1763fa537a
Add ten_length as MJX public field and warp tendon function call to MJX.
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PiperOrigin-RevId: 794869371
Change-Id: I733da169b0092e3165478324697d7aa3569eca8b
2025-08-13 21:54:18 -07:00
d3ff929bc6
Add ten_length as MJX public field and warp tendon function call to MJX.
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PiperOrigin-RevId: 794813523
Change-Id: Ic5684788eca5a3f4fd86193ec5d035d40b3aad35
2025-08-13 18:09:22 -07:00
d7e925bd8a
Add ten_length as MJX public field and warp tendon function call to MJX.
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PiperOrigin-RevId: 794801198
Change-Id: I970ce665339c75910a767a1b24d8ac9c2bd68b1d
2025-08-13 17:27:16 -07:00
3152458a6b
Update Mujoco Deps in preperation for the 3.3.5 release
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PiperOrigin-RevId: 792755404
Change-Id: I9776bb5e5bf2a891e0fa0fbf486875727e1d13b4
2025-08-08 14:07:00 -07:00
92d77819fd
Note the mjs parsing error in the changelog.
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PiperOrigin-RevId: 792336077
Change-Id: I09cd2eb310c6e2bc74051419f6d69f5db1081cec
2025-08-07 15:40:23 -07:00
2e60d05887
Update Kokoro script to use CUDA 12.8 and manylinux_2_28.
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PiperOrigin-RevId: 791714944
Change-Id: I66850eda0395d913c2c706dbc79625a2f682c380
2025-08-06 09:06:53 -07:00
fde479736e
Finalize built-in mesh example model and documentation
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PiperOrigin-RevId: 791227350
Change-Id: Ibdcdb8a4ee5b3f78c9ae93e1db2a9a2f9d55a80c
2025-08-05 08:32:51 -07:00
4a91c34239
Modify warp-lang deps.
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PiperOrigin-RevId: 790925317
Change-Id: I1db6c1820270722afa6a3475a1088d1553571295
2025-08-04 16:00:24 -07:00
47bc16a37c
Add mujoco_warp as an implementation in mjx.
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PiperOrigin-RevId: 789366860
Change-Id: I84b49e744552092434df49d855f1052b04291b87
2025-07-31 09:33:35 -07:00
51babec9c5
Move tactile sensor to the engine.
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PiperOrigin-RevId: 788863133
Change-Id: I3172ebb7641fa8146469da25cba7db794760e7b1
2025-07-30 05:27:44 -07:00
89f4789085
Add mjs_makeMesh to create a builtin mesh.
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PiperOrigin-RevId: 788538127
Change-Id: I999733399a1a0da07b0f915f34d31364ab8b3b52
2025-07-29 11:31:18 -07:00
3434f5d9c7
Compute convex hull for collision pairs.
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build / windows-2025 (push) Has been cancelled
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build / macos-15-arm64 (push) Has been cancelled
build / macos-15-x86_64 (push) Has been cancelled
PiperOrigin-RevId: 788074030
Change-Id: I3d4bbe71f824db82e998e374d95a5c49995af806
2025-07-28 10:49:50 -07:00
3901dcde96
Move changelog item into breaking changes section in 3.3.4
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PiperOrigin-RevId: 785479748
Change-Id: Ic0e779a9fddfa945e94fc6870a1a3fe826980f4b
2025-07-21 10:09:08 -07:00
5e666635f6
Remove mjtVisFlag.mjVIS_FLEXBVH and mjvOption.oct_depth
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PiperOrigin-RevId: 783355711
Change-Id: I1e11999d5c533925f1d07266aeca95598a5691ba
2025-07-15 09:08:22 -07:00
ad0dc0de5e
Document change in inertia calculation.
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PiperOrigin-RevId: 783249303
Change-Id: I93b24d6601c46073df2a18fbc24c52f8f7dfb915
2025-07-15 02:35:19 -07:00
d0e4771c8c
Add contact sensor.
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PiperOrigin-RevId: 783011982
Change-Id: Ica56fe9d520fa1d1ee7338e09148b1a55a049912
2025-07-14 13:03:35 -07:00
6e7aaacb85
Do not rely on global object lists in mjCBody::NextChild().
