acf7f030a6
Remove const qualifier from mjData in mj_geomDistance. The function mj_geomDistance will require data stack space as nativeccd memory is determined from opt.ccd_iterations.
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PiperOrigin-RevId: 881946592
Change-Id: I524b9fa41018a581e58647d44de6ca3db4c6608b
2026-03-11 04:55:44 -07:00
6d1c3343af
Update MJX documentation reference to MJWarp viewer
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PiperOrigin-RevId: 881941624
Change-Id: Ieafb85f5b543a3d9212b33191579c1f7a7c09d16
2026-03-11 04:42:45 -07:00
3cada28be7
Update changelog for 3.6.0 release.
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PiperOrigin-RevId: 881671049
Change-Id: I28a1a3341e6f01d916b35ee9fb3a6c12c627fe89
2026-03-10 16:21:14 -07:00
6890e133c0
Add mjs_getCompiler C API and compiler property to Python spec elements.
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PiperOrigin-RevId: 881488083
Change-Id: I3aa1c0562bf2fd27057b8056048e3156fc1b067c
2026-03-10 09:57:36 -07:00
955d6c0b02
Update MuJoCo version from 3.5.1 to 3.6.0 prior to next release.
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The next release will include breaking changes, so this bumps the major
version to reflect that.
PiperOrigin-RevId: 881351265
Change-Id: I970c68a0211651c07fcb8109ebd0b138196cf50a
2026-03-10 04:30:07 -07:00
713b5524bc
Introduces a new "strain" equality mode (flex_edgeequality = 3) for flexcomps with trilinear interpolation. This mode enforces constraints on the three invariants of the Green-Lagrange strain tensor at 8 Gauss quadrature points within each flex element, resulting in 24 equality constraints per flexcomp.
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Also fixes a bug when attaching a flex with constraints.
PiperOrigin-RevId: 881349765
Change-Id: I8e6df8239488bfdc87d7e5b473568975e38c737e
2026-03-10 04:26:07 -07:00
1370a54007
Update changelog with tendon Jacobian changes and memory improvements for tendon Jacobian and actuator moment fields
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PiperOrigin-RevId: 880378857
Change-Id: I761bd209c66f41fc39c9aeaf9832dcb95d7d624c
2026-03-08 03:05:48 -07:00
32ace6d303
MuJoCo Warp documentation: box-box collisions
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PiperOrigin-RevId: 880376073
Change-Id: Ia7f285ff7bfaf5472790a559294e905749575402
2026-03-08 01:55:32 -08:00
6a0ebac4b1
Update MJX feature parity documentation
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PiperOrigin-RevId: 879098992
Change-Id: Ie82749921e373f4c7d032dc8ff77a7022a9e8ae6
2026-03-05 09:07:02 -08:00
df3c8a2c28
Update MJX documentation headers
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PiperOrigin-RevId: 878568549
Change-Id: I8951211b39bf306082fd8c6631c2afddbf34951d
2026-03-04 10:53:59 -08:00
4e83e813d7
Update tactile sensor docs.
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PiperOrigin-RevId: 878468033
Change-Id: I0f36589877f3a93b596a9f848468f11a1ada9dfb
2026-03-04 06:52:48 -08:00
ace8e52407
MuJoCo Warp documentation: Physics callbacks
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PiperOrigin-RevId: 877837005
Change-Id: Ic2a44b75790ca43548245889c17ce2df8d9d4ac8
2026-03-03 02:38:44 -08:00
bf74d01d93
Add collisions between flexes and SDF geoms.
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The flex-SDF algorithm uses the same logic as mesh-SDF. Previous to this change, the flex was instead colliding with the convex hull of the mesh generated automatically with marching cubes from the SDF.
PiperOrigin-RevId: 876420302
Change-Id: I3bf6552b6b8e108ba4c4209bbcf10fe5f2b2fd90
2026-02-27 14:35:27 -08:00
67b6ab0589
Update mjx-warp docs.
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PiperOrigin-RevId: 875966048
Change-Id: I333e8562f3db333f6c64af67cee1f735cb21232d
2026-02-26 17:26:31 -08:00
07cda5a3c4
Refactor MJX warp RenderContext, get rid of brittle pytree owner pattern.
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PiperOrigin-RevId: 875901011
Change-Id: I2ba0734d9ca001ff91361aab6412fe370919344b
2026-02-26 14:49:32 -08:00
b71cdfb4ec
Fix documentation describing relpose for weld equality.
