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579 Commits

Author SHA1 Message Date
Yuval Tassa 5e666635f6 Remove mjtVisFlag.mjVIS_FLEXBVH and mjvOption.oct_depth 
PiperOrigin-RevId: 783355711
Change-Id: I1e11999d5c533925f1d07266aeca95598a5691ba
 2025-07-15 09:08:22 -07:00
Yuval Tassa d0e4771c8c Add contact sensor. 
PiperOrigin-RevId: 783011982
Change-Id: Ica56fe9d520fa1d1ee7338e09148b1a55a049912
 2025-07-14 13:03:35 -07:00
Alessio Quaglino 6e7aaacb85 Do not rely on global object lists in mjCBody::NextChild(). 
PiperOrigin-RevId: 782963753
Change-Id: I0afecbab4b7796f077963ba66eb7140d8f83ad89
 2025-07-14 10:47:45 -07:00
Alessio Quaglino 9a41d385c1 Add needsdf flag to mjsMesh. 
PiperOrigin-RevId: 782949528
Change-Id: Iaa96326a91795c3469c991bd8def53560b38e4f0
 2025-07-14 10:13:05 -07:00
Rishi Krishnan 3c99705f85 Update MuJoCo's version number following the 3.3.4 release. 
PiperOrigin-RevId: 781596261
Change-Id: Iac050c4b9cb65542b52fa6b8c54ff2537bc6a648
 2025-07-10 10:47:26 -07:00
Alessio Quaglino 96118da08b Move SDF precomputation to the mujoco compiler. 
Before:
```
 Simulation time      : 2.24 s
 Steps per second     : 4472
 Realtime factor      : 8.94 x
 Time per step        : 223.6 µs

 Newton iters / step  : 2.47
 Contacts / step      : 3.37
 Constraints / step   : 13.49
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

After:
```
 Simulation time      : 1.71 s
 Steps per second     : 5854
 Realtime factor      : 11.71 x
 Time per step        : 170.8 µs

 Newton iters / step  : 2.19
 Contacts / step      : 3.45
 Constraints / step   : 13.79
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

PiperOrigin-RevId: 781075182
Change-Id: Ie509047ff581ab0df4b10bbd394c27d350ab5a13
 2025-07-09 08:57:09 -07:00
Yuval Tassa a3d251f552 Add mjModel.sensor_intprm, integer parameters of sensors 
PiperOrigin-RevId: 781053754
Change-Id: I90e5ef1cab3f87b894dbc70dccfc8bf0046ce1b6
 2025-07-09 08:00:21 -07:00
Yuval Tassa e6c5715903 Add insidesite sensor for detecting when an object is inside the volume of a site. 
PiperOrigin-RevId: 780993257
Change-Id: I2dcfc840d222680adc3b934344a0819f4d78b6eb
 2025-07-09 04:56:42 -07:00
Rishi Krishnan 2a32babb78 Update Mujoco Deps in preperation for the 3.3.4 release 
PiperOrigin-RevId: 780712420
Change-Id: Ib13d18bcf0f248acff93c04f977eec59185dc932
 2025-07-08 14:21:53 -07:00
Alessio Quaglino 1a4ddca6cf Make mjs_findElement find meshes by file name. 
PiperOrigin-RevId: 780150428
Change-Id: Ie500062fa8cca755683b66540e84ede588d7c331
 2025-07-07 09:51:33 -07:00
Alessio Quaglino af7d20c035 Change mjs_nextChild to be DFS to match XML parsing. 
PiperOrigin-RevId: 778915232
Change-Id: I5e290f47b7d2530597bb6c85b66ff2ae807e5510
 2025-07-03 10:07:13 -07:00
Alessio Quaglino 69ce5dbd05 Consolidate tree traversal tests in the C and Python APIs. 
PiperOrigin-RevId: 778883024
Change-Id: I0d30ed011e60a6da7148cebc1f715895fd0c6fd6
 2025-07-03 07:25:23 -07:00
Alessio Quaglino 564c51ddb9 Check for duplicated names when setting element names. 
PiperOrigin-RevId: 778827590
Change-Id: I77a208c1571cf735cae80840ea830aa347681f71
 2025-07-03 03:20:55 -07:00
Alessio Quaglino 594e17074a Replace name attribute with setters and getters in the C API of mjSpec. 
PiperOrigin-RevId: 778816015
Change-Id: Ieffb7a5bce37e887ff009f9a02d2434435e79ca1
 2025-07-03 02:30:56 -07:00
Alessio Quaglino 5c1f1f9dba Add octree to meshes of SDF geoms. 
PiperOrigin-RevId: 777634862
Change-Id: I3210c2f8d73fd30ceecb0a11abd1d82e086b3d5d
 2025-06-30 10:50:15 -07:00
Matija Kecman 09f7154e57 Add option to only sync the state to improve sync performance in passive mode. 
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
Yuval Tassa 18d5d5d03f Improve documentation related to mjSpec element deletion. 
PiperOrigin-RevId: 775677830
Change-Id: I02e51b57956b0b6a20c654326b54e001b498dd96
 2025-06-25 07:23:51 -07:00
Alessio Quaglino a00bfa819c Raise error when binding to a removed element. 
PiperOrigin-RevId: 774462737
Change-Id: I820c0e1c010ae9fbf6d9667c3364d4b65bf21002
 2025-06-22 10:15:31 -07:00
Yuval Tassa 14dc7c2a60 Add "cameraid" attribute to visual/global specifying the default camera to use at model load. 
PiperOrigin-RevId: 773783069
Change-Id: I2fff2abdceedc982d89cee8d14b95abceea1c113
 2025-06-20 11:41:27 -07:00
Alessio Quaglino a2acd2d4ed Rename detach_default and detach_body to delete in the mjSpec bindings. 
PiperOrigin-RevId: 773674361
Change-Id: I3977060e19e9ff0afc65ad91693c017958576b78
 2025-06-20 06:23:30 -07:00
Alessio Quaglino 0488d9f4eb Replace mjs_detachBody and mjs_detachDefault with mjs_detach. 
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
Alessio Quaglino 92bc486558 Make mjs_findElement find textures by file name. 
This is done if the model is uncompiled and their name is empty.

