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
f1bcac2952
Merge pull request #2893 from joanllobera:fix/passive-attribute-droped
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PiperOrigin-RevId: 878958794
Change-Id: I2d1fe080bd02b5c3e685cefbf36d45821cdfb46d
2026-03-05 03:18:10 -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
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
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
c54f1fe380
Use semantic versioning.
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PiperOrigin-RevId: 869102767
Change-Id: I8b01b9343289d4ad7d15bcc3634a28e661308a90
2026-02-12 02:11:20 -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
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
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
4fa062c7e5
Update unreleased MuJoCo version from 3.4.1 to 3.5.0.
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PiperOrigin-RevId: 868169291
Change-Id: I8041842811f5f664c80116993315f50d549b5575
2026-02-10 08:52:04 -08:00
6419534bad
Add actuator and sensor delays. Fixes #1004
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PiperOrigin-RevId: 866478839
Change-Id: Id21a6da0f98454c8fa39ea5af8a5e213d6eae497
2026-02-06 08:47:36 -08:00
5fb47df197
Add mjData flags marking lazily evaluated pipeline stages
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PiperOrigin-RevId: 861763477
Change-Id: Ib613c56949264573a16306800658f868d2aa7665
2026-01-27 09:45:06 -08:00
ba32568138
Move flex vertex-edge adjacency to mjModel.
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PiperOrigin-RevId: 861717037
Change-Id: I2ad8090b0318cb04b43d13966cb42260c82ef930
2026-01-27 07:41:47 -08:00
7da271c687
Add vertex equality option.
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PiperOrigin-RevId: 860299454
Change-Id: I7befd8e5f4c8bac6d74684a96a9cc3cee9ae1e29
2026-01-23 16:30:05 -08:00
30b903b6c0
Migrate mjModel size fields from int to mjtSize.
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This change updates all size-related members within the `mjModel` struct from `int` to `mjtSize`. This allows MuJoCo to handle models with a larger number of elements. Corresponding changes were made to macros, function signatures, and I/O routines to accommodate the new `mjtSize` type.
PiperOrigin-RevId: 860144595
Change-Id: I701c6d607715d240766b6210a9773cd9e4258c59
2026-01-23 09:41:49 -08:00
54dd623650
Add vertex-based flex constraints (dim=2).
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PiperOrigin-RevId: 859552050
Change-Id: I61d4b9dc40f041c5b930e5f8810a803e8bccb87a
2026-01-22 04:54:53 -08:00
e56b31e98f
Reduce flexedge_J size from nflexedge x nv to the effective sparse size.
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PiperOrigin-RevId: 856290141
Change-Id: Ide297d1b6f0e3aa07e3e20bf9ab44b6501097695
2026-01-14 11:18:41 -08:00
218226fc95
Breaking change: Add surface normal output to MuJoCo raycast functions.
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PiperOrigin-RevId: 855781592
Change-Id: Id96b1ca7eaf722e260cc69d7706c28dc51f52d92
2026-01-13 10:22:21 -08:00
a49576e469
Move flexedge sparse Jacobian indices to mjModel.
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PiperOrigin-RevId: 855718305
Change-Id: Ic136f4efa6735b934288f65c332d71ee8b0f6da5
2026-01-13 07:33:17 -08:00
608115ab95
Add output attribute to camera elements.
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This attribute allows specifying the intended output types (e.g., RGB, depth, normal) for each camera in the XML. The output types are stored as bit flags in `mjModel`.
PiperOrigin-RevId: 853316261
Change-Id: I1ad2e94102593cf402756f8f4c80509371ca86d2
2026-01-07 10:22:27 -08:00
70bc7be4bc
Add additional data fields that can be reported by rangefinder sensors.
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PiperOrigin-RevId: 848316991
Change-Id: Idbf7ba81b4da711a22c23302c8782ab2b0b98d82
2025-12-23 15:33:00 -08:00
b8a4ac5d48
Refactor camera orthographic attribute to projection enum.
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PiperOrigin-RevId: 847069028
Change-Id: I7f686fe654e9b56519cab8bd2f37c9cc40091d3f
2025-12-20 03:28:29 -08:00
7190bd4912
Add flag for depth rendering.
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PiperOrigin-RevId: 846203691
Change-Id: I5ec494446bcfc1f7c81536a87dd24f9967973563
2025-12-18 04:36:26 -08:00
1ff74ba810
Change the type of state signature arguments from unsigned int to int
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PiperOrigin-RevId: 843162492
Change-Id: I51d3324f088e8055898e115bdd32267c5950a412
2025-12-11 04:34:36 -08:00
caec236b2f
Make mj_loadModelBuffer a public API.
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PiperOrigin-RevId: 843105390
Change-Id: I4058471b4cf64995dd5ab43e9c8c24e322004b62
2025-12-11 01:24:17 -08:00
96e376451c
Update MuJoCo version from 3.4.0 to 3.4.1 following the 3.4.0 release
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PiperOrigin-RevId: 840914696
Change-Id: Iffabc70dd174384ba1c535cafcd34982ff8e5712
2025-12-05 16:15:56 -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
86a77ff8eb
Change mjtSize from uint64_t to int64_t.
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This change makes `mjtSize` a signed, rather than unsigned 64-bit integer. While sizes are non-negative, the type promotion rules for unsigned integers can lead to unituitive downstream bugs, and 8 billion terabytes are enough bytes.
PiperOrigin-RevId: 834292964
Change-Id: Iea9c47c2a5d80fde63851a543d59ed0549db0f01
2025-11-19 07:55:54 -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
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
1a9469765f
small syntax fixes
2025-10-21 10:58:17 +02:00
36bb957db1
cut extra long line to make sure it passes the syntax checks
2025-10-17 10:42:27 +02:00
92cb306ba5
removed Passive, added Damper and Spring objects
2025-10-17 09:58:07 +02:00
0001fe221c
Revert "redid the global settings according to suggested guidelines"
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This reverts commit 655b961c89
2025-10-17 09:42:40 +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
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
655b961c89
redid the global settings according to suggested guidelines
2025-10-13 14:50:08 +02:00
cfd487c315
BUGFIX: when parsing a unity scene with mujoco element,s the mujoco package generates a value for the attribute "passive", but the attribute has been droped, it is not valid anymore in unity 3.3.6
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this makes old mujoco scenes that work in unity not work anymore when upgrading the mujoco version.
2025-10-08 16:50:22 +02:00
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
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
0e1104768a
No public description
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PiperOrigin-RevId: 809083979
Change-Id: I5c6641b73c76153c15f5cdf858b788e1433acc81
2025-09-19 10:10:45 -07:00
Michael Moss