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PiperOrigin-RevId: 782963753
Change-Id: I0afecbab4b7796f077963ba66eb7140d8f83ad89
2025-07-14 10:47:45 -07:00
0b11e3e3fa
Fix typo in changelog
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PiperOrigin-RevId: 781550866
Change-Id: I960ac501bac04c5f3cc342aea808a390b20443c4
2025-07-10 08:45:40 -07:00
26a42e2848
Add sdflib changelog item.
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PiperOrigin-RevId: 781106659
Change-Id: If4f151468f65095916d76cea2627779640bd5d29
2025-07-09 10:15:52 -07:00
e6c5715903
Add insidesite sensor for detecting when an object is inside the volume of a site.
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PiperOrigin-RevId: 780993257
Change-Id: I2dcfc840d222680adc3b934344a0819f4d78b6eb
2025-07-09 04:56:42 -07:00
2a32babb78
Update Mujoco Deps in preperation for the 3.3.4 release
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PiperOrigin-RevId: 780712420
Change-Id: Ib13d18bcf0f248acff93c04f977eec59185dc932
2025-07-08 14:21:53 -07:00
45d4cacc45
Remove dense actuator_moment for _put_data_c.
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PiperOrigin-RevId: 779234984
Change-Id: I19ac2849aa2b00b1688781491c9230558c24c7a2
2025-07-04 11:03:59 -07:00
7aa3b81c67
Fix minor typo in changelog.
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PiperOrigin-RevId: 778854401
Change-Id: Ie1a2f2b4b6e0524d0ca7463b84c8fc550dcbdda7
2025-07-03 05:16:11 -07:00
7548d370ed
Add missing changelog item and enum documentation, clarify breaking changes.
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PiperOrigin-RevId: 778842895
Change-Id: I53f7f639ce8f1d3d5066fa7364bc1b74f2ed14ef
2025-07-03 04:24:23 -07:00
564c51ddb9
Check for duplicated names when setting element names.
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PiperOrigin-RevId: 778827590
Change-Id: I77a208c1571cf735cae80840ea830aa347681f71
2025-07-03 03:20:55 -07:00
09f7154e57
Add option to only sync the state to improve sync performance in passive mode.
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By default this option is off, which preserves the current behavior of syncing all of `mjModel` and `mjData`.
PiperOrigin-RevId: 776498017
Change-Id: I02127c9397efbabebb89b0e0d139b00b6e665d35
2025-06-27 02:49:58 -07:00
18d5d5d03f
Improve documentation related to mjSpec element deletion.
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PiperOrigin-RevId: 775677830
Change-Id: I02e51b57956b0b6a20c654326b54e001b498dd96
2025-06-25 07:23:51 -07:00
14dc7c2a60
Add "cameraid" attribute to visual/global specifying the default camera to use at model load.
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PiperOrigin-RevId: 773783069
Change-Id: I2fff2abdceedc982d89cee8d14b95abceea1c113
2025-06-20 11:41:27 -07:00
0488d9f4eb
Replace mjs_detachBody and mjs_detachDefault with mjs_detach.
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In a follow-up, mjs_detach will be changed to only remove without deleting an element.
PiperOrigin-RevId: 773637351
Change-Id: I9ee4d3584ba88ccc225591337cf036bab806e25c
2025-06-20 04:12:27 -07:00
4ce6293217
Fix bug in inverse dynamics when tendon armature is present.
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PiperOrigin-RevId: 773604419
Change-Id: Iaffe3d831c6a5aba8a0a99c05aa76cbd862745f5
2025-06-20 02:25:04 -07:00
f978b4eea3
Release notes for 3.3.3 + update git hashes.
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- Upgraded dependencies versions.
- Added release date for 3.3.3
- Reordered changelog to be a numbered list.
PiperOrigin-RevId: 769808336
Change-Id: Iffa074f52ef2e3f9d450ce6973a7e85980417367
2025-06-10 14:49:17 -07:00
bf56312c9d
Increase size of image in changelog
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PiperOrigin-RevId: 769549620
Change-Id: I8666771ecf50b91342694deeb357b3edfa3f62d9
2025-06-10 03:34:17 -07:00
caaf7b3a69
Add tendon armature to MJX.
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PiperOrigin-RevId: 769294284
Change-Id: Idfbd4f355eb26fba5035973ab989a9d3af05c85f
2025-06-09 14:27:18 -07:00
b8768aa1cd
Allow to fusestatic a body if it doesn't generate a referencing error.
