b663b7602b
Final preparations for the v3.4.0 release
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PiperOrigin-RevId: 838824676
Change-Id: Icb5a825cb41be4d0730f4a6729b63531d649066f
2025-12-01 10:06:33 -08:00
19e2d0ae2f
Add mj_fwdKinematics and a table improving documentation of the MuJoCo computation pipeline structure.
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PiperOrigin-RevId: 838768130
Change-Id: I1a22d5cdca7db704ba4cea1667fcbecb16b87005
2025-12-01 07:39:00 -08:00
b6e162d6fa
Update MuJoCo version from 3.3.8 to 3.4.0
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PiperOrigin-RevId: 836719207
Change-Id: I28cbc90cee42aebfb5a4201561289ef6747cdc83
2025-11-25 10:16:02 -08:00
888d3a7b07
Add mj_copyState
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PiperOrigin-RevId: 836588419
Change-Id: I7609e121dc0ac697d4d015d4244bdd5962650def
2025-11-25 03:10:30 -08:00
c2e9bfa3e8
Clarify semantic of body_rootid and body_weldid
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PiperOrigin-RevId: 834827589
Change-Id: I562e0aa374ce59d8b769e8d003e4c63ee434a1fc
2025-11-20 10:54:59 -08:00
62872fecd1
Reduce size of mjsTexture.gridlayout (was 13, should be 12)
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PiperOrigin-RevId: 833764817
Change-Id: I2655a729d38a8871be2024492ce2a971fc8a0372
2025-11-18 04:49:05 -08:00
a66cf303f8
Clean up ray functions
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PiperOrigin-RevId: 833299985
Change-Id: I30aabe889ccc5900ff0e50a578e98e176d3effa4
2025-11-17 05:47:44 -08:00
6c15c711ee
Make mjv_cameraFrame and mjv_cameraFrustum public.
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PiperOrigin-RevId: 832187804
Change-Id: I74d05d7fe03bc81bd05a823c7c9791bca12e3079
2025-11-14 00:03:18 -08:00
042c5223a6
Change mj_sizeModel return type to mjtSize.
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PiperOrigin-RevId: 831768095
Change-Id: I079fbadc403b32a3ce8a73fe21b2cd66391401c3
2025-11-13 02:32:18 -08:00
252a0d73df
Add sleep related data structures
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PiperOrigin-RevId: 829055431
Change-Id: I1ccbd77a57044a754ae7db611b4c2c0010fbda53
2025-11-06 12:10:55 -08:00
ad49733db2
Improve error message for insufficient arena memory in _realloc_con_efc.
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PiperOrigin-RevId: 826845370
Change-Id: I09467dd44a6f9f01b89ff6c1d74cde493e84eb1c
2025-11-01 05:54:56 -07:00
57f7145806
Create mjpDecoder, mj_parse, and mju_decodeResource
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- plugin system similar to mjpResourceProvider, but instead of loading a resource it converts an existing mjResource into an mjSpec.
- The returned spec is then composed into the referencing spec.
- This enables different file types to generate arbitrary specs, and allows us to separate format parsing from compilation code.
Follow up CLs will move some of the logic in src/engine for PNG, USD, KTX, OBJ loading into decoders.
The mj_parse function MjSpec from a given file, it's a more generic version of mj_parseXML.
In it's implementation, mj_parse as opposed to mj_parseXML will look for any registered decoder and
not assume we are striclty dealing with MJCF.
PiperOrigin-RevId: 826149497
Change-Id: I0ece26904280cb94bd5ded6dd5a565c539d60254
2025-10-30 12:54:40 -07:00
d769440924
Store asset keys relative to the MJCF. This CL fixes cases when loading a spec with "from_zip" that fails on zipped folders that contain a root directory.
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PiperOrigin-RevId: 825484553
Change-Id: I79c6f542edbd3ffd167d0b5cecc704c32c8d6824
2025-10-29 04:24:09 -07:00
010d919244
Add __setattr__ to _MjBindModel and _MjBindData.
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This allows setting attributes with bind using a list of mjSpec objects as arguments.
