ccbfc6c8bf
Improve line search initialization logic and first Newton step acceptance.
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PiperOrigin-RevId: 844316808
Change-Id: I0a7639a486c75f122db7f8b8c0df42ef810f060c
2025-12-14 01:50:52 -08:00
e7077b5a05
Fix testspeed argument count check
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PiperOrigin-RevId: 844128965
Change-Id: I3089c7e71efde1ee6fe7c24903d634ed44dfd6eb
2025-12-13 11:20:02 -08:00
e3a860de69
Update function signatures in engine_util_spatial.h to appease fussy GCC
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PiperOrigin-RevId: 843752024
Change-Id: I041efe6acc5a4a44488bb9ec09101681d47c37c5
2025-12-12 10:47:31 -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
43bcbb158c
Load last saved GUI configuration on first load.
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Also save theme to the configuration.
PiperOrigin-RevId: 843710929
Change-Id: I7ce9ce0f026d2cb5f79addf6c16c9b540bf11954
2025-12-12 08:56:53 -08:00
499291e5c2
Fix aliasing issues in engine_core_smooth.c
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PiperOrigin-RevId: 843699660
Change-Id: I21d4ed09284624ce80fcd5b1d572b9084e95e1f1
2025-12-12 08:25:06 -08:00
3da421afaa
First-pass implementation of web-based studio app.
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PiperOrigin-RevId: 843685213
Change-Id: I2642a21d5573ef548eece0eb9a2c634e4881eec5
2025-12-12 07:42:42 -08:00
157d261701
Fix aliasing issues in engine_collision_primitive.c
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PiperOrigin-RevId: 843665186
Change-Id: I76cd479991f6083495e7ad95c2f57a8ef8fde925
2025-12-12 06:36:34 -08:00
9fc37a3be4
Fix aliasing violations in engine_collision_box.c
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PiperOrigin-RevId: 843647612
Change-Id: If8ad12c058a30ec475b9eb47d315019edbb8a7bb
2025-12-12 05:35:42 -08:00
600f0f20bc
Introduce private header engine_inline.h exploiting restrict and avoiding loops and copies in some commonly used utility functions.
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PiperOrigin-RevId: 843635464
Change-Id: I3b0553eea98424ccc7def77e3769e2994f3e9014
2025-12-12 04:49:29 -08:00
a0a56065e0
Use hex values instead of u8 string literals.
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PiperOrigin-RevId: 843583709
Change-Id: Ib55cfd472de2f83b0455ebf95f6826c887f6dd70
2025-12-12 01:45:13 -08:00
e07adc387a
Update themes to differentiate from default dear_imgui themes and add a classic theme that's similar to simulate.
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PiperOrigin-RevId: 843313013
Change-Id: Id01841097f32a5b01acd8fcf59392a73acad8f27
2025-12-11 11:46:12 -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
87d333c64a
Allow MJB and XML content to be loaded directly.
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PiperOrigin-RevId: 843180720
Change-Id: Id4f2bf81507b971dfbbf250d775d7fdfc76517df
2025-12-11 05:41:43 -08:00
1ff74ba810
Change the type of state signature arguments from unsigned int to int
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PiperOrigin-RevId: 843162492
Change-Id: I51d3324f088e8055898e115bdd32267c5950a412
2025-12-11 04:34:36 -08:00
fe0a11d58d
Change Filament background color to black.
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PiperOrigin-RevId: 843152096
Change-Id: I2ef87ffffb9cc8662fa6353c6d38f1046f21b34b
2025-12-11 03:56:34 -08:00
caec236b2f
Make mj_loadModelBuffer a public API.
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PiperOrigin-RevId: 843105390
Change-Id: I4058471b4cf64995dd5ab43e9c8c24e322004b62
2025-12-11 01:24:17 -08:00
d0cf2a3ca5
MuJoCo Warp documentation: named access / bind.
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PiperOrigin-RevId: 842689646
Change-Id: I5b7920dd5df5838497943da20da4aa61a68f0ec2
2025-12-10 06:01:22 -08:00
f150e72b34
MuJoCo Warp documentation: Tutorial notebook.
