6ec5f8b9c2
Update Mujoco Deps in preperation for the 3.3.6 release
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PiperOrigin-RevId: 805007266
Change-Id: I9332d0b8439f8941b9dc9889c1e27d54e9a70b99
2025-09-09 12:01:53 -07:00
9d5063799f
Resize keyframes also at the start of compilation.
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Previously, it was assumed that attaching was the last operation performed on the mjSpec, so keyframes resulted in the incorrect size. In order to prevent information loss, we now only allow the resize function to expand the keyframe array, since attach should never remove a degree of freedom.
PiperOrigin-RevId: 804917828
Change-Id: Icfacd207ced1c6aac600d514f8d9065ceff2d347
2025-09-09 08:16:32 -07:00
3b738ebb67
In USD exporting docs change NVIDIA mujoco-usd-converter to Newton.
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PiperOrigin-RevId: 804866989
Change-Id: I9ee060a85a0671e4ca07654a48d791b456a6e1f9
2025-09-09 05:39:07 -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
8d884585dd
Add target relative mouse motion actions.
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PiperOrigin-RevId: 802072880
Change-Id: I1ff204594a126f8e50df4c703709f70ec4dd458c
2025-09-02 03:39:49 -07:00
ee777f74d3
Explain how to build Python and C/C++ sources from the same codebase.
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The previous instructions use a pre-built binary from MuJoCo and do not cover
the use-case of building C/C++ and Python bindings from the same codebase.
PiperOrigin-RevId: 802060401
Change-Id: I6d0b9c7c2269ff596ac706b716ff6c95b42c5d99
2025-09-02 02:51:49 -07:00
8acd83f317
Add passive collision mode for flexes.
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PiperOrigin-RevId: 801754907
Change-Id: I4147af2ee2596519d42cb9a03cf8d5488f0bc3e8
2025-09-01 04:13:58 -07:00
5d598a49a2
Documentation bug fixes.
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PiperOrigin-RevId: 801283863
Change-Id: I85bb11f4970bd6206f99a91cee04c2b99f73c576
2025-08-30 11:03:43 -07:00
b092563cab
Remove mjDSBL_PASSIVE, split it into mjDSBL_SPRING and mjDSBL_DAMPING.
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PiperOrigin-RevId: 800870384
Change-Id: I273e0ceec090901e2620febb67e57914928e94bb
2025-08-29 06:06:28 -07:00
ed6fa7fe09
Remove unused mjMOUSE_SELECT option.
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PiperOrigin-RevId: 799957524
Change-Id: I69d091781dc2a2e4a762d2255d04fc411295602a
2025-08-27 03:19:04 -07:00
7443e685ac
Allow contact sensor subtree1/subtree2 to be any body.
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PiperOrigin-RevId: 799632590
Change-Id: If9cd6c5a3a5f83d89ae024a8f64232ab1f1d603a
2025-08-26 11:00:39 -07:00
debfdf011e
Add some missing Nullable annotations.
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PiperOrigin-RevId: 799527319
Change-Id: If84a3b2f19243ea9cf8b114d1421879d8186eb1d
2025-08-26 05:52:01 -07:00
ec94bb49aa
Make constraint island discovery on by default.
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Also fix latent bug in mjData serialization.
PiperOrigin-RevId: 799505349
Change-Id: I299e7cc8133fa2ec0b339a7ff3d02543e06778b1
2025-08-26 04:27:24 -07:00
2b45b39ce5
Move mjtConstraint from mjmodel.h to mjdata.h.
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PiperOrigin-RevId: 798987338
Change-Id: I3117742de7eb3c16366f266fe0c0651262717cb4
2025-08-24 23:45:14 -07:00
d77ecb3f06
Move mjtConstraintState from mjmodel.h to mjdata.h.
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This is the correct location, this enum is only used in `mjData`, not `mjModel`.
PiperOrigin-RevId: 798860951
Change-Id: I48b9a2afc831bd9a6966cc9586429fd03605bdd2
2025-08-24 12:37:54 -07:00
7479312218
Use LaTeX macros for prettier uppercase subscripts in documentation.
