7da271c687
Add vertex equality option.
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PiperOrigin-RevId: 860299454
Change-Id: I7befd8e5f4c8bac6d74684a96a9cc3cee9ae1e29
2026-01-23 16:30:05 -08:00
30b903b6c0
Migrate mjModel size fields from int to mjtSize.
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This change updates all size-related members within the `mjModel` struct from `int` to `mjtSize`. This allows MuJoCo to handle models with a larger number of elements. Corresponding changes were made to macros, function signatures, and I/O routines to accommodate the new `mjtSize` type.
PiperOrigin-RevId: 860144595
Change-Id: I701c6d607715d240766b6210a9773cd9e4258c59
2026-01-23 09:41:49 -08:00
4a64017a5f
Add documentation for MJX API
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PiperOrigin-RevId: 860108133
Change-Id: I85469efcfe49d320ef8b89c9d174f33499a22b31
2026-01-23 07:53:17 -08:00
54dd623650
Add vertex-based flex constraints (dim=2).
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PiperOrigin-RevId: 859552050
Change-Id: I61d4b9dc40f041c5b930e5f8810a803e8bccb87a
2026-01-22 04:54:53 -08:00
d173ee5bee
MuJoCo Warp documentation: option-ccd-iterations -> option-ccd_iterations
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PiperOrigin-RevId: 858100397
Change-Id: I358875ba56e6769fda75dba72377286c40771716
2026-01-19 02:42:04 -08:00
9ba545b8b0
MuJoCo Warp documentation: Memory.
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PiperOrigin-RevId: 857148640
Change-Id: I7f21bebb2186a5dd4287a8d2ee9b430f823b9051
2026-01-16 07:13:38 -08:00
d86acd7e12
MuJoCo Warp documentation: Warmstart.
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PiperOrigin-RevId: 856608941
Change-Id: Iae1bd0a3916d98affff4d5dbb442f9d951622e52
2026-01-15 04:50:27 -08:00
e56b31e98f
Reduce flexedge_J size from nflexedge x nv to the effective sparse size.
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PiperOrigin-RevId: 856290141
Change-Id: Ide297d1b6f0e3aa07e3e20bf9ab44b6501097695
2026-01-14 11:18:41 -08:00
cbc1136502
Roll back VFS refactor due internal breakages
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PiperOrigin-RevId: 856273160
Change-Id: I4097e05ed4e48ebee05b4347d0f227d4f39c1b09
2026-01-14 10:38:29 -08:00
cc4c2bc398
Improve wording in changelog.
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PiperOrigin-RevId: 856204666
Change-Id: I6ccf2ea727210e4695fff8d56ff7de10b9ebd73c
2026-01-14 07:29:10 -08:00
d387578783
Refactor mjVFS and resource management.
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Resource operations (e.g. mju_openResource, mju_readResource, and
mju_closeResource, etc.) are now all handled by a VFS instance. It
is now up to the VFS to determine which provider to use in order to
handle those operations.
This allows us to dynamically add/remove (aka "mount") providers to
a VFS to handle special requests. mj_addFileVFS and mj_addBufferVFS
have been reimplemented as two such use-cases. Moreover, we expose
the mounting behaviour with two new functions: mj_mountVFS and
mj_unmountVFS.
PiperOrigin-RevId: 856166919
Change-Id: Id723d612ffc0bff020705cf19ef95fbf24676840
2026-01-14 05:19:57 -08:00
e50e2e9691
Correct dimensions for constraint-related quantities in documentation.
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PiperOrigin-RevId: 856159539
Change-Id: I83f0414a78239cae9c91bb51b16f5e2549891517
2026-01-14 04:54:03 -08:00
218226fc95
Breaking change: Add surface normal output to MuJoCo raycast functions.
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PiperOrigin-RevId: 855781592
Change-Id: Id96b1ca7eaf722e260cc69d7706c28dc51f52d92
2026-01-13 10:22:21 -08:00
7e21f18fd3
Document compiler/usethread fix.
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PiperOrigin-RevId: 855735924
Change-Id: I5b638ccf2a74194b363cf7c6436f78c1c3d9b0e1
2026-01-13 08:21:27 -08:00
a49576e469
Move flexedge sparse Jacobian indices to mjModel.
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PiperOrigin-RevId: 855718305
Change-Id: Ic136f4efa6735b934288f65c332d71ee8b0f6da5
2026-01-13 07:33:17 -08:00
013268c283
Documentation: Pair-wise colliders.
