3bbb548991
Add memory management section to readme
2026-02-24 15:04:18 -03:00
f383e60721
Merge pull request #3130 from MatiasManevi:fix-wasm-demo
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PiperOrigin-RevId: 874640066
Change-Id: Ib869283e36343f41cb13cce7405aca3a1584b76e
2026-02-24 09:04:11 -08:00
94acdb33bd
Fix Impl.CPP memory leaks due to mjModel/mjData not clearing from pytree.
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PiperOrigin-RevId: 874622402
Change-Id: I38a00633dea77d940e4b0422f93e9456ad84daf9
2026-02-24 08:17:06 -08:00
1d6ff2cece
Display Bodies as a tree in Spec Explorer.
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Display all other elements under "Elements" or "Assets" group.
Show properties for mjSpec, mjModel, and mjData for selected
elements.
PiperOrigin-RevId: 874614195
Change-Id: I128c2bec844983ac5d35a3a0b1e58b8a5b0109cb
2026-02-24 07:57:44 -08:00
5fc580a8ba
Refactor SDF coefficient computation into mjCOctree.
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The logic for computing Signed Distance Function (SDF) coefficients using TriangleMeshDistance is moved from `mjCPlugin::Make` in `user_mesh.cc` to a new method `mjCOctree::ComputeSdfCoeffs` in `user_objects.cc`. This encapsulates the SDF computation within the octree class.
PiperOrigin-RevId: 874572414
Change-Id: Ia2365c9c4527a252ff1d1bb43fe2c2593761e471
2026-02-24 06:03:59 -08:00
c791f950cb
Enable COOP/COEP headers for wasm Vite dev servers
2026-02-23 18:41:47 -03:00
f27b8d3d70
Move notes into example application section
2026-02-23 18:13:44 -03:00
f989d40d89
Merge wasm readme for package
2026-02-23 18:11:20 -03:00
12c2e98a61
Modify npm package keywords
2026-02-23 17:42:44 -03:00
c6564b1f79
Change package name and artefacts
2026-02-23 17:40:29 -03:00
82e92cbcaa
Remove PluginTest and make MujocoTest load plugins.
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MujocoTest now loads plugins from MUJOCO_PLUGIN_DIR if set.
PluginTest is removed; all tests use MujocoTest directly.
testspeed binary loads plugins from MUJOCO_PLUGIN_DIR.
This is in preparation for moving common asset format parsing (obj, msh, stl, etc.) where we will always want to load those plugins.
PiperOrigin-RevId: 874194428
Change-Id: Id90805a9ba5de4627911b56d8b9c4ab4e1b29310
2026-02-23 12:15:22 -08:00
e895820e24
Check for the UsdPhysicsFilteredPairsAPI in the body parsing function
2026-02-23 12:51:02 -06:00
4fe8f73e44
Add USD parsing for contact excludes
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- Contact excludes use the UsdPhysicsFilteredPairsAPI schema. Body1 is the body with the schema, body2 is contained in the list of filtered targets within the schema.
2026-02-23 12:44:48 -06:00
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
a043df6bdf
Update supported Python versions and remove obsolete 3.9 references.
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PiperOrigin-RevId: 874063785
Change-Id: Ia4b2956b632aae5f0211fa766b6d413edcba8fe2
2026-02-23 07:29:47 -08:00
37e993f67e
Improve upper bound for nJmom by computing maximum number of dofs for tendon transmissions
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PiperOrigin-RevId: 874057077
Change-Id: I83736719cc2d91a899cd5997ea4a91d21cf06c9e
2026-02-23 07:11:31 -08:00
2bf9539234
MJX put_data with impl='warp'
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PiperOrigin-RevId: 874017611
Change-Id: I23a25727d41cd888d90f2ea15b2b534eba5583be
2026-02-23 05:20:07 -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
0f36b0fc2e
Import NVIDIA/warp from GitHub.
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PiperOrigin-RevId: 872969263
Change-Id: Ic890cb53c32593c158a1f3926906b492c7f85348
2026-02-20 10:29:13 -08:00
e5a236774d
Add has_side_effect for pmap bvh refit in mjx-warp.
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PiperOrigin-RevId: 872934001
Change-Id: If48cab439718b9e783c4b1da4fb1b1a08521a602
2026-02-20 09:21:43 -08:00
7d4b615edb
Use correct WIN32 define, not WINDOWS.
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PiperOrigin-RevId: 872866601
Change-Id: I35bb5cc0fdef80cf816a63bb7fc1619ef424c0d0
2026-02-20 06:10:00 -08:00
f9a39413cf
Fix: Include ancestor DOFs in flex interpolation factorization.
