When an mjpResourceProvider's open callback returns 0 (failure), MuJoCo does
not invoke the corresponding close callback. Previously, several resource
provider implementations allocated heap memory or system file handles before
encountering an error, failing to clean them up before returning 0. This change addresses these leaks across the codebase and clarifies the API contract.
PiperOrigin-RevId: 929803942
Change-Id: Ib7344033726895cdf037a8d9356ffc183c78c2d3
- Update rollout.py to use mujoco.MJTNUM_DTYPE instead of np.float64.
- Update rollout_test.py to use DTYPE for all state/control/sensor arrays to avoid copies and type mismatches.
PiperOrigin-RevId: 928539946
Change-Id: Iee2250c049de799cb0e23ffe5558fe6eea8b3fd8
mujoco.minimize.least_squares now supports x_scale natively, so the
sysid wrapper becomes a thin pass-through. 'jac' is adaptive per
iteration (was static at x0).
This change allows users to provide an optional `step_fn` callable to `StudioApp.update` and `StudioApp.update_from_viewer`. When provided, this function is called to advance the physics simulation instead of the default `step_control.advance`.
PiperOrigin-RevId: 925439890
Change-Id: Ia833503f6dd0c22fb8d75af6c5f06757496853e5
The StepControl::Advance method now accepts an optional std::function to be used instead of mj_step. This allows for custom simulation logic to be executed within the stepping loop. The Python bindings for StepControl::advance have been updated to support passing a Python callable as the custom step function.
PiperOrigin-RevId: 925393132
Change-Id: Id2820c4b55cbdfee6b01adc2395e99a990d4e7a3
Following the export declarations in Dear ImGui and ImPlot METADATA, this change updates MuJoCo's Copybara configuration (copy.bara.sky) to export and transform the Python bindings. `//third_party/dear_imgui/google/py` exports to `python/mujoco/experimental/dear_imgui` and `//third_party/implot/google/py` exports to `python/mujoco/experimental/implot`.
PiperOrigin-RevId: 925293624
Change-Id: Ie6e32d247a6f7fc24bb36ae7060f2075d8efeb26
The field now stores either an approximate or exact diagonal of the constraint matrix A, so the name is made more general.
PiperOrigin-RevId: 924244954
Change-Id: I62b2f76531fb88b7b3bf96e6769940197596702b
Per-parameter scaling via change of variables z = x / D. Supports
'jac' (adaptive D_i = 1/||J(:,i)|| per iteration, matches scipy's TRF),
explicit array, or a positive scalar. Default 1.0 is a no-op.
For example, `compile mujoco_menagerie/robotis_op3/scene.xml` now outputs
```
Compile 1 (cold cache):
total: 317.2 ms
assets: 284.8 ms (wall clock)
load: 616.1 ms
hull: 26.4 ms
poly: 137.8 ms
inert: 177.8 ms
bvh: 568.2 ms
octr: 1.6 ms
tex: 25.3 ms
other: 32.4 ms
Compile 2 (warm cache):
total: 79.9 ms
assets: 54.5 ms (wall clock)
load: 888.5 ms
hull: 0.0 ms
poly: 0.0 ms
inert: 0.0 ms
bvh: 0.0 ms
octr: 0.0 ms
tex: 21.4 ms
other: 25.3 ms
```
PiperOrigin-RevId: 917850214
Change-Id: Iaec86230bec0faf2e47820e20cbff61de5b2621e
with a preconditioned Conjugate Gradient (CG) solver that operates
on the full system matrix.
The previous approach extracted flex DOFs into a reduced banded system,
factored it separately, and overwrote the global solve. This required
precomputed bandwidth (makeFlexBandwidth), parent-joint detection,
coupling corrections, and a FlexInterpContext struct — and only worked
for standalone flex trees without parent joints.
The new CG solver uses the already-factored global system (M - h*qDeriv)
as a preconditioner and adds the flex stiffness contribution via
matrix-free products (mjd_flexInterp_mulKD/mulK). This handles any
kinematic configuration — including flexes attached to articulated
chains or with parent joints — without sparsity pattern restrictions.
Before (`bunny_multicell`):
```
Simulation time : 50.80 s
Steps per second : 197
Realtime factor : 0.20 x
Time per step : 5080.3 µs
CG iters / step : 3.16
Contacts / step : 31.04
Constraints / step : 124.15
Degrees of freedom : 178
Dynamic memory usage : 0.4% of 100M
```
After:
```
Simulation time : 9.52 s
Steps per second : 1051
Realtime factor : 1.05 x
Time per step : 951.7 µs
CG iters / step : 3.21
Contacts / step : 30.90
Constraints / step : 123.61
Degrees of freedom : 178
Dynamic memory usage : 0.3% of 100M
```
PiperOrigin-RevId: 913758038
Change-Id: If5aa617b2d535c86aec9bd71c9e0003a2b38bdd7
The maximum depth of the octree used for SDF generation can now be specified in the mesh definition via `mjsMesh::octree_maxdepth`. The default value is 6.
PiperOrigin-RevId: 912494999
Change-Id: I6d828d1d3999b99d1210a6829a05b04fac591e1f
The new function mjs_getOriginSpec returns the mjSpec that was used to define a given mjsElement. Unlike mjs_getSpec, this value remains constant even after the element has been attached to a different model.
PiperOrigin-RevId: 911930951
Change-Id: Ia9cd79d9dfabc513d6121eadcffc5d41075224c9
This change introduces MjVFS, an explicit object to mirror the C mjVFS. This is meant to replace the MjSpec.assets dict. This latter while convenient guides users towards harmful authoring patterns with respect to data duplication and spec attachment workflows. Making VFS management explicit should encourage better memory usage and allow us to make better compile time optimizations.
From this change, `spec.assets` is deprecated. However we will temporarily support backwards compatibility due to the wide spread usage. An error will be thrown if calling code tries to use a spec that uses both the assets dict and the new MjVfs.
PiperOrigin-RevId: 908772050
Change-Id: I77c6d0369307fc300c954768fed17401261e18da
Matija Kecman