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208 Commits

Author SHA1 Message Date
Michiel Blokzijl 508d22f794 Update the GLFW dependency used by MuJoCo to 3.4. 
This makes it possible to build open-source MuJoCo with Wayland support out of
the box.

Currently, it is necessary to run cmake with -DGLFW_USE_WAYLAND=ON and ensure
cmake can find the "ECM" package somehow (a dependency of the 3.3.6 version of
GLFW), for which there is no automated fetching setup. As this is no longer a
dependency of GLFW it seems to make more sense to update GLFW to make out of the
box builds on Wayland.

PiperOrigin-RevId: 800456607
Change-Id: Iffdf1d65319bfb134e580faceb63ac3bed7b9c84
 2025-08-28 07:24:26 -07:00
Yuval Tassa ec94bb49aa Make constraint island discovery on by default. 
Also fix latent bug in mjData serialization.

PiperOrigin-RevId: 799505349
Change-Id: I299e7cc8133fa2ec0b339a7ff3d02543e06778b1
 2025-08-26 04:27:24 -07:00
Yuval Tassa 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. 
See changelog herein for motivation and discussion.

PiperOrigin-RevId: 797392841
Change-Id: If50e9f09e1d07e8363169d3589c32097aeca2432
 2025-08-20 11:30:13 -07:00
Rishi Krishnan ed3ff15870 Update MuJoCo's version number following the 3.3.5 release. 
PiperOrigin-RevId: 792806341
Change-Id: Ic68ecceacc48ddbd6b0c741ae8f0791551e1b4dd
 2025-08-08 16:45:12 -07:00
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
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
Sam Haves 14972d2490 Add mj_loadUSD function. Change simulate to use that instead of manual spec compilation. 
PiperOrigin-RevId: 780608874
Change-Id: I333238c756fe76b371518a7cdf9452b93da3540a
 2025-07-08 10:04:08 -07:00
Sam Haves e80a62c6d5 Allow loading USD files into simulate. 
PiperOrigin-RevId: 776584803
Change-Id: I66a5277b3752d69ba5d44ed419204951edb18d41
 2025-06-27 07:59:21 -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 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
Google DeepMind 6b309b5251 Display equality constraints in the simulate UI. 
Add section for toggling constraint activity to the UI, similar to actuators or joint controls.

PiperOrigin-RevId: 772866923
Change-Id: I017b9195fcf67b5865e9d44d6c8aded64c8bc46d
 2025-06-18 04:42:34 -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
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
Copybara-Service 22bdf22cc7 Merge pull request #2631 from hannesbraun:errno-standard-include 
PiperOrigin-RevId: 763393139
Change-Id: I8e29bd589a8ece02f6dc88a6e943fe03f6bcbf56
 2025-05-26 05:38:45 -07:00
Yuval Tassa bf1f8081c1 Enable Visualization pane in Passive Viewer. Fixes #2158 
PiperOrigin-RevId: 761522429
Change-Id: Ice4322ce413891893c89856e55f60a4f26010cf2
 2025-05-21 07:52:55 -07:00
Yuval Tassa 85c84c1ece Initialize Passive Viewer's internal mjModel and mjData to nullptr. 
Prevents the render thread from calling `mjv_updateScene` before these have been initialized.