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PiperOrigin-RevId: 855245724
Change-Id: Iffad5dc426350040f730dc1a7b9766f079ef949e
2026-01-12 08:47:45 -08:00
f0e1d8ce2c
Fix typo in XML reference: damping -> damper.
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PiperOrigin-RevId: 855198029
Change-Id: I2cc2b833e8a7fad8c63d1eb7b3febdd54d0c9056
2026-01-12 06:13:20 -08:00
5979c5aa03
Fix link in changelog.
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PiperOrigin-RevId: 855183695
Change-Id: I9ef63fe03f3b68707ff7eec1813403a08b0a8074
2026-01-12 05:22:14 -08:00
cb9a9c159c
Remove getdir from mjpResourceProvider.
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All known implementations were effectively the same as the default fallback. It was just adding unneeded complexity. Removing this now will help with upcoming improvements to resource providers.
PiperOrigin-RevId: 855163273
Change-Id: I529fc18d0d03a8dc676c909ec9e4b1da1454d414
2026-01-12 04:07:42 -08:00
1d482047d1
MuJoCo Warp documentation: How to fix simulation runtime warnings?
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PiperOrigin-RevId: 855149274
Change-Id: Iccfb85f1ec836cb06235d21d23e913f77a816487
2026-01-12 03:17:13 -08:00
a26f09accf
Standardize function docstring style in MuJoCo API.
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Updates function comments to consistently use a semicolon (`;`) before describing the return value and to use the imperative form "return" instead of "returns".
Also fix error in docstring of `mjp_registerResourceProvider`
PiperOrigin-RevId: 854888532
Change-Id: I311239a2770ded5febece9958ae4e94c1e522600
2026-01-11 09:00:35 -08:00
a5dc57c0c3
Move OpenUSD parsing to usd_decoder
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Add usd_decoder to mujoco/plugin.
- Previously was src/experimental/usd/usd_to_mjspec.cc, now that same spec is returned by the plugin.
PiperOrigin-RevId: 854350962
Change-Id: Ia980190a557c50ce8197980922a2594b613859b4
2026-01-09 14:48:29 -08:00
310ac0c5ac
MuJoCo Warp documentation: When To Use MJWarp?
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PiperOrigin-RevId: 853830564
Change-Id: I9208e9a2f2781efbedc7846f5c13036ef83d5770
2026-01-08 11:54:57 -08:00
166fa17a1c
MuJoCo Warp documentation: inertia matrix automatic sparsity.
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PiperOrigin-RevId: 853805011
Change-Id: I8c0040f3b2b08d8615f1fbf559cdc9841e33438a
2026-01-08 10:47:27 -08:00
ab939683bc
MuJoCo Warp documentation: Why are numerical results from MJWarp and MuJoCo different?.
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PiperOrigin-RevId: 853696967
Change-Id: I0cf8539e341d2aa1cfd07ac75de18128ce9beb3b
2026-01-08 05:34:23 -08:00
07deca990a
Merge pull request #3006 from thowell:mujoco_warp_docs_modifying_fields
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PiperOrigin-RevId: 853619026
Change-Id: I5a5348e1cdbee22e40b516cf8ed649645f54bf6f
2026-01-08 01:32:50 -08:00
f4beb95212
Merge pull request #2990 from google-deepmind:mjwarp_doc_batched_model_field_warning
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PiperOrigin-RevId: 853420667
Change-Id: I540b36611485054851e497c8f74302ac0fbedd36
2026-01-07 14:46:36 -08:00
608115ab95
Add output attribute to camera elements.
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This attribute allows specifying the intended output types (e.g., RGB, depth, normal) for each camera in the XML. The output types are stored as bit flags in `mjModel`.
PiperOrigin-RevId: 853316261
Change-Id: I1ad2e94102593cf402756f8f4c80509371ca86d2
2026-01-07 10:22:27 -08:00
775c0698c3
MJCF schema: use responsive grids for attributes
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PiperOrigin-RevId: 853263519
Change-Id: I79cb6e6208061d9546f0dca7a941838caa6b1a91
2026-01-07 08:00:16 -08:00
4830f5a79e
Add missing documentation for the asset cache.
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Also improve `compile` sample timing logic and documentation.
PiperOrigin-RevId: 852855741
Change-Id: I9b2798208198ca68cf4cee9c968772954ada91c5
2026-01-06 11:07:42 -08:00
3868ed0382
Improve XML schema usability
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PiperOrigin-RevId: 852820889
Change-Id: I04eea45161f9e71f9ccf49afad57ff28fd099b35
2026-01-06 09:51:36 -08:00
47ea0e76ae
mujoco warp documentation: update modifying fields
2026-01-04 14:00:53 +00:00
fba2021091
MuJoCo Warp documentation: Modifying fields.
