b663b7602b
Final preparations for the v3.4.0 release
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PiperOrigin-RevId: 838824676
Change-Id: Icb5a825cb41be4d0730f4a6729b63531d649066f
2025-12-01 10:06:33 -08:00
448fc0e4d5
Report the actual GPU framerate rather than the main thread submit rate when using the filament renderer.
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PiperOrigin-RevId: 838775463
Change-Id: If66644d284a4a9e0263cf31bfbd1785b18e0209b
2025-12-01 08:02:38 -08:00
4896e698f6
Update "mjModel changes" section in simulation.rst
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PiperOrigin-RevId: 838768328
Change-Id: I5c09186e52115df37e9412495ecc7dceddb2ed8a
2025-12-01 07:40:09 -08:00
19e2d0ae2f
Add mj_fwdKinematics and a table improving documentation of the MuJoCo computation pipeline structure.
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PiperOrigin-RevId: 838768130
Change-Id: I1a22d5cdca7db704ba4cea1667fcbecb16b87005
2025-12-01 07:39:00 -08:00
4c40d5938e
Add type hints to tuple constants in codegen/generators/constants.py.
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`tuple` is better than `list` for constants if we don't expect they get modified by other parts of the code
PiperOrigin-RevId: 838748519
Change-Id: Ic950a78be7ad7518361c046d7e4542607070d3a2
2025-12-01 06:37:03 -08:00
d3c858ed32
Make table shadows visible in dark theme, add a table type with smaller text.
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Add a light box-shadow to docutils tables (excluding mjcf-attributes) when in dark mode or auto mode with dark preference, so that the table boundaries are visible against the dark background.
PiperOrigin-RevId: 838741947
Change-Id: Ic788f9669ea65d290f927927b389fcb51227a55a
2025-12-01 06:13:39 -08:00
94fb10bf3d
Internal changes
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PiperOrigin-RevId: 838741176
Change-Id: I9def07b3f7e963d2787d71019d303ba1eb75622c
2025-12-01 06:11:15 -08:00
9b7134b15b
Add OSX and WIN32 support for getting the native window pointer.
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PiperOrigin-RevId: 838720433
Change-Id: Id7123bcf456d0c2d32e67b204564fe8c495004cd
2025-12-01 04:57:24 -08:00
ad24889bb9
Add mj_rayMeshNormal (not exposed in public header)
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PiperOrigin-RevId: 838707353
Change-Id: If31d2454e0668f750bcba21ee42f81ef962e9097
2025-12-01 04:13:52 -08:00
139a5b6494
Rename toolbox to platform.
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PiperOrigin-RevId: 838701951
Change-Id: I339eafd35d919710cb47bb04e9a8e29f92739513
2025-12-01 03:58:34 -08:00
c6b587b515
Use cmake FILE(COPY) for deploying custom CMakeLists.txt.
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PiperOrigin-RevId: 838696575
Change-Id: I3c61bda9d1d89185f257797c2e0c0f4ef2c7cb95
2025-12-01 03:37:37 -08:00
fe74ea2e7b
Match definition with declaration.
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PiperOrigin-RevId: 838682770
Change-Id: I537ae9652dc64a02d2e3de8ddda351102d3cec35
2025-12-01 02:49:18 -08:00
a7e62a6755
Set visual studio working directory to the bin directory.
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PiperOrigin-RevId: 838681802
Change-Id: I764809d2145688c8a353907dc599a604ae944d0b
2025-12-01 02:45:53 -08:00
ea78d83363
Use working directory if no HOME path specified.
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PiperOrigin-RevId: 838680600
Change-Id: I8869da40042bb0b4edcbfe1e626c3188d0631c5e
2025-12-01 02:42:14 -08:00
69179ead48
Internal change.
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PiperOrigin-RevId: 837829087
Change-Id: I110f2f9d1dff2aff8bcad7ac22ea8ed82323185f
2025-11-28 06:36:01 -08:00
7caa3d6703
Add names to some sensors in sleep test XML.
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PiperOrigin-RevId: 837611931
Change-Id: Ib077765d795037bdd0d32d19e1c7d5bf9b256d51
2025-11-27 14:09:21 -08:00
8f9250472e
Improve names of Free camera control modes.