PiperOrigin-RevId: 761181568
Change-Id: I4f7f61fdcf7f87dcd6317883e5082d9ce2266e20
 2025-05-20 12:19:07 -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
Hannes Braun af0cb2d365 Use errno.h instead of sys/errno.h 2025-05-15 16:15:51 +02:00
Saran Tunyasuvunakool 6a977d073b Fix GitHub Actions builds. 
PiperOrigin-RevId: 757765160
Change-Id: Idaf86f80a24bc480ce35711cb706a4702a249d31
 2025-05-12 08:00:43 -07:00
Yuval Tassa ecb769fc3a Refactor islands to be memory contiguous. 
PiperOrigin-RevId: 755803476
Change-Id: I41972b07e0d5ef5d0117c94f565b93367b87458b
 2025-05-07 05:06:27 -07:00
Google DeepMind 4137a4c774 Bump version to 3.3.3 following the 3.3.2 release 
PiperOrigin-RevId: 752482043
Change-Id: I3dae8a0b9de2be4d456e856825c18f16f62bf51a
 2025-04-28 16:09:25 -07:00
Yuval Tassa 8f768be2da Remove solver_nisland field from mjData. 
PiperOrigin-RevId: 750527660
Change-Id: I6b34944c92483ea2abc774df75efd868255a2bac
 2025-04-23 03:27:41 -07:00
Gabe Oppenheimer 440ce5eb7a Update the version number to 3.3.2 following the 3.3.1 release. 
PiperOrigin-RevId: 746147577
Change-Id: Idb7b4e7e06a4730b4f2eea8f6600b898e998f8db
 2025-04-10 13:17:20 -07:00
Copybara-Service 699ad13a72 Merge pull request #2503 from Andrew-Luo1:rscope 
PiperOrigin-RevId: 745266549
Change-Id: I15d2eb992aae643ac096650693cc0750421f14c6
 2025-04-08 13:21:47 -07:00
andrew 65500cfbdc improve variable and function names 2025-03-30 22:19:55 -04:00
Kevin Zakka e272e46770 Rename simulate "copy pose" button to "copy state", also save "qvel', ctrl, mpos and mquat if present. SHIFT-click will save values at full precision. 
Example formatting:

```
# default precision
<key
  time="2.99"
  qpos="9.4287e-07 3.02972e-07 1.19963 0.999999 -9.3978e-06 0.00102591 8.06948e-06 -0.000337469 -0.000182994 -0.00282448 -0.000358084 -0.00370829 0.0631084 0.0996347 -0.00161963 0.0260658 -2.09992 -0.00459387 0.0474729 -0.0171906 0.0018216 0.72549 0.00133026 0.724951 0.000816735 0.724389 0.000454671 0.724 -0.00146646 -1.12233e-05 -0.0995942 0.00159877 0.0261695 -2.09993 0.00458912 0.0473279 0.0171317 0.00177837 0.725447 0.00131597 0.724941 0.00081406 0.724393 0.000465918 0.72402 -0.00140271 -1.42355e-05 0.0949171 0.0790632 -0.461397 1.02664 -9.42133e-05 -0.55539 -0.0952333 -0.0790705 -0.460978 1.02899 8.38339e-05 -0.671707 0.401772 0.197427 1.00101 0.999979 0.00125793 -0.00100982 -0.00631542"
  qvel="0.000132784 3.49155e-05 0.000536692 -0.000560519 -0.0242142 0.00693928 0.00119816 -0.000234844 0.00350923 -0.00036047 0.00137217 0.026605 0.000647559 -0.000813737 0.00151335 0.00158296 -0.000628786 0.0184574 -0.000751955 8.75972e-05 0.00017462 9.47749e-05 0.00018949 7.40435e-05 0.000170318 -2.65743e-05 5.67808e-05 0.000256585 -8.77605e-05 -0.00070146 5.90881e-05 0.00186213 0.00150788 0.000645196 0.0183261 -0.00189709 0.000234144 0.000180699 0.00020344 0.000161977 0.000154203 0.000127231 2.28526e-05 -2.85628e-06 0.000232213 2.32483e-05 -0.000415728 0.000285987 0.00873081 0.00361353 5.70155e-05 0.000316513 -0.00778618 0.00404914 -0.0239508 -0.0375704 -0.000528571 4.92965 3.51479e-15 -4.54231e-16 -9.39907e-15 -7.5733e-14 -1.54433e-14 8.71183e-14"
  ctrl="0 0 0 0 0 0 0.106158 0 0 -2.1308 0 0 0 0 0 0 0 0 0 -0.106158 0 0 -2.1308 0 0 0 0 0 0 0 0 0 0.1 0.08 -0.477 1.033 0 -0.556 -0.1 -0.08 -0.477 1.033 0 -0.556"
  mpos="0.5 0 0.5 0.5 0 0.5 0.5 0 0.5"
  mquat="1 0 0 0 1 0 0 0 1 0 0 0"
/>

# full precision
<key
  time="19.78000000000035     "
  qpos="-5.456931939182209e-13 4.210058291674657e-14  1.199596868198444      0.9999997705632744     -1.123107929038176e-05 -0.000677308838908712  -4.574736052563342e-13 4.81467762006399e-06   -0.0001470530836508491 -0.01285126600561344   -0.0003314670141921113 -0.003753266058087929  0.06165064101255623    0.01573179146576803    -3.013291189105153e-05 0.00898818165332332    -0.0005543865919957537 0.001960768693378906   0.003171337599202657   0.05998529721754536    -0.006869809693640725  0.7108455550986151     -2.768022862919269e-05 0.7234287700347743     -2.65358465809282e-05  0.7234305602907817     -2.427451970418236e-05 0.7234340023869628     0.0001444026830625057  0.004779116304496144   -0.01556918200171751   2.367030531882565e-05  0.00887857821391661    -0.0005393749458389281 -0.002002170464405725  0.004065365245773832   -0.059404381452836     -0.006700853036263364  0.7112073591870905     -2.793780628594305e-05 0.7234283783336887     -2.67570932686378e-05  0.7234302250735107     -2.446320244250625e-05 0.7234337167312712     0.0001441442525519209  0.004776981844081063   0.001964241516442131   -0.001279289930183057  0.0009901921906584617  0.005102724602622095   -0.0001969944416873799 0.0006055390861509305  -0.001981889349334628  0.001289775046291938   0.0009924227912350586  0.005084179458414934   0.0001970337430004949  0.0006055492125132441  0.4000059982468001     0.2000006330421453     1.001005166968155      0.9999986986616857     0.001264259603338192   -0.00100188514175821   -2.342548568520312e-05"
  qvel="8.028421913635349e-14  -7.933623204015651e-15 -1.766955416585763e-09 -1.242788325114248e-10 1.380680257623891e-08  4.072776622758517e-13  -2.152263214542579e-08 -3.878177040643757e-09 -7.698904695669224e-07 1.032750347898222e-09  -1.203279562630678e-09 -7.551458300921444e-08 2.469496246057255e-06  8.917880101195273e-08  -6.756803792056489e-06 -2.872076666906819e-06 1.785650772865195e-06  -5.01959632083366e-06  -5.599940213931672e-06 8.890181416091634e-07  1.64456042549838e-06   -1.371426840474208e-09 -2.120678515220117e-09 -2.024654983099582e-09 -3.146661587304676e-09 -2.584650818327909e-09 -4.007447393764789e-09 3.46515937628953e-09   1.271775029987075e-08  -2.488928508740539e-06 -8.746797042033161e-08 -6.8499144406484e-06   -2.901446048768352e-06 -1.790798673741401e-06 -5.013863339758384e-06 5.931327072492727e-06  9.379458926032098e-07  1.728266244061688e-06  -1.546731198107214e-09 -2.391411625987869e-09 -2.205072839286403e-09 -3.425520861505272e-09 -2.768770278332858e-09 -4.29204657928239e-09  3.77970711367913e-09   1.210836106515995e-08  2.48779855243758e-07   1.794262457563144e-08  2.425338558609319e-07  -4.490996387632652e-09 1.5470867213074e-10    -1.056275279772894e-10 -2.528203830071622e-07 -1.984360361016969e-08 2.432485190492325e-07  -4.490126811319184e-09 -1.553085076375719e-10 -1.050844929338509e-10 -5.03087850573677e-15  -3.069973955284326e-15 1.263049899085103e-14  -2.132657422360499e-13 1.240631051776082e-14  7.346260313161907e-14 "
  ctrl="0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                      0                     "
  mpos="0.5                    0                      0.5                    0.5                    0                      0.5                    0.5                    0                      0.5                   "
  mquat="1                      0                      0                      0                      1                      0                      0                      0                      1                      0                      0                      0                     "
/>
```