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PiperOrigin-RevId: 851709416
Change-Id: I48071a9dddd79b1e765f8ae170594d4687615877
2026-01-03 10:49:09 -08:00
28f14b3258
MuJoCo Warp documentation: Update Batched Model Fields code example.
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PiperOrigin-RevId: 851699741
Change-Id: I30d98db7ee6bfe2104408fb0f84e472da649887b
2026-01-03 09:57:11 -08:00
14e90f3897
MuJoCo Warp documentation: Array shapes.
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PiperOrigin-RevId: 850969970
Change-Id: I41dce50644c9a6521e0bab9c84fea63f78e7a6ce
2026-01-01 02:46:48 -08:00
70bc7be4bc
Add additional data fields that can be reported by rangefinder sensors.
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PiperOrigin-RevId: 848316991
Change-Id: Idbf7ba81b4da711a22c23302c8782ab2b0b98d82
2025-12-23 15:33:00 -08:00
f2e9097ed6
Change mjsCamera.resolution type from float to int.
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Resolution is inherently an integer quantity (pixels).
PiperOrigin-RevId: 848276456
Change-Id: I92ee1aa88fd552fd42cb3871442f020f26d6fa6a
2025-12-23 13:14:32 -08:00
9d646e6548
Extend rangefinder sensor to support cameras.
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PiperOrigin-RevId: 848255889
Change-Id: I6e1a9ed13d29d2242558625a47e24e47ad6e87db
2025-12-23 12:04:49 -08:00
7fddeeaff6
Minor fixes to mj_multiRay
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PiperOrigin-RevId: 847780959
Change-Id: I3588415f215bd5f1592bec6678a5bae45d5f0980
2025-12-22 08:52:36 -08:00
223ba99ec2
Add mju_rayFlexNormal (not exposed in public header)
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PiperOrigin-RevId: 847746174
Change-Id: Ia8f597d296bf6a3eed9bd48b1c39b2ff2b5fcf90
2025-12-22 06:49:22 -08:00
c7f5766345
Add frustum visualization for orthographic cameras.
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PiperOrigin-RevId: 847698917
Change-Id: I13633e8ba2d4718b127a5838c404ab74c6180e3d
2025-12-22 03:43:54 -08:00
158525269b
Refactor camera intrinsic parameter handling.
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Move logic from parser to compiler.
PiperOrigin-RevId: 847689906
Change-Id: I844746081973205e1b33a3845add842e8b8c3c07
2025-12-22 03:08:18 -08:00
b77977a962
Update Programming/simulation chapter.
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PiperOrigin-RevId: 847424298
Change-Id: Icc6efb05dee5e67a5813ed04caa15a5703e59aee
2025-12-21 08:16:39 -08:00
b8a4ac5d48
Refactor camera orthographic attribute to projection enum.
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PiperOrigin-RevId: 847069028
Change-Id: I7f686fe654e9b56519cab8bd2f37c9cc40091d3f
2025-12-20 03:28:29 -08:00
7190bd4912
Add flag for depth rendering.
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PiperOrigin-RevId: 846203691
Change-Id: I5ec494446bcfc1f7c81536a87dd24f9967973563
2025-12-18 04:36:26 -08:00
e95f46f84a
MuJoCo Warp documentation: sparse Jacobians.
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PiperOrigin-RevId: 845342391
Change-Id: I2167faca8a0a70e2c56a8cc329c09b1b9243e44c
2025-12-16 10:43:00 -08:00
8e39d50496
mujoco warp documentation: batched model fields graph capture warning
2025-12-15 15:34:02 +00:00
f0572c735a
MuJoCo Warp documentation: Collision sensors.
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PiperOrigin-RevId: 844695759
Change-Id: I98cc6f127527a8d05b02cf5b06038bba2d03fae0
2025-12-15 03:37:10 -08:00
942c2622ee
MuJoCo Warp documentation: update flex feature parity.
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PiperOrigin-RevId: 843711786
Change-Id: Ie392452b02d4894f04e826b74b558b2f7e9342d8
2025-12-12 08:59:37 -08:00
3c19b63ed3
Refactor texture.data to be handled using py::bytes
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PiperOrigin-RevId: 843226742
Change-Id: I7ab920da3c387467b1fced27f557c6edd1af4bce
2025-12-11 08:06:12 -08:00
Alessio Quaglino