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PiperOrigin-RevId: 837605181
Change-Id: I01b65706fc4f9857df4d025cd3f4587d24ee5af5
2025-11-27 13:34:09 -08:00
2ea403575e
studio: invert mouse scroll direction for camera zoom.
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PiperOrigin-RevId: 837603911
Change-Id: I193a1abc0a3317aa998e7f82b9ce4b282ae7a913
2025-11-27 13:28:24 -08:00
dc5c2faf91
Cosmetic cleanup in engine_collision_sdf.c
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PiperOrigin-RevId: 837554740
Change-Id: Ic962af6a2c5f9f4c7edd48cbdf110ed11bc5e378
2025-11-27 09:24:56 -08:00
8a5c52d395
Use a dedicated function for wrapper struct names
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This change introduces a `wrapper_struct_name` function in `structs.py` to consistently generate the name of the C++ wrapper struct from a C struct name. All call sites in `functions.py` and `structs.py` that previously used `common.capitalize` for this purpose now call `wrapper_struct_name`.
PiperOrigin-RevId: 837544242
Change-Id: Ibe5fea8294283dae63bb8d064fd8beb8cfd3f2fe
2025-11-27 08:42:33 -08:00
9ca1598b23
Refactor MuJoCo WASM struct codegen.
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PiperOrigin-RevId: 837530063
Change-Id: I57518b2fbb536f356a5e15839d8e17f455bccde9
2025-11-27 07:42:41 -08:00
5163dfa823
Move UX drawing functions into a shared library.
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PiperOrigin-RevId: 837528296
Change-Id: I153a000cde424254384cf168606f32f7925ca076
2025-11-27 07:34:51 -08:00
23825a5bcf
Implement sensor chart.
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PiperOrigin-RevId: 837498928
Change-Id: I84b5911a44fe60a96b3ef34d514eb39702be7402
2025-11-27 05:38:24 -08:00
406062efaf
Remove TODO (charts have been implemented).
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PiperOrigin-RevId: 837151123
Change-Id: Iae37fdf4ed143e0523a1e4244e3a897211a5751b
2025-11-26 09:13:58 -08:00
9274a0014a
Fix UV scaling.
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PiperOrigin-RevId: 837147525
Change-Id: If54d069ddb3fec0852f1941788cb03d5604a252f
2025-11-26 09:01:56 -08:00
05f194c412
Reorganization of the WASM bindings.cc template
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* Move all bindings into a single EMSCRIPTEN_BINDINGS block
* Move all auto generated bindings line to the start of the block
* Alphabetically sort the constants binding lines
PiperOrigin-RevId: 837142009
Change-Id: I218a37dbc0ca6c6f16a455718889c08fe1b41d56
2025-11-26 08:43:51 -08:00
c7e0c01e80
Prevent decorative elements from casting shadows.
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PiperOrigin-RevId: 837112208
Change-Id: I4ecc110eec1a2166df7a07d8bb9ec37df36b7c89
2025-11-26 07:27:41 -08:00
0425355efc
Use a switch statement for handling geometry types.
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PiperOrigin-RevId: 837097811
Change-Id: Ic473f9da3d4189430e98670afdae7bb3cca5ccbc
2025-11-26 06:40:41 -08:00
aa25075ea4
Implement triangle geoms.
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PiperOrigin-RevId: 837079122
Change-Id: If7aa0904c6f3e7c62477b75b17d67259fe2bdabb
2025-11-26 05:33:04 -08:00
ed69fe85f1
Only build fonts when using filament backend.
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PiperOrigin-RevId: 837054382
Change-Id: I7ef3b6b954738776f266533f4c48ac4e3c43b4bf
2025-11-26 04:00:34 -08:00
ae24034f24
Refactor hfield-convex collision code. This should be a no-op.
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PiperOrigin-RevId: 837045492
Change-Id: I82851615c7f69774da83cab361316e5a6e9982c6
2025-11-26 03:26:56 -08:00
fcad41a5b1
Implement solver stats charts.
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PiperOrigin-RevId: 837045292
Change-Id: I1dfe1e10bb6d62f4d994a82c9b645b471fca5500
2025-11-26 03:25:45 -08:00
011166a13a
Update the studio/README.md to summarize platform support.