PiperOrigin-RevId: 741427042
Change-Id: Ib33f3e6215b7933d9267fc4c222d7a0abc75dbb4
 2025-03-28 00:38:19 -07:00
andrew 97092facd6 resolve PR comments 2025-03-27 19:35:36 -04:00
andrew f02fdfe2d1 add handles for text and image overlays 2025-03-14 21:41:28 -04:00
Kevin Sayed 06e217df7e [MJ3.3.1] Bumping internal version number. 
PiperOrigin-RevId: 731876412
Change-Id: I1c0f4a18bbc2e0bf80e01512ea196841848220af
 2025-02-27 14:53:28 -08:00
Kevin Sayed 9996500de9 update the version number to 3.3.0 instead of 3.2.8 
PiperOrigin-RevId: 731397143
Change-Id: I54089f1678097acf7e4998958effb396da1e47be
 2025-02-26 11:42:55 -08:00
Google DeepMind 37d7591ce0 Add support for user-defined figures in the MuJoCo viewer. 
PiperOrigin-RevId: 726983516
Change-Id: Ifb821f3cafb163d4f3077d76b0668037b4bc5a9c
 2025-02-14 10:45:47 -08:00
Gabe Oppenheimer 6436055c6c Update the version number to 3.2.8 following the 3.2.7 release. 
PiperOrigin-RevId: 715870970
Change-Id: I9fc9a09d959043f3029faa7296a717ea56f75c89
 2025-01-15 11:13:27 -08:00
Gabe Oppenheimer c90a63a926 Update the version number to 3.2.7 following the 3.2.6 release. 
PiperOrigin-RevId: 702103729
Change-Id: Id5581cc823a17360e7bb98ac0aa4342020c1aefa
 2024-12-02 15:30:52 -08:00
Kevin Sayed 276f5b04cd Bump MuJoCo version to 3.2.6. 
PiperOrigin-RevId: 693472991
Change-Id: Ic202f52dd42c55c43ba05ca21b5cc6a4024b0c72
 2024-11-05 14:13:08 -08:00
Google DeepMind ffdb800e45 Update the MuJoCo version for the 3.2.5 release following the 3.2.4 release. 
PiperOrigin-RevId: 686641388
Change-Id: I68d5183c9d369b7617f692ab97c12c53f0d2504c
 2024-10-16 14:24:06 -07:00
Gabe Oppenheimer c2024ef6d1 Update the MuJoCo version for the 3.2.4 release. 
PiperOrigin-RevId: 686261295
Change-Id: Ib59e44a6829a79fd480f2822a68cb05f94c38732
 2024-10-15 15:34:09 -07:00
Alessio Quaglino c5a677a9de Fix load error message. Fixes #2135 
PiperOrigin-RevId: 685668168
Change-Id: Ieac7ccca5bee695cf55fc74bd33fadf77a025cb9
 2024-10-14 05:10:58 -07:00
Yuval Tassa 395129bbd3 Improvements to lighting and replication logic in humanoid.xml and 22_humanoids.xml. 
Minor fix to memory usage printing in simulate.