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The documentation incorrectly claimed the position elements in relpose described body2 relative to body1 when it instead is meant to describe the position of the anchor relative to body1.
PiperOrigin-RevId: 875722437
Change-Id: Ib3b1fd9d14976623b08511068ea9e11746a28b02
2026-02-26 07:53:59 -08:00
0c66585e39
Fix typos and minor corrections in MuJoCo documentation and comments.
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PiperOrigin-RevId: 875163889
Change-Id: Ic604d6235bf9cb999058f191e3ee41e47ec1a567
2026-02-25 07:56:31 -08:00
52ed96bc3a
Move tendon sparsity fields from mjData to mjModel
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PiperOrigin-RevId: 875087590
Change-Id: I1a5489d2d2011795ee38b09d547e68acd72e3cc7
2026-02-25 04:32:11 -08:00
d0fc1c2c83
MuJoCo Warp documentation: SDF plugins
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PiperOrigin-RevId: 875063400
Change-Id: Iefa014e3c046a965722c633df0b19771ab481375
2026-02-25 03:16:54 -08:00
27dc92b056
Fix typo in modeling.rst.
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PiperOrigin-RevId: 875053694
Change-Id: Idb6d09d2713f2cc2a09d2b0912a227fe9ac9396a
2026-02-25 02:51:26 -08:00
40e0007849
Restructure numeric constants table in API docs
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Break the monolithic numeric constants table into 6 sub-grouped tables:
Version, Engine constants, Array sizes, Visualization, Rendering, UI constants.
Fix stale values: mjMAXUITEXT (500->300), mjMAXUIMULTI (20->35),
mjMAXUIEDIT (5->7), mjMAXUIRECT (15->25).
Add missing constants: mjMAXLIGHT, mjMAXMATERIAL.
Fix placeholder description for mjMAXFLEXNODES.
PiperOrigin-RevId: 875010581
Change-Id: Id47846de4d98b62cb96087b72ecd28358d5db9c7
2026-02-25 00:54:35 -08:00
6ec808e2ce
Fix attach for spatial tendon. Fixes #3119 .
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PiperOrigin-RevId: 874067521
Change-Id: If8d415278dde2bccf269cc90e8c176e3d7edefa6
2026-02-23 07:38:43 -08:00
ba0a5fe4db
Fix section underline length in MJWarp docs
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PiperOrigin-RevId: 873954878
Change-Id: I40b668b24d04721d8fd4bb61bb5ac7b902ea31f1
2026-02-23 02:25:10 -08:00
6b9e0b9e15
MJX API documentation: add Any to exclude-members
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PiperOrigin-RevId: 873954713
Change-Id: Iafbdb571c4e5b0491d7d91159e84874c58c01a71
2026-02-23 02:24:06 -08:00
9d6d9089e5
Improve solver parameter documentation, in particular for frictional constraints.
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PiperOrigin-RevId: 873364458
Change-Id: Ie4da21abc2ee54d9eaaefc81b3d2624a520ad96e
2026-02-21 09:14:56 -08:00
c428f675e7
MuJoCo Warp documentation: Update installation instructions
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PiperOrigin-RevId: 873032865
Change-Id: I7f75de9ed0d9239b47bc80b321f213aa4014fda6
2026-02-20 12:45:23 -08:00
a79747334b
Merge pull request #3116 from StafaH:render_doc_fix
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PiperOrigin-RevId: 872799423
Change-Id: Iafd5f05264043cb2060f147c4c047ba849b28475
2026-02-20 02:22:32 -08:00
86bca81d18
Update mjx docs and changelog.
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PiperOrigin-RevId: 872535000
Change-Id: I51b05a22ac553c34b436de63f43c7efca6607724
2026-02-19 13:18:10 -08:00
3c5986fe50
Minor edit to MJWarp batch rendering documentation
2026-02-19 07:20:31 -05:00
ccd282b036
Update MJX docs with MJX-Warp.
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PiperOrigin-RevId: 872083735
Change-Id: Id09b82d1f6e7a69ec34353ba35a63edb5eae1046
2026-02-18 16:02:57 -08:00
59bc4fb88e
Fix typo and improve wording in render doc
2026-02-18 15:19:00 -05:00
42514920c4
Merge pull request #3111 from StafaH:main
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PiperOrigin-RevId: 871825088
Change-Id: I1e9c4a559a19427753cfdbacc7c7254ad0cb9c6c
2026-02-18 05:48:03 -08:00
b7875df580
Fixes
2026-02-17 14:54:26 -05:00
4d256c0ff1
MuJoCo Warp documentation: nccdmax / naccdmax
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PiperOrigin-RevId: 871221522
Change-Id: Ia4e5c9a700b809815bd40af048762bfecde9231a
2026-02-17 03:12:50 -08:00
911124f2c6
Add batch rendering to readme
2026-02-17 00:21:10 -05:00
5903d4826f
Sparse ten_J and ten_J_colind
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PiperOrigin-RevId: 869712136
Change-Id: Id2979684aa0c39552cb8453852483cbac55f0ea3
2026-02-13 06:57:22 -08:00
277f469239
Update sensor delay documentation to use "period" instead of "interval".