PiperOrigin-RevId: 772885774
Change-Id: I827d5b679637fa0571cfb0a69833ed688df16304
 2025-06-18 05:54:12 -07:00
Alessio Quaglino d2501eff68 Use procedural model creation in plugin tests. 
This will be useful for simplifying the mjSpec API for plugins.

PiperOrigin-RevId: 772505558
Change-Id: I8eb57d7e129e0f6430fb4c610a543e0dc0f3b295
 2025-06-17 09:30:54 -07:00
Kevin Sayed a4ab35c194 update scrubs and set next version 
PiperOrigin-RevId: 770740070
Change-Id: I6b2f1356706b1849872df2583adbbb3f72057884
 2025-06-12 11:39:45 -07:00
Kevin Sayed f978b4eea3 Release notes for 3.3.3 + update git hashes. 
- 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
Alessio Quaglino f75772587a Add functions for setting an mjsActuator to a specific shortcut type. 
PiperOrigin-RevId: 769049331
Change-Id: If5bb04966bd29a57569a2c17d712b9ae3d33324d
 2025-06-09 02:17:02 -07:00
Levi Burner 3eb31f56cd Copybara import of the project: 
--
c9acc0a6f677951db34f2b607bd60fc18a43f72b by Levi Burner <leviburner@gmail.com>:

Fix race condition in Python viewers set_X methods

--
b89ab8f7a0f628ee7a02ebfbac2a97f113112076 by Levi Burner <leviburner@gmail.com>:

use std::swap to replace some copying

--
02625bed0cffbfc9ea4537f74689f0bbcb8bf44c by Levi Burner <leviburner@gmail.com>:

fix whitespace

COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/2613 from aftersomemath:simulate-set-race 02625bed0cffbfc9ea4537f74689f0bbcb8bf44c
PiperOrigin-RevId: 766646168
Change-Id: I1e1dc16afbfb1e69fb958d54bd1075cc9aed3569
 2025-06-03 07:01:31 -07:00
Alessio Quaglino 84ad22a590 Add mj_copyBack for copying real-valued arrays from mjModel back to mjSpec. 
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
Alessio Quaglino 1fbbfd8079 Correct frame property in MjsBody from method to read-only attribute. 
PiperOrigin-RevId: 764188923
Change-Id: I7c753f7f431b79aa320681c45b7614f68b63852c
 2025-05-28 03:48:07 -07:00
Google DeepMind 568620dd2f Add texture attribute to lights. 
PiperOrigin-RevId: 763739805
Change-Id: I333ed2ac68f30f79f688ca01d7b5fd6bf2d836c9
 2025-05-27 05:04:01 -07:00
Yuval Tassa ccc912c3b0 Improve docstring in mjvGeom, fixes #2629 
PiperOrigin-RevId: 763693102
Change-Id: Icb9a3168691690ccf086adb5a20358b3952d6717
 2025-05-27 02:17:24 -07:00
Yuval Tassa 89e39dc0a7 Expose mj_makeM as a sub-component. 
PiperOrigin-RevId: 763662068
Change-Id: I55ced456dca751c1de09fb35e2f73c60ffc0d626
 2025-05-27 00:35:55 -07:00
Alessio Quaglino 7a5b55f57e Expose mjs_resolveOrientation to the Python API. 
PiperOrigin-RevId: 762571376
Change-Id: I08d8394b24670c7f102356da4234b17f1ba4e05f
 2025-05-23 14:36:47 -07:00
Alessio Quaglino e389872c7d Add frame property to python bindings. 
PiperOrigin-RevId: 762452877
Change-Id: I555cec650d04700f6718b4d77a866c821b90685c
 2025-05-23 09:24:24 -07:00
Google DeepMind 74cc904edc Convert light directional boolean into a type enum. 
PiperOrigin-RevId: 761983728
Change-Id: Id5bf93c103e5358d9c5cd9f1176532a978e0b3a8
 2025-05-22 08:51:18 -07:00
Google DeepMind 3e9bc79b54 Adds color space to textures. 
PiperOrigin-RevId: 761907261
Change-Id: Iec546d1d5907a15e57ef809ec31850640fc52915
 2025-05-22 04:33:40 -07:00
Erik Frey 49c33716a1 Allow _realloc_con_efc to also allocate new nJ arrays. 
PiperOrigin-RevId: 761252071
Change-Id: Idce822c6f2b8f2d81a5d43228f5dc35281c5ad07
 2025-05-20 15:26:04 -07:00
Yuval Tassa ced630181d Replace mjv_sceneState and related code with mjv_copy{Model,Data} 
PiperOrigin-RevId: 760662776
Change-Id: I512bda9187fbc19ade6924b91d5cb2275078de42
 2025-05-19 09:51:58 -07:00
Yuval Tassa 8268c6d1ff Add mjv_copyData 
PiperOrigin-RevId: 760642972
Change-Id: I16227fd91bf42618fda684b15b3650758ae29b13
 2025-05-19 08:59:43 -07:00
Yuval Tassa e8c566bee1 Remove use of diagnum in solver 
PiperOrigin-RevId: 759021147
Change-Id: I9e5c85b6542380780fc487781398f406ddaad51b
 2025-05-15 00:39:28 -07:00
Alessio Quaglino 71bdd915f7 Move bending stiffness from plugin to the compiler. 
PiperOrigin-RevId: 758677644
Change-Id: I7d5c5140ba6948002bfa4ae9d6b4bf0f6de0e39b
 2025-05-14 07:39:24 -07:00
Yuval Tassa dd28b887d4 Rename C sparse structure to M in mjdata, improve docstrings. 
PiperOrigin-RevId: 758636638
Change-Id: If78acc423601d2911f514929b27f7b6d0af9ef58
 2025-05-14 05:26:19 -07:00
Google DeepMind fa95fe0c59 Add intensity and range parameters to lights. 
PiperOrigin-RevId: 758603199
Change-Id: I74e88bdfeedd9224e84d953f237d68eca79e6cb7
 2025-05-14 03:28:03 -07:00
Alessio Quaglino 34e8ff1aad Add flex edge flap connectivity to mjModel. 
PiperOrigin-RevId: 758593152
Change-Id: I79836df961972c9eae8037e5fcbfc3d0122645de
 2025-05-14 02:50:37 -07:00
Yuval Tassa 79c74d7eae Add mjData.M, not yet used. 
PiperOrigin-RevId: 758351796
Change-Id: I0786966b2f2c2e699db845cda6940a8821b23f49
 2025-05-13 13:28:03 -07:00
Yuval Tassa 1e02d66c3d Remove M matrix structure from mjData. 
Introduced in March 2025 as a temporary measure, this is not considered a breaking change.

PiperOrigin-RevId: 758311298
Change-Id: Ia08857c18b791f6a62a2d8d136b45fc075507b93
 2025-05-13 11:47:18 -07:00
Yuval Tassa 627fffdef9 Switch mjData.{qH,qLD} from full ("M") to reduced ("C") inertia matrix structure. 
PiperOrigin-RevId: 758273074
Change-Id: If1a2e663ea70044694af985e0119afd6d58115ac
 2025-05-13 10:20:32 -07:00
Yuval Tassa 755564a348 Remove unused code related to legacy island implementation. 
Also fix a docstring.

PiperOrigin-RevId: 757939564
Change-Id: I3a970fd38c63886d34cd23b1fb45617a9ce5c147
 2025-05-12 15:39:16 -07:00
Alessio Quaglino 8a7c42c747 Add SDF functions to public API. 
PiperOrigin-RevId: 757829339
Change-Id: I81ee7c3f33acf234835bf34cbb632e23cb9e284e
 2025-05-12 10:53:39 -07:00
Alessio Quaglino d77126dc58 Add vertcollide option for adding spheres at flex vertices. 
PiperOrigin-RevId: 757789990
Change-Id: I8ccba52b13e8c02a7be78f992297d6f414d98f8e
 2025-05-12 09:13:48 -07:00