PiperOrigin-RevId: 825456920
Change-Id: Ie6af956feab0a805175d7aaecf26e071401fbf05
2025-10-29 02:55:08 -07:00
2bdea1a0aa
Use "/" as default prefix during attach if not specified.
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The user can recover the old behavior by passing prefix="".
This enables to attach children with default and save a valid result to XML.
PiperOrigin-RevId: 825011185
Change-Id: Id20c2589da928bf92b77bdb01cfba73dfc1d2f52
2025-10-28 06:40:34 -07:00
d971e5c2df
Merge pull request #2908 from davidhozic:doc/fix-comments
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PiperOrigin-RevId: 824546229
Change-Id: I9961e7f39d0549ff8b15a1007fb20832a0014bbd
2025-10-27 09:16:01 -07:00
ac2cd5dfd6
Add support for querying of MjsTendon path from Python.
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Fixes #2670
PiperOrigin-RevId: 822215254
Change-Id: Ice5a264e54f963776093511c6e4ac830aae6d4f8
2025-10-21 11:51:24 -07:00
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
056945df20
Enable frames to create the same children as bodies.
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PiperOrigin-RevId: 822097998
Change-Id: I8477d8abe2d6f711421126825fd94d39af1a4e07
2025-10-21 06:57:01 -07:00
59f14485e0
Move mjCWrap type to mjsWrap.
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PiperOrigin-RevId: 821851540
Change-Id: I53382a8a21312a96aea46eec130f43e7cad70f92
2025-10-20 16:28:41 -07:00
b19644bec9
Fix spelling errors
2025-10-21 01:21:47 +02:00
48f10bfcb6
Update MuJoCo to v3.3.8 following the 3.3.7 release.
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PiperOrigin-RevId: 819919328
Change-Id: Ib34f959f6f8efd83362d49e784aa8e0594036899
2025-10-15 14:39:05 -07:00
ae1febd83f
Automated g4 rollback of changelist 818694877.
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*** Reason for rollback ***
BEGIN_PUBLIC
Holding off on a minor version bump until the next release.
*** Original change description ***
#mujoco update the version to 3.4.0 ahead of the 3.4.0 release.
Bump the version to 3.4.0 ahead of the next release.
***
PiperOrigin-RevId: 818748143
Change-Id: I722e9beb80c61a48bd997da6a1840777a81d5036
2025-10-13 11:14:42 -07:00
27e8736fc7
This CL updates the changelog to mark the release of MuJoCo 3.4.0. It also updates the versions of Eigen3, Abseil, and benchmark used in the CMake build.
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PiperOrigin-RevId: 818719010
Change-Id: I865b0f647003d579af9d6c87fa081c4f7cbe34d0
2025-10-13 10:13:01 -07:00
02d2d4d49a
Bump the version to 3.4.0 ahead of the next release.
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PiperOrigin-RevId: 818694877
Change-Id: I42e261956a0219e549bec6a54cbf330a74f02f9f
2025-10-13 09:22:49 -07:00
414888b716
Mark some mjData fields as mutable.
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PiperOrigin-RevId: 815819490
Change-Id: I1a62fda556b4197aec451f2747c69f34bab13220
2025-10-06 11:43:38 -07:00
431f96572e
Remove unused mjOption.apirate.
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PiperOrigin-RevId: 815633571
Change-Id: Ib98f3eb2df47f96fa1fe6e987a3a0cd23a9479f6
2025-10-06 02:51:17 -07:00
e4704cd28b
Create list_dependencies sample to list all dependencies for an MCJF file.
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PiperOrigin-RevId: 814816067
Change-Id: Idc6232e5d1ef1ff0318aeacd0e3d4b4a5a303485
2025-10-03 13:47:28 -07:00
9f796c3e70
Add missing constants to Python bindings.
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PiperOrigin-RevId: 814663674
Change-Id: Ib5abb561a8b950cc6db86b4786ab01cd3326de78
2025-10-03 06:06:22 -07:00
32e08f9507
Expose userfacenormal to mjsMesh
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PiperOrigin-RevId: 814253177
Change-Id: I644974feea0722f03e7c3b01be7b702dba233f0a
2025-10-02 08:53:42 -07:00
6320b95957
Add mju_getXMLDependencies that given an MJCF file returns filepaths to all of it's dependencies.