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PiperOrigin-RevId: 769189929
Change-Id: I62f512813ea330da088b28d39373df39be10a602
2025-06-09 10:05:57 -07:00
84ad22a590
Add mj_copyBack for copying real-valued arrays from mjModel back to mjSpec.
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Also add `SaveAndReadXML` function to test fixture using `mjSpec` as input.
PiperOrigin-RevId: 765393821
Change-Id: Ic257addd2fc89678fc11b226c168c077626cc51e
2025-05-30 17:17:14 -07:00
3a4b6e6c5b
Added terrain generation to mjspec tutorial
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PiperOrigin-RevId: 764229337
Change-Id: Ic541eefc4b561d3c39c5ee99c7d38466d7e75903
2025-05-28 06:13:26 -07:00
89e39dc0a7
Expose mj_makeM as a sub-component.
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PiperOrigin-RevId: 763662068
Change-Id: I55ced456dca751c1de09fb35e2f73c60ffc0d626
2025-05-27 00:35:55 -07:00
74cc904edc
Convert light directional boolean into a type enum.
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PiperOrigin-RevId: 761983728
Change-Id: Id5bf93c103e5358d9c5cd9f1176532a978e0b3a8
2025-05-22 08:51:18 -07:00
b728a50eb2
Correct elastic2d default information in the changelog.
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PiperOrigin-RevId: 761120899
Change-Id: Id7093f9baa775fb71cf1dd7aaf74f6bd8d4d5e83
2025-05-20 09:48:28 -07:00
bf722098f0
Fix broken link in changelog.
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PiperOrigin-RevId: 760730799
Change-Id: I65e2d06f9162266b2929cc4d26af621fc3535197
2025-05-19 12:40:36 -07:00
7edbdd0ad6
Remove the Shell plugin and integrate it into the engine.
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PiperOrigin-RevId: 760688502
Change-Id: Ia70988d42b7edf571d7cb4a4f48f8fc50b51667d
2025-05-19 10:51:25 -07:00
ced630181d
Replace mjv_sceneState and related code with mjv_copy{Model,Data}
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PiperOrigin-RevId: 760662776
Change-Id: I512bda9187fbc19ade6924b91d5cb2275078de42
2025-05-19 09:51:58 -07:00
421c487d9d
Set mocap_pos/quat in make_data. Fixes #2606 .
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PiperOrigin-RevId: 755903897
Change-Id: Ied04e9bd3febfe1bbbba24ed1f52b3c0c6e50f38
2025-05-07 10:13:17 -07:00
ecb769fc3a
Refactor islands to be memory contiguous.
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PiperOrigin-RevId: 755803476
Change-Id: I41972b07e0d5ef5d0117c94f565b93367b87458b
2025-05-07 05:06:27 -07:00
1dc5bcb04a
Update changelog for 3.3.2 release
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PiperOrigin-RevId: 752389725
Change-Id: I0976279bece09a099b6a34029575b24ba2d8fd1b
2025-04-28 11:46:41 -07:00
f317bd17c3
Add tendon actuator force sensor to MJX.
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PiperOrigin-RevId: 747344916
Change-Id: Iab513ff953408c002216ffff12e3f8c825cedc10
2025-04-14 03:51:20 -07:00
006c18b1d8
Update numbering in the 3.3.1 release notes to give MJX a numbered bullet in the docs.
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PiperOrigin-RevId: 746455557
Change-Id: I04849ed1a5b97c0f6408d2333b13419e6cd35688
2025-04-11 07:37:24 -07:00
51c489fc30
Add inverse dynamics to MJX.
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PiperOrigin-RevId: 745998273
Change-Id: I203af89332ace5d7a60fff3ec6ff4cc88c02340d
2025-04-10 06:08:41 -07:00
da1850760a
Prepare for v3.3.1 release.
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PiperOrigin-RevId: 745602958
Change-Id: I412fd58bb063959d5a151f4bca9b3ba26e942d02
2025-04-09 08:40:30 -07:00
8fc616bf8f
Add tendon actuator force limits to MJX.
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PiperOrigin-RevId: 745529685
Change-Id: I43c372116daefc3dd2ed6ad1bb9c6e3978bc8527
2025-04-09 04:28:45 -07:00
Baruch Tabanpour