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PiperOrigin-RevId: 869711956
Change-Id: I981c04aea58b5ce8a1cf8f2cdceba841e7729ccb
2026-02-13 06:56:15 -08:00
42958aab81
Update MuJoCo version from 3.5.0 to 3.5.1 following the 3.5.0 release
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PiperOrigin-RevId: 869654894
Change-Id: I9cacaf4cbb70ad17faa24c3c30ec38ffe91b5deb
2026-02-13 03:54:25 -08:00
716ae107c6
Update dependencies and changelog ahead of the 3.5.0 release.
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PiperOrigin-RevId: 869221912
Change-Id: I77aa1f898009c5d24218434863d0588ddf8a058b
2026-02-12 08:08:14 -08:00
54b8b68b23
Prepare changelog for release
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PiperOrigin-RevId: 869124525
Change-Id: I7ea6f3c1cf163e98b1bc0b8ed87f8e44afd59ab5
2026-02-12 03:16:34 -08:00
14116336e0
Clarify time argument semantics in delayed actuator/sensor reads.
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PiperOrigin-RevId: 869123314
Change-Id: Ib36ef6cfc8d12d1b8a9c98eadc144953447fc444
2026-02-12 03:12:45 -08:00
c54f1fe380
Use semantic versioning.
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PiperOrigin-RevId: 869102767
Change-Id: I8b01b9343289d4ad7d15bcc3634a28e661308a90
2026-02-12 02:11:20 -08:00
a8cf4e012d
Add Colab link for System Identification toolbox.
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PiperOrigin-RevId: 869091889
Change-Id: Ib5ec2e451c7037cc92b4cb1a9c58d05f0049b298
2026-02-12 01:41:40 -08:00
6af0d4c823
Replace margin/gap max with sum.
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PiperOrigin-RevId: 868842521
Change-Id: Ia4a4ca5c6821c5a7b3ba7b0af7f71d981c2866c1
2026-02-11 14:22:27 -08:00
336e1026a4
Sparse ten_J and ten_J_colind memory
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PiperOrigin-RevId: 868834376
Change-Id: Iec92d9e09e3134666895e54a78cb02439d74a4de
2026-02-11 14:05:43 -08:00
b466829482
Fix implicit integrator derivatives when actuator force is clamped.
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The derivatives of actuator velocity with respect to generalized velocities were incorrectly computed when the actuator force was limited by `forcerange`. This CL adds a check to zero out these derivatives when the actuator force is at its upper or lower limit, as the force is no longer a function of velocity in this clamped state.
PiperOrigin-RevId: 868818281
Change-Id: I89742a3f04989dd11f9cfada107200015b1472a7
2026-02-11 13:31:07 -08:00
d011285380
Sparse ten_J and ten_J_colind memory
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PiperOrigin-RevId: 868800229
Change-Id: Id83f9fd40dd9bece06fd99753e4202eea17ca884
2026-02-11 12:45:50 -08:00
883ba2134d
Add System Identification toolbox to changelog.
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PiperOrigin-RevId: 868759286
Change-Id: I7845c0858a9ba8188f02b84259306f2638823267
2026-02-11 11:13:27 -08:00
d881e9e374
Change tex_adr type to mjtSize.
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Adds a test which verifies that we can index into the texture buffer at offsets larger than can be represented by a 32-bit signed int.
PiperOrigin-RevId: 868756646
Change-Id: Ibc1a2b269fce41aec370611b0aab77803837e7a8
2026-02-11 11:09:36 -08:00
7f74487a26
Fix implicit integrator derivatives for actearly actuators.
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The derivative calculation for actuator velocity in implicit integrators now correctly accounts for the `actearly` flag, using the next activation value when `actearly` is true.
PiperOrigin-RevId: 868598722
Change-Id: Ia180afb15b31a718170aeaf9d4ac514bb9e6073b
2026-02-11 04:03:46 -08:00
Kyle Bayes