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PiperOrigin-RevId: 814203235
Change-Id: Ib5c2e2f4dd42224a768c88d76473544190c72bc0
2025-10-02 06:14:48 -07:00
70d03adc71
Store the status of the scene in the scene itself.
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PiperOrigin-RevId: 813119377
Change-Id: Iebff9e7796ca9809ea22902522982bfd96eeba06
2025-09-30 00:06:00 -07:00
6a7566872a
Functions for printing the contents of mjvScene.
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PiperOrigin-RevId: 812699642
Change-Id: Iafff53c952c952624129ff01a8c1b0aa5d38eec5
2025-09-29 02:47:17 -07:00
d71d42a374
Add private function mju_isZeroByte to check for byte-wise zero.
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PiperOrigin-RevId: 810456282
Change-Id: I877d0f9225e7a783ed7ff12ce54f4ed0a7889793
2025-09-23 08:49:43 -07:00
6aa06d2f43
Add _all_fields to MjOption, MjModel, MjData for struct introspection.
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PiperOrigin-RevId: 810066486
Change-Id: I807104fc955a505512287f63b7c184a29c0d150e
2025-09-22 10:27:21 -07:00
0e1104768a
No public description
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PiperOrigin-RevId: 809083979
Change-Id: I5c6641b73c76153c15f5cdf858b788e1433acc81
2025-09-19 10:10:45 -07:00
26ea20a21f
No public description
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PiperOrigin-RevId: 809074980
Change-Id: Ib3e3522addceddba6a057cfef80fcbd30a420b3d
2025-09-19 09:49:07 -07:00
77e025ea98
Move meshdir and texturedir to mjsCompiler.
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For backwards compatibility in the Python bindings, both `spec.compiler.meshdir` and `spec.meshdir` are now allowed.
Fixes #2834 .
PiperOrigin-RevId: 809060113
Change-Id: Ie23f1c5dd57de43568312a8e062906f4013bb474
2025-09-19 09:05:44 -07:00
8e9eb2fa38
Update MuJoCo's version number following the 3.3.6 release.
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PiperOrigin-RevId: 808180152
Change-Id: I23de64cb0968b94c489b29622e4308d16513793a
2025-09-17 09:13:04 -07:00
9af1f55862
Merge pull request #2713 from vidurvij-apptronik:vidur/remove-installing-glfw3-headers
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PiperOrigin-RevId: 808125077
Change-Id: If87b65d2d8607f153dfd66fbfa9a6ca39c98845f
2025-09-17 06:17:42 -07:00
9740705510
Add cache functions to Python bindings.
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PiperOrigin-RevId: 807813218
Change-Id: Ieab2843d92e79c07bc9f98196db51297a456dedb
2025-09-16 13:02:59 -07:00
2287b9f815
Don't prepend meshdir to asset paths in MjSpec.to_zip.
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PiperOrigin-RevId: 806287351
Change-Id: I9afc8251f9cbced9ecd370b39cec6aeff424514b
2025-09-12 07:54:16 -07:00
017e7d5a73
Add light ids.
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PiperOrigin-RevId: 805755907
Change-Id: I92a1b1ea4ce1495c2746fd518f33ab2d1ad81399
2025-09-11 03:20:44 -07:00
4b18009f47
Revert Eigen version
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PiperOrigin-RevId: 805395095
Change-Id: I9c8184f2e667dd7595a6211626be606878f9c04f
2025-09-10 09:34:06 -07:00
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
ea660f4c13
Expose minimal asset cache API.
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PiperOrigin-RevId: 803126923
Change-Id: Iabf63802572f7cb86864b5ece85f44b3f15a4ec0
2025-09-04 12:18:36 -07:00
02a535b44f
Update https://pypi.org/project/glfw/ to 2.9.0.
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This ensures that Python bindings build also uses GLFW 3.4, similar to C/C++
MuJoCo.
The hashes are from https://pypi.org/project/glfw/2.9.0/#files .
PiperOrigin-RevId: 802536702
Change-Id: Ie9cfc17a5f9146fe6731681115f7aaa98fcb323e
2025-09-03 07:01:53 -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
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
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
Gabe Oppenheimer