a66cf303f8
Clean up ray functions
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PiperOrigin-RevId: 833299985
Change-Id: I30aabe889ccc5900ff0e50a578e98e176d3effa4
2025-11-17 05:47:44 -08:00
2f65e23779
Add mj_extractState as a public API function.
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This function allows the caller to extract a subset of components of a state previously obtained via `mj_getState` without having to first write it back into `mjData`.
PiperOrigin-RevId: 822165077
Change-Id: I6433261f4f5ec2e8d024bb7dee8f7dbf1e62666c
2025-10-21 10:01:22 -07:00
ea660f4c13
Expose minimal asset cache API.
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PiperOrigin-RevId: 803126923
Change-Id: Iabf63802572f7cb86864b5ece85f44b3f15a4ec0
2025-09-04 12:18:36 -07:00
424226b640
Refactor mj_mulM to use CSR structure
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PiperOrigin-RevId: 796450207
Change-Id: I2a9d567732614674547c7ae02ff0d3d4bbf1b654
2025-08-18 09:09:29 -07:00
972ffd7b90
Improve mj_fullM documentation, add clarifying test.
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PiperOrigin-RevId: 796134559
Change-Id: I85ab3680d3545ccf83d0d3af8a7c21cb36e96d4e
2025-08-17 11:02:14 -07:00
1447711037
Rename spec to sig in state-related API functions.
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(to avoid confusion with mjSpec)
PiperOrigin-RevId: 795848898
Change-Id: I0b64eb85f5c7a3ee889a746c751d9f5561650277
2025-08-16 08:38:25 -07:00
32c7d3f085
Tag nullable arguments in main header. Fixes #309
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Nullable arguments will be added to the `introspect` datastructures in a future change.
PiperOrigin-RevId: 789350522
Change-Id: I0bfd12fab5121f94b937264570f907593b63cf64
2025-07-31 08:39:16 -07:00
67f9ffddbd
Delete outdated mjs_delete doc.
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PiperOrigin-RevId: 778912984
Change-Id: I2c09c67706679e9e85ea29fd63e698cddb0ef6ca
2025-07-03 09:54:52 -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
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
be64747166
add mjs_detachDefault to delete a default class from mjSpec
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PiperOrigin-RevId: 738452369
Change-Id: I5a53a6dc8f89e1e8136aeefc09d7d9b7b7204e1f
2025-03-19 10:31:04 -07:00
da04688071
Automatically compile mjSpec in to_xml().
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Also, move mj_compile from MjModelWrapper to MjSpec.
PiperOrigin-RevId: 737640210
Change-Id: I93d2a31c33eb359452b0d966a29939183b4c5198
2025-03-17 09:21:10 -07:00
bd9d30adc7
Improve documentation of mj_saveLastXML fixes #2075
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PiperOrigin-RevId: 735672207
Change-Id: I951b8be9cf12a2a4965a40bb8db4de4ddda18570
2025-03-11 01:57:46 -07:00
ed16f2daf2
Set nativeccd as default.
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PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
2025-02-26 09:15:15 -08:00
fb07e0d1f7
Convert qLD to CSR format.
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PiperOrigin-RevId: 728196818
Change-Id: I31bdf32e251293284426ed345019f27fd051a0e1
2025-02-18 07:14:45 -08:00
5ee0654830
Roll back recent change to mjData.qLD until some issues are resolved.
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PiperOrigin-RevId: 724389161
Change-Id: I1b30ab0950ab5c5e611b1c6fc3bf3f42f964939c
2025-02-07 10:21:42 -08:00
c27d3758c2
Convert qLD to CSR format.
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PiperOrigin-RevId: 723955038
Change-Id: I30c3dc7f59739e89ae5fff8841432bc74717ec1b
2025-02-06 08:59:35 -08:00
8c22181156
Fix documentation typos.
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PiperOrigin-RevId: 720232771
Change-Id: I176db4d4168c37b2819df14b439c4cde838e2025
2025-01-27 10:58:22 -08:00
e310c23267
Fix return value of mj_saveXML and mj_saveXMLString, fixes #2247
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PiperOrigin-RevId: 700269761
Change-Id: Ifb7e9c66c70eac7d681cfcf106712d47291cf9e2
2024-11-26 02:32:50 -08:00
be00fafc43
Various documentation improvements.
