kinematic structure.
PiperOrigin-RevId: 872854468
Change-Id: Idbe9fb459084dde9e8eb1076c70dbb685c1b0bdb
2026-02-20 05:30:54 -08:00
8c9ba9bcf5
Disable plugin on windows.
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PiperOrigin-RevId: 872845569
Change-Id: I4d80c80a47358a2882b2c63c2d655fe374afe65d
2026-02-20 05:00:04 -08:00
f71e215c9a
Include missing header.
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PiperOrigin-RevId: 872835150
Change-Id: I670bddb907b594788bda143c5175bbcb4b427903
2026-02-20 04:23:59 -08:00
0083cf7fa8
Refactor the projectile launcher into a plugin.
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Add a simple GUI for it that allows users to enable/disable
the key binding as well as control some parameters.
PiperOrigin-RevId: 872816645
Change-Id: I8abb2803e17b4f6195d447220c436d4701b24db8
2026-02-20 03:19:53 -08:00
28ad603f6b
Use templates and macros to reduce boilerplate.
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PiperOrigin-RevId: 872805912
Change-Id: I6fc1abe283bc809a95d660abc072906b0810aaeb
2026-02-20 02:42:52 -08:00
a79747334b
Merge pull request #3116 from StafaH:render_doc_fix
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PiperOrigin-RevId: 872799423
Change-Id: Iafd5f05264043cb2060f147c4c047ba849b28475
2026-02-20 02:22:32 -08:00
f0bf403254
Add a delete button to the highlighted element.
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PiperOrigin-RevId: 872795277
Change-Id: I63afa9c87b425ebed5d20126e9909ad95532d559
2026-02-20 02:09:36 -08:00
82694b520b
Re-apply changes that were accidentally deleted.
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PiperOrigin-RevId: 872782055
Change-Id: If2f403835cd2d90c88abe9ed82380dfca5b3d9c8
2026-02-20 01:27:57 -08:00
8f56d5eefa
Minor style fixes
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PiperOrigin-RevId: 872669434
Change-Id: I794173b9fad3a286cbf57d246b2f8672412a0e20
2026-02-19 19:16:31 -08:00
ca0552c83b
Cleanup Studio toolbar
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PiperOrigin-RevId: 872618794
Change-Id: I2e8f99dc47937416c8516ed1df7821369211b12f
2026-02-19 16:34:38 -08:00
8ba68cee3e
Limit the number of flex contacts per collision pair.
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This change introduces a filter for flex-related contacts, ensuring that no more than mjMAXCONPAIR contacts are kept for each geom-flex, flex-flex, flex internal, and flex self-collision pair. The contacts are sorted using farthest-point sampling:
- Starts with the deepest penetrating contact
- Iteratively selects the contact farthest from already-selected contacts
- Produces a spatially distributed set of contacts
PiperOrigin-RevId: 872593388
Change-Id: I50b233a0dc66da6a297852c258ba514f131c8f23
2026-02-19 15:32:17 -08:00
fe50efd41a
Sparse tendon Jacobian update for MuJoCo Warp
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PiperOrigin-RevId: 872550625
Change-Id: Ifc5afacb048bec36ef6455072b188396db958002
2026-02-19 13:52:25 -08:00
86bca81d18
Update mjx docs and changelog.
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PiperOrigin-RevId: 872535000
Change-Id: I51b05a22ac553c34b436de63f43c7efca6607724
2026-02-19 13:18:10 -08:00
62a32386d6
Add pmap support for mjx-warp render.
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PiperOrigin-RevId: 872533248
Change-Id: I828303866c31d33d2367dd9fba4eb42028c67540
2026-02-19 13:14:22 -08:00
84431fbf7e
Improved upper bound for nJten
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PiperOrigin-RevId: 872479828
Change-Id: I750d56320d6ace6145475d378cb9d0c30919438d
2026-02-19 11:09:25 -08:00
9efe41c0c1
Remove dense code path for tendon Jacobian
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PiperOrigin-RevId: 872444531
Change-Id: I6180101abc49469a72aee8bec5726e1e94f142ec
2026-02-19 09:53:49 -08:00
10524c28dd
Track and restore viscous pause state every frame.
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PiperOrigin-RevId: 872382150
Change-Id: I96bddcfb2a0a204c6505e9795dfff97f09834855
2026-02-19 07:06:38 -08:00
cdc1f266c6
Merge pull request #3114 from thowell:lint
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PiperOrigin-RevId: 872331279
Change-Id: I26848d48e3f66f29f32a9a03ab38f373123abd1d
2026-02-19 04:31:19 -08:00
3c5986fe50
Minor edit to MJWarp batch rendering documentation
2026-02-19 07:20:31 -05:00
ab80bd0916
Allow model holder to release ownership of mujoco structs.
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PiperOrigin-RevId: 872242489
Change-Id: I055f54f4e111cc78c489c12d9ae5c02cfb57169d
2026-02-19 00:06:07 -08:00
ccd282b036
Update MJX docs with MJX-Warp.
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PiperOrigin-RevId: 872083735
Change-Id: Id09b82d1f6e7a69ec34353ba35a63edb5eae1046
2026-02-18 16:02:57 -08:00
3c858f871b
Keep render_util arg order consistent between mujoco_warp and mjx-warp.
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PiperOrigin-RevId: 872055868
Change-Id: Ic5b4bdedbdb353dc0b1385cf555261a86407cfdb
2026-02-18 14:57:06 -08:00
57c2316b9e
Merge pull request #3080 from kevinzakka:fix-fusestatic-camera-light-crash
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PiperOrigin-RevId: 872054304
Change-Id: I9eab499002077afa46b236e8eae13100285f362c
2026-02-18 14:53:30 -08:00
59bc4fb88e
Fix typo and improve wording in render doc
2026-02-18 15:19:00 -05:00
485e2eb028
Fix bug in mjx-warp render vmap.
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PiperOrigin-RevId: 871901512
Change-Id: Ifc25e98ffd89284cc6db9248bcca352bb8811e7e
2026-02-18 09:10:34 -08:00
7d3e1abb21
Merge pull request #3083 from Ashutosh0x:fix/mingw-linker-stack
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PiperOrigin-RevId: 871828475
Change-Id: I8abe526a81b9c1f51307729b5dde01aad809ff97
2026-02-18 05:59:41 -08:00
42514920c4
Merge pull request #3111 from StafaH:main
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PiperOrigin-RevId: 871825088
Change-Id: I1e9c4a559a19427753cfdbacc7c7254ad0cb9c6c
2026-02-18 05:48:03 -08:00
fdf6f1017c
Remove enable_keyboard flag.
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PiperOrigin-RevId: 871823567
Change-Id: I1e307f366106aa542a66b68b8e057b35c25134c9
2026-02-18 05:43:33 -08:00
Haroon Qureshi