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PiperOrigin-RevId: 798547203
Change-Id: I039886fd15ee022de780a19d0ad6e17d01c306f4
2025-08-23 05:39:36 -07:00
a230aa60c5
Improve mj_addM and associated test
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- Updated docs to clarify that only the lower triangle is touched
- The function was unnecessarily adding the upper triangle in the sparse case
- The test used an unnecessarily large model and stepping it leading to timeouts under ASAN
PiperOrigin-RevId: 798528736
Change-Id: I592cc17dfb62379bb0cd6b332a8eb7e8b0ef6355
2025-08-23 03:56:47 -07:00
a64a26c3ae
No public description
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PiperOrigin-RevId: 798355907
Change-Id: I3a225e3200cbc60ccc3d93f21694a606a7ab296a
2025-08-22 15:04:46 -07:00
93c5665730
Add some missing Nullable annotations.
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PiperOrigin-RevId: 798298579
Change-Id: I773eda7deca10c820345a33835716072e0b9af5a
2025-08-22 12:15:02 -07:00
1fb1810b07
Add ability to specify a material assignment to a mesh asset.
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This extends both the spec and the XML definition to allow specification of a material name on a mesh. This material acts as a fallback in the case that the referencing geom element does not specify a material of it's own.
PiperOrigin-RevId: 798232378
Change-Id: Iaf300c727732744ea1b613e64334ee505ac6e209
2025-08-22 09:11:31 -07:00
2f28473bc1
Remove transposed Jacobian fields from mjData
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No longer computed unconditionally, only ad-hoc where required.
PiperOrigin-RevId: 797753297
Change-Id: I2030fc342c98ff33575b0526dd72e2110c4fcb74
2025-08-21 07:21:24 -07:00
c7a82c32dc
Do not update qacc_warmstart at the end of the solver call; instead, update it at the same time as all other state variables. This change makes mj_forward idempotent.
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See changelog herein for motivation and discussion.
PiperOrigin-RevId: 797392841
Change-Id: If50e9f09e1d07e8363169d3589c32097aeca2432
2025-08-20 11:30:13 -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
eed43f6982
Add section to OpenUSD/Exporting docs linking to mujoco-usd-converter.
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PiperOrigin-RevId: 796420566
Change-Id: I47728e3900720d732162c06f96a231a75d8bc931
2025-08-18 07:44:40 -07:00
b66175eba6
Bending stiffness for curved shells in flex.
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PiperOrigin-RevId: 796361841
Change-Id: I105ea235fe2a8e1bcbde67276d77fa92eed214a1
2025-08-18 04:13:18 -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
6b41fbe72a
Use CSR matrices for dof-dof index mappings
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PiperOrigin-RevId: 795895311
Change-Id: I1000e0ee98906ef35990e73236e85d6354487b82
2025-08-16 13:06:32 -07:00
c0096b51a4
Move ntree to mjModel allocator sizes
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PiperOrigin-RevId: 795855203
Change-Id: Idab185294d53dced9ebf073b782969dc5643b95a
2025-08-16 09:16:41 -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
977f94e9df
Delete sparsity structures from mjData, use the ones in mjModel
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PiperOrigin-RevId: 795067950
Change-Id: If4f52e40ac49f7c6986b33ef9c8b534199dfd21a
2025-08-14 09:13:02 -07:00
7eb13777f8
Put sparsity structures in mjModel, don't use them yet.
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PiperOrigin-RevId: 795032051
Change-Id: I75c69e881980ff9c308acf00bb3a65f4b2ef12f5
2025-08-14 07:37:42 -07:00
1763fa537a
Add ten_length as MJX public field and warp tendon function call to MJX.
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PiperOrigin-RevId: 794869371
Change-Id: I733da169b0092e3165478324697d7aa3569eca8b
2025-08-13 21:54:18 -07:00
d3ff929bc6
Add ten_length as MJX public field and warp tendon function call to MJX.
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PiperOrigin-RevId: 794813523
Change-Id: Ic5684788eca5a3f4fd86193ec5d035d40b3aad35
2025-08-13 18:09:22 -07:00
d7e925bd8a
Add ten_length as MJX public field and warp tendon function call to MJX.