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- Replace two "below" instances in `XMLreference.rst` with proper links (there are many more that need fixing).
- Discuss friction cones and 32-bit floats in Performance Tuning.
- Delete Damping subsection in Tips and Tricks, no longer relevant after the introduction of the implicit/fast integrators.
- Simplify discussion of free bodies, mention free joint alignment.
- Clarify frame used by kinematic Jacobians.
PiperOrigin-RevId: 672615057
Change-Id: Ib59b71e3c09cdd13415519fc4a964131b155718f
2024-09-09 11:36:07 -07:00
81618f95f9
Update doc for mj_addFileVFS and mj_addBufferVFS as VFS is no longer memory limited.
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PiperOrigin-RevId: 671087960
Change-Id: I0b022554f4f47fe2e64c8201cd855b63d514c344
2024-09-04 13:51:43 -07:00
b502ceef00
Add note that XML saving requires that the spec first be compiled. Fixes #1832
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PiperOrigin-RevId: 671046666
Change-Id: If5885545d5316537147d293fbe854caa568558b2
2024-09-04 11:47:34 -07:00
2d3d5415b7
Add mj_jacDot: Time derivative of kinematic Jacobian.
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PiperOrigin-RevId: 670505417
Change-Id: Icf30cff5dc955e002bd2f5d5fb3a04f8388d0780
2024-09-03 04:49:47 -07:00
505d01a1c1
Add error handling to mj_recompile.
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This CL adds error handling to the mj_recompile function. If the recompile fails, the function will return -1 and set the error message in the spec. The Python wrapper for mj_recompile will catch the error and raise a ValueError exception.
PiperOrigin-RevId: 666784579
Change-Id: I225eca1769ea839c782be3c03fc4ff1ea5885a48
2024-08-23 07:18:28 -07:00
2cb601c98d
Improve documentation w.r.t smoothness, differentiability and finite-differencing.
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PiperOrigin-RevId: 662848709
Change-Id: Icb7dc03a2c53d43d0d3a9e4ac95d963e5bc6853c
2024-08-14 03:11:38 -07:00
5287359022
Update docs for VFS.
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PiperOrigin-RevId: 659968022
Change-Id: I3b6c9befc8ca0dacaee5ef6da34d537dd439b7f3
2024-08-06 08:33:21 -07:00
20011a2f53
Disable RK4 integrator in mjd_transitionFD by throwing an error and improve documentation for mjd_transitionFD and mjd_inverseFD.
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PiperOrigin-RevId: 659492713
Change-Id: I84ab7ebfba34742f239f60311d8f0a55559995fb
2024-08-05 03:18:31 -07:00
70d70bc3b7
Fix typos in MuJoCo documentation.
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PiperOrigin-RevId: 656068822
Change-Id: I5ebbb3701148ea4d978a6a1ad3f762ffcc7e57cb
2024-07-25 13:31:13 -07:00
39b22ebc26
Remove dangling section header from function docs.
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PiperOrigin-RevId: 652456322
Change-Id: Ib1d7aa387b7ba8957c93f0227f530aa0b37f2668
2024-07-15 06:11:25 -07:00
e13ddfa2ab
Improve compiler-related documentation.
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PiperOrigin-RevId: 651827545
Change-Id: I85c12dc12967e49087c342445dbfa049c5cdbcdf
2024-07-12 11:05:16 -07:00
c9bcf8371e
Add mj_setKeyframe function to save current state in k-th model keyframe.
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Fixes #1719 .
Also improve documentation of `mju_sigmoid`, was previously only documented in changelog.
PiperOrigin-RevId: 642637458
Change-Id: I811a0bf8f881c8b76c9a62d2faec8fdec4e7585b
2024-06-12 09:22:52 -07:00
7a06bcfdaf
Make model editing API public, fixes #364
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Still missing:
- Detailed documentation.
- Python bindings.