PiperOrigin-RevId: 683787943
Change-Id: I0a42dacc8af0e659c3817df57bceb76d9e4d5ae3
 2024-10-08 15:36:22 -07:00
Yuval Tassa d3a1ca72d8 Report memory usage in simulate using percentage rather than decimal fraction. 
PiperOrigin-RevId: 683098469
Change-Id: I7310848fb87e040996fcfc24991d45bf55872993
 2024-10-07 02:37:58 -07:00
Yuval Tassa 088079eff0 Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations. 
PiperOrigin-RevId: 666438658
Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463
 2024-08-22 12:01:54 -07:00
Yuval Tassa cf3e60f9a4 Fix load time reporting in simulate. 
Before this change, a model which took more than 1/4 seconds to load caused the simulation to pause, which is a behavior that is only supposed to occur for models that loaded with a warning.

PiperOrigin-RevId: 665786861
Change-Id: Ie3a6c8d18a6abbb425a0bbcc5a8e55d5fd7a0c72
 2024-08-21 02:54:10 -07:00
Taylor Howell 2c56946547 Increase mjVERSIONSTRING to 3.2.3 after release. 
PiperOrigin-RevId: 660891033
Change-Id: I2bda69d11cab60a83b0c77bb53214240eacaea62
 2024-08-08 10:31:57 -07:00
Gabe Oppenheimer ebc48d2783 Update the MuJoCo version to v3.2.2 following the 3.2.1 release. 
PiperOrigin-RevId: 660036707
Change-Id: I7e649e5a0ce6db863bcb99dc4fc1aa851b3f5140
 2024-08-06 11:39:30 -07:00
Gabe Oppenheimer d538bf994d Update version to 3.2.1 following the 3.2.0 release. 
PiperOrigin-RevId: 658412236
Change-Id: I4bd6ccb5dee18059eb6fc0d187afe62598845793
 2024-08-01 08:35:42 -07:00
Yuval Tassa 24a555062d Rename mjDSBL_AUTORESETNAN to mjDSBL_AUTORESET. 
- Expose in MJCF.
- Add documentation.
- Improve handling in simulate.

PiperOrigin-RevId: 657606140
Change-Id: I6a27c2f4842d7d4ae32642f2a6255e5f8f1f605a
 2024-07-30 08:41:59 -07:00
Saran Tunyasuvunakool f62792594f Add a new disable flag mjDSBL_AUTORESETNAN. 
PiperOrigin-RevId: 654677473
Change-Id: Id92383fe413729bf6697353aa6e0bc8a946ec7e8
 2024-07-22 03:22:41 -07:00
Gabe Oppenheimer 22ce22ac8a Update the MuJoCo version number ahead of the 3.2.0 release. 
PiperOrigin-RevId: 652578624
Change-Id: I8ed6f66ff1247ff7421e3ed0521cf15e1c0b6c79
 2024-07-15 13:16:06 -07:00
Yuval Tassa 3d1d1d0718 Multithreaded mesh compilation. 
PiperOrigin-RevId: 651358120
Change-Id: Id6272aac84ec6ac1b709d2f4a44b7593307bd158
 2024-07-11 04:21:49 -07:00
Yuval Tassa 17f6b12930 Report model load time in simulate if it takes more than 0.5 seconds. 
PiperOrigin-RevId: 650933302
Change-Id: Id33aa9935a6b4f493dfa9a913f8a424b3f387fa1
 2024-07-10 02:56:47 -07:00
Yuval Tassa 1601ab6078 Remove Makefiles. Fixes #402 
These are no longer needed, as the open-source build uses CMake.

PiperOrigin-RevId: 648340374
Change-Id: Ibc704ca3aaab1c48d245e24b071bed6cd846c110
 2024-07-01 05:51:47 -07:00