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PiperOrigin-RevId: 794801198
Change-Id: I970ce665339c75910a767a1b24d8ac9c2bd68b1d
2025-08-13 17:27:16 -07:00
ed3ff15870
Update MuJoCo's version number following the 3.3.5 release.
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PiperOrigin-RevId: 792806341
Change-Id: Ic68ecceacc48ddbd6b0c741ae8f0791551e1b4dd
2025-08-08 16:45:12 -07:00
3152458a6b
Update Mujoco Deps in preperation for the 3.3.5 release
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PiperOrigin-RevId: 792755404
Change-Id: I9776bb5e5bf2a891e0fa0fbf486875727e1d13b4
2025-08-08 14:07:00 -07:00
249b0cd87d
Improve field order and comments in mjdata.h
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PiperOrigin-RevId: 792642328
Change-Id: I59330e228a111edec9e86d93d5cdf646b0fab00e
2025-08-08 08:52:35 -07:00
92d77819fd
Note the mjs parsing error in the changelog.
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PiperOrigin-RevId: 792336077
Change-Id: I09cd2eb310c6e2bc74051419f6d69f5db1081cec
2025-08-07 15:40:23 -07:00
2e60d05887
Update Kokoro script to use CUDA 12.8 and manylinux_2_28.
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PiperOrigin-RevId: 791714944
Change-Id: I66850eda0395d913c2c706dbc79625a2f682c380
2025-08-06 09:06:53 -07:00
784c7a419b
Improve builtin hemisphere docs
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PiperOrigin-RevId: 791271829
Change-Id: I391215b5388f4e9e2a17198dbcdbd0c605fda4b4
2025-08-05 10:25:45 -07:00
fde479736e
Finalize built-in mesh example model and documentation
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PiperOrigin-RevId: 791227350
Change-Id: Ibdcdb8a4ee5b3f78c9ae93e1db2a9a2f9d55a80c
2025-08-05 08:32:51 -07:00
705ec6d7fb
Adds built-in superellipsoid mesh.
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PiperOrigin-RevId: 791196831
Change-Id: I1d864f6e620870f016377a4d9e2e26d1a23fd77e
2025-08-05 07:02:52 -07:00
a5d4d1000e
Add built-in supertoroid mesh.
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PiperOrigin-RevId: 791180080
Change-Id: I3a70f50ff4a52a1bd4b88fc30334a574895145b4
2025-08-05 06:06:43 -07:00
5220767457
Add built-in hemisphere mesh.
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PiperOrigin-RevId: 791148546
Change-Id: Ic9ff0c9b0f5fa4fd22d5f7f848f150cf74d378ba
2025-08-05 04:16:24 -07:00
a5a6379f83
Add built-in cone mesh type.
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Also delete `prism` type since it is subsumed by cone.
PiperOrigin-RevId: 790992343
Change-Id: I7a9c6f2a4377489173acd64b23086c748d2cee8e
2025-08-04 19:35:32 -07:00
4a91c34239
Modify warp-lang deps.
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PiperOrigin-RevId: 790925317
Change-Id: I1db6c1820270722afa6a3475a1088d1553571295
2025-08-04 16:00:24 -07:00
3d537c85ef
Fix mjcPhysics typo in USD docs.
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PiperOrigin-RevId: 789385654
Change-Id: Ib15450e81258e3d202d8123c0c43f8421ebefed6
2025-07-31 10:23:53 -07:00
47bc16a37c
Add mujoco_warp as an implementation in mjx.
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PiperOrigin-RevId: 789366860
Change-Id: I84b49e744552092434df49d855f1052b04291b87
2025-07-31 09:33:35 -07:00
700da7c5bd
Add initial documentation for experimental OpenUSD support in MuJoCo.
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PiperOrigin-RevId: 789365870
Change-Id: I19cce03ec2ffc28cdf4252bfd02c8b5163bb5ba2
2025-07-31 09:30:50 -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
Rishi Krishnan