PiperOrigin-RevId: 641445626
Change-Id: I20e67b707cf1bebae7e0cc94d17f7b76a89171f0
2024-06-07 22:28:01 -07:00
0d1c92b20a
Add documentation on pipeline stages and mjData self-consistency. Fixes #1667
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PiperOrigin-RevId: 638619787
Change-Id: Ic8dd0fbd178c4946757a07d74fca3b2c905f9080
2024-05-30 05:38:05 -07:00
02d015458c
Add mj_geomDistance API function and sensors for geometric distance, normal direction and segment between between two geoms. Fixes #51
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PiperOrigin-RevId: 632458301
Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
2024-05-10 04:52:43 -07:00
6b7d714291
Merge pull request #1450 from v-r-a:angmomMat
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PiperOrigin-RevId: 612835207
Change-Id: I8e7b01cc433563556a3ae4bbdd0c53612cc15e97
2024-03-05 07:35:15 -08:00
822b03446c
Improve pipeline documentation, expose mj_implicit function to public header.
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PiperOrigin-RevId: 586380774
Change-Id: I3fafa563ebc852e17e1233288455b96f4499027b
2023-11-29 10:18:57 -08:00
e33adaca9c
Fix typos in mju_boxQP documentation.
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PiperOrigin-RevId: 585462325
Change-Id: Ib1c15c3d5af8475ec1a62b50c66b729579a23e60
2023-11-26 11:23:52 -08:00
0f37deca0d
Documentation improvements.
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Fixes #598 #691 #1071 #1072
PiperOrigin-RevId: 579816915
Change-Id: Ica5e62516e2888d47030b0f44619efa2621f329a
2023-11-06 05:56:02 -08:00
2bb8652bf6
Add User Interface documentation.
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PiperOrigin-RevId: 575800982
Change-Id: I9b2e03932d0d3b1844b90e5da7c32a640d999e69
2023-10-23 06:35:34 -07:00
a1b6026b8c
Delete derivative code sample.
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PiperOrigin-RevId: 573477509
Change-Id: I0e619e36dd3fe677a27bbbdac87a15f04670cc13
2023-10-14 08:38:37 -07:00
c54aba15f9
Fix typo in docs.
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PiperOrigin-RevId: 566957533
Change-Id: I39ebafaf3ad938837d864b3272ae2c4af6510583
2023-09-20 07:29:16 -07:00
5fe4850643
Improve mj_jac documentation. Fixes #994
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PiperOrigin-RevId: 560748977
Change-Id: Ic776d6450175a6620eb32ab8631dcca68c3088df
2023-08-28 10:23:45 -07:00
5cfbb6ac8b
Add mjd_quatIntegrate, expose mjd_subQuat.
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PiperOrigin-RevId: 546252926
Change-Id: I7d6b2bd6536e7e8afc368f3c46037c20f6a1cb5e
2023-07-07 05:33:24 -07:00
95167fab2d
Add utility function for merging directory names with filenames, and fix issue in mj_addfileVFS where directory names without trailing filesystem separators won't append correctly.
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PiperOrigin-RevId: 545450158
Change-Id: I550394f11ac2837d35f3d869f8718a119a9eac38
2023-07-04 08:09:01 -07:00
f67e359532
Add mjtState enum and related mj_stateSize, mj_getState and mj_setState functions.
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PiperOrigin-RevId: 539667943
Change-Id: I14c34be8ce4c287e529380257b5c5bffc3ab45ce
2023-06-12 08:56:48 -07:00
73fde667a5
fix typos
2023-05-09 20:59:43 +00:00
ff1fa84d32
Cosmetic documentation improvements
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PiperOrigin-RevId: 530074671
Change-Id: I07e000c9c506ae8532ade10fb731b4e1fc0970ea
2023-05-07 02:10:18 -07:00
42a16f65c2
Fix typo in mjd_inverseFD documentation.
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PiperOrigin-RevId: 529022023
Change-Id: I2f9e014e271910989f96cd9bfd28c6adaf2e62e5
2023-05-03 01:30:44 -07:00
8686339726
Fix typo.
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PiperOrigin-RevId: 528763706
Change-Id: Ia8c92fdd7e21ecd456684b4ea443aea017971972
2023-05-02 06:24:18 -07:00
b0bc330b54
Add utility functions for banded-then-dense symmetric matrices.
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PiperOrigin-RevId: 528757637
Change-Id: I916d843140322c28e857100a6b305a041f704d53
2023-05-02 05:58:08 -07:00
Yuval Tassa