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PiperOrigin-RevId: 842685107
Change-Id: I354ab983b1f0061eb168d1ce86c12d974e5bb35e
2025-12-10 05:43:50 -08:00
6bcb22730d
Minor clean-up of some visualization code.
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Move mjvGeom acquire/release into helper functions, where possible.
PiperOrigin-RevId: 842675435
Change-Id: Ie5aaf206927251e79b20cc4101a7017645d5dd4b
2025-12-10 05:09:53 -08:00
11f0997edf
Internal change.
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PiperOrigin-RevId: 842636101
Change-Id: I5fc8e1f5e4caee9d909963ebe396572b13b455b7
2025-12-10 02:58:38 -08:00
9c1b8d8cfb
Enable font loading for wasm builds.
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PiperOrigin-RevId: 842627994
Change-Id: I347f79ec668f31a8bbc4d26638a045e29084d715
2025-12-10 02:31:46 -08:00
f06aa45ea6
Consolidate ray normal functions.
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PiperOrigin-RevId: 842300829
Change-Id: Ic5e921084710cb044a4f49ea9b566d277838aaa1
2025-12-09 10:36:10 -08:00
85e6f6de3c
Ignore unsupported light types in GL3 renderer.
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PiperOrigin-RevId: 842271116
Change-Id: I632f7ed8e2a6488d5a8eb228928e26c8fcbdff66
2025-12-09 09:22:29 -08:00
32d7b87ba7
Improve studio 2D plots
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PiperOrigin-RevId: 842260702
Change-Id: I4644b69da92b9d015eb2d140b98f68c05d31a222
2025-12-09 08:56:51 -08:00
5b1fa666fb
Add mj_rayHfieldNormal (not exposed in public header)
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PiperOrigin-RevId: 842259581
Change-Id: I27d6c46024d55addbc22eed276331e2ef5acfa7d
2025-12-09 08:53:47 -08:00
7553541b4b
Use public mj_parseXml function.
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PiperOrigin-RevId: 842245812
Change-Id: I26e1f992f82050a36373ee3a3f2c97c399b4e788
2025-12-09 08:14:32 -08:00
97eb307ce9
First pass at mjSpec Explorer and Properties windows.
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Displays the list of bodies and joints from the mjSpec and displays
values for the selected element.
Functionality is very limited and a bit non-intuitive. However, we want
to get this into our users hands to start getting feedback.
PiperOrigin-RevId: 842228895
Change-Id: I2491cd5e0acaf622110e0f6b8406919024d3607a
2025-12-09 07:28:26 -08:00
c064abc3da
Change row-flipping logic for heightfields.
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Move row-flipping logic from `mjCModel::CopyBack` to `mjXWriter`.
PiperOrigin-RevId: 842220322
Change-Id: I6fb09db6c9e8689f6e435f82f58dd3e7c4314478
2025-12-09 07:02:21 -08:00
925c533580
Move playback speed control to the toolbar.
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Initialize playback speed based on the model's global.realtime setting.
Adjust layout and tweak colours of the status and tool bars.
PiperOrigin-RevId: 842214796
Change-Id: Iff9cda74178df28a0787693242fee81e011014fc
2025-12-09 06:47:38 -08:00
cc914c9ec7
Modify studio keyboard bindings to conform to MuJoCo API.
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PiperOrigin-RevId: 842197387
Change-Id: I6ee9b1f5050cb4a8c2f67253f37481c61c91fdbd
2025-12-09 05:53:14 -08:00
1483aefe5f
Make actuator_length, cdof and cdof_dot public.
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PiperOrigin-RevId: 842182467
Change-Id: Id14a1c8266e13a6f95e1c87ea07da993b614b62e
2025-12-09 04:57:42 -08:00
f65c1cdfd1
Add mj_raySdfNormal (not exposed in public header)
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PiperOrigin-RevId: 842178540
Change-Id: I5d2db555e9b6c0fa0daaa8bc14c7781663e4c94e
2025-12-09 04:43:39 -08:00
bf49fe3daa
Enable reading textures from spec in Python
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PiperOrigin-RevId: 842151742
Change-Id: I477d118cc7e2385d29b395b192fa89e9facb9c3e
2025-12-09 03:08:32 -08:00
e1e2248925
Internal changes only.