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PiperOrigin-RevId: 837038187
Change-Id: I00882e0a9882947af7c684e2d5521356ad1468ce
2025-11-26 02:58:05 -08:00
4ce0ee2011
Update texture handling due to recent ImGui upgrade.
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PiperOrigin-RevId: 837030453
Change-Id: I042c4a7df7dc6c7e07c40eb5f32e5031e5b1d60a
2025-11-26 02:36:02 -08:00
f2823836a6
Updates for MuJoCo Warp documentation.
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PiperOrigin-RevId: 837027234
Change-Id: Idf7a69b14ce23d5ac5ed36367a14c77a00276846
2025-11-26 02:26:13 -08:00
a9fe8340bf
Remove extraneous colons in XMLreference
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PiperOrigin-RevId: 837017632
Change-Id: Ie89adf4fd3725cfa4b8eb0bcddedd4fa886ed8fb
2025-11-26 01:56:28 -08:00
a1579ac3e1
Use static_cast instead of reinterpret_cast.
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PiperOrigin-RevId: 836990495
Change-Id: I276b5d83e18cc87364f8f2cae0c585b6673c738e
2025-11-26 00:25:32 -08:00
d940b2b7f9
Update versions of imgui and implot.
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PiperOrigin-RevId: 836844278
Change-Id: If0a522fcb7637df9cd422df6cb5bef641e675b0b
2025-11-25 16:08:13 -08:00
c07e3cb8a8
Internal changes only.
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PiperOrigin-RevId: 836814927
Change-Id: I18bde7ae47b5c106ab9c85e434a8b491c8d79d04
2025-11-25 14:36:57 -08:00
181dcab6be
Combine markers and content and reorganize parts of the WASM template file
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PiperOrigin-RevId: 836729951
Change-Id: Ib3bb25a23325cfbd84fd0439243db37ca8236bf3
2025-11-25 10:40:44 -08:00
b6e162d6fa
Update MuJoCo version from 3.3.8 to 3.4.0
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PiperOrigin-RevId: 836719207
Change-Id: I28cbc90cee42aebfb5a4201561289ef6747cdc83
2025-11-25 10:16:02 -08:00
6e59f61c70
Make WASM codegen output to be alphabetically ordered.
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PiperOrigin-RevId: 836680575
Change-Id: I7ddb7267c0db4911b2e84528f948dee6fccdf81d
2025-11-25 08:29:30 -08:00
6208730744
MuJoCo Warp documentation: Option.contact_sensor_maxmatch information.
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PiperOrigin-RevId: 836670031
Change-Id: I29b11784998d3461ad1d460a6c23cad66df22202
2025-11-25 07:58:08 -08:00
5d7b2bd7ca
MuJoCo Warp documentation: update information about setting both nconmax and naconmax.
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PiperOrigin-RevId: 836666389
Change-Id: I766c717d4c6b98f4383fa396fd9cceaac4b5b561
2025-11-25 07:45:06 -08:00
893882171e
MuJoCo Warp documentation: Does MJWarp work with multiple GPUs?.
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PiperOrigin-RevId: 836642204
Change-Id: I559642b2cb902a704257e7e0344f768b690678a1
2025-11-25 06:26:55 -08:00
d8712808b9
Allow users to access mjrContext.
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PiperOrigin-RevId: 836641787
Change-Id: I2f2aee30a047336d1adbe33b7996fee3ec845213
2025-11-25 06:25:14 -08:00
f28bcc4346
Allow binding to arbitrary textures.
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PiperOrigin-RevId: 836625847
Change-Id: If02ea708f49bdfd9be5be7d9a273340ba2f082f0
2025-11-25 05:26:04 -08:00
589e013d9b
Fonts should have const data.
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PiperOrigin-RevId: 836624808
Change-Id: I984c94cc34ef22b875ddda87c59893aa7f38a8a3
2025-11-25 05:22:54 -08:00
bdaec5758b
Generate MuJoCo Warp documentation with modified types.py.
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PiperOrigin-RevId: 836617034
Change-Id: Ia925b88679744267b34504b146fa712d4195eda4
2025-11-25 04:54:01 -08:00
b98379372e
Refactor epaWitness.
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PiperOrigin-RevId: 836597852
Change-Id: Ib75dae07bda47764f937f32a9476ef3266f02056
2025-11-25 03:44:57 -08:00
Gabe Oppenheimer