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PiperOrigin-RevId: 842099953
Change-Id: Ia11feec323504976cdc3e6d7170435b74ed33fcd
2025-12-09 00:18:06 -08:00
99a90cb649
Don't do GUI rendering when rendering to texture.
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PiperOrigin-RevId: 842089364
Change-Id: Iaecebdc677e946c7fc618395205097462a56f2d1
2025-12-08 23:44:50 -08:00
735b31fc89
Fix triangle lighting in native renderer.
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PiperOrigin-RevId: 841796563
Change-Id: I778e0e02aa8b4033531d4fadc091610418ab909e
2025-12-08 09:27:04 -08:00
15145c0098
MuJoCo Warp documentation: Compilation.
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PiperOrigin-RevId: 841761913
Change-Id: Ic1b1942a47299db48c424ad1f9e3709b05acc55e
2025-12-08 07:50:23 -08:00
e238b65843
Support both 3 and 4 channel images and use a safer way to assign IDs to images.
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PiperOrigin-RevId: 841727607
Change-Id: I319db4291ecee27f4ceb7b7e952c6f68e7f8b96d
2025-12-08 05:55:00 -08:00
96e376451c
Update MuJoCo version from 3.4.0 to 3.4.1 following the 3.4.0 release
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PiperOrigin-RevId: 840914696
Change-Id: Iffabc70dd174384ba1c535cafcd34982ff8e5712
2025-12-05 16:15:56 -08:00
e55fff5dea
CI issues resolved, we're going ahead with the 3.4.0 release.
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PiperOrigin-RevId: 840763554
Change-Id: Ib50b00ec43d8713821f98a131fb19640810ea777
2025-12-05 09:37:40 -08:00
fcdacd0690
Fix crash when using image-based textures.
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Image lights are not normal lights, so use nullptr as a placeholder.
Add checks for nullness when iterating over the lights.
PiperOrigin-RevId: 840695579
Change-Id: I092515ae814523e85f4f5ce87b2bac2241f4ea35
2025-12-05 06:08:13 -08:00
6e7b2ba4c3
Reuse renderable entity instead of recreating every frame.
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PiperOrigin-RevId: 840680350
Change-Id: Ie26862f8993c4b1cf071ee867d89bcc8182d3dd2
2025-12-05 05:10:12 -08:00
f18c9996e6
Allow uploading textures for use with ImGui.
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PiperOrigin-RevId: 840669528
Change-Id: I7c5854d966dd024cd492953f86bca961cfaf88b8
2025-12-05 04:31:32 -08:00
e93786c161
Fix WebGL rendering for the webdemo
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PiperOrigin-RevId: 840640628
Change-Id: I4bac3bf634e66da01174927bf6096bc1df642e10
2025-12-05 02:39:54 -08:00
4e84671a15
MuJoCo Warp documentation: Determinism.
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PiperOrigin-RevId: 840630917
Change-Id: Ie5f3ac34cee8812f20d6ae4fa6004385c5b048e0
2025-12-05 02:09:26 -08:00
fc109f0ab5
Small fix to testspeed
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PiperOrigin-RevId: 840607453
Change-Id: If913866cc0a3d4d3e6c39c7b5948fa167678ccad
2025-12-05 01:28:33 -08:00
237a5e5c55
Revert the changelog to unreleased state, the 3.4.0 release will be delayed due to internal issues with CI.
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PiperOrigin-RevId: 840362346
Change-Id: Ic0fb5d6d521c5abc1b98d5242416eac6c7d056c8
2025-12-04 12:53:02 -08:00
6ed9f2be7a
Removed unused font uploading functionality.
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Font textures are handled directly through ImGui.
PiperOrigin-RevId: 840259537
Change-Id: I5b6b0dc5d2c1c7066b4a23f0106de34285f40e6c
2025-12-04 08:38:58 -08:00
da36e822a8
Allow material default classes to define texture layers.
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PiperOrigin-RevId: 840254100
Change-Id: I59f67fc4d1485cf80bbc005d1b35cda6224248ed
2025-12-04 08:22:55 -08:00
Yuval Tassa