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The reduced dense factorization for flex interpolation now considers all DOFs in the kinematic chain of the body containing the flex, using mj_bodyChain, instead of only the DOFs directly associated with that body. This is necessary for correctly handling pinned flexes when their parent body is part of a larger kinematic structure.
PiperOrigin-RevId: 872854468
Change-Id: Idbe9fb459084dde9e8eb1076c70dbb685c1b0bdb
2026-02-20 05:30:54 -08:00
8c9ba9bcf5
Disable plugin on windows.
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PiperOrigin-RevId: 872845569
Change-Id: I4d80c80a47358a2882b2c63c2d655fe374afe65d
2026-02-20 05:00:04 -08:00
f71e215c9a
Include missing header.
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PiperOrigin-RevId: 872835150
Change-Id: I670bddb907b594788bda143c5175bbcb4b427903
2026-02-20 04:23:59 -08:00
0083cf7fa8
Refactor the projectile launcher into a plugin.
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Add a simple GUI for it that allows users to enable/disable
the key binding as well as control some parameters.
PiperOrigin-RevId: 872816645
Change-Id: I8abb2803e17b4f6195d447220c436d4701b24db8
2026-02-20 03:19:53 -08:00
28ad603f6b
Use templates and macros to reduce boilerplate.
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PiperOrigin-RevId: 872805912
Change-Id: I6fc1abe283bc809a95d660abc072906b0810aaeb
2026-02-20 02:42:52 -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
f0bf403254
Add a delete button to the highlighted element.
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PiperOrigin-RevId: 872795277
Change-Id: I63afa9c87b425ebed5d20126e9909ad95532d559
2026-02-20 02:09:36 -08:00
82694b520b
Re-apply changes that were accidentally deleted.
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PiperOrigin-RevId: 872782055
Change-Id: If2f403835cd2d90c88abe9ed82380dfca5b3d9c8
2026-02-20 01:27:57 -08:00
8f56d5eefa
Minor style fixes
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PiperOrigin-RevId: 872669434
Change-Id: I794173b9fad3a286cbf57d246b2f8672412a0e20
2026-02-19 19:16:31 -08:00
ca0552c83b
Cleanup Studio toolbar
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PiperOrigin-RevId: 872618794
Change-Id: I2e8f99dc47937416c8516ed1df7821369211b12f
2026-02-19 16:34:38 -08:00
8ba68cee3e
Limit the number of flex contacts per collision pair.
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This change introduces a filter for flex-related contacts, ensuring that no more than mjMAXCONPAIR contacts are kept for each geom-flex, flex-flex, flex internal, and flex self-collision pair. The contacts are sorted using farthest-point sampling:
- Starts with the deepest penetrating contact
- Iteratively selects the contact farthest from already-selected contacts
- Produces a spatially distributed set of contacts
PiperOrigin-RevId: 872593388
Change-Id: I50b233a0dc66da6a297852c258ba514f131c8f23
2026-02-19 15:32:17 -08:00
fe50efd41a
Sparse tendon Jacobian update for MuJoCo Warp
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PiperOrigin-RevId: 872550625
Change-Id: Ifc5afacb048bec36ef6455072b188396db958002
2026-02-19 13:52:25 -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
62a32386d6
Add pmap support for mjx-warp render.
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PiperOrigin-RevId: 872533248
Change-Id: I828303866c31d33d2367dd9fba4eb42028c67540
2026-02-19 13:14:22 -08:00
84431fbf7e
Improved upper bound for nJten
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PiperOrigin-RevId: 872479828
Change-Id: I750d56320d6ace6145475d378cb9d0c30919438d
2026-02-19 11:09:25 -08:00
9efe41c0c1
Remove dense code path for tendon Jacobian
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PiperOrigin-RevId: 872444531
Change-Id: I6180101abc49469a72aee8bec5726e1e94f142ec
2026-02-19 09:53:49 -08:00
10524c28dd
Track and restore viscous pause state every frame.
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PiperOrigin-RevId: 872382150
Change-Id: I96bddcfb2a0a204c6505e9795dfff97f09834855
2026-02-19 07:06:38 -08:00
a9edc5dd89
Add publish workflow and minimal npm package for WASM
2026-02-19 10:00:17 -03:00
cdc1f266c6
Merge pull request #3114 from thowell:lint
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PiperOrigin-RevId: 872331279
Change-Id: I26848d48e3f66f29f32a9a03ab38f373123abd1d
2026-02-19 04:31:19 -08:00
3c5986fe50
Minor edit to MJWarp batch rendering documentation
2026-02-19 07:20:31 -05:00
ab80bd0916
Allow model holder to release ownership of mujoco structs.
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PiperOrigin-RevId: 872242489
Change-Id: I055f54f4e111cc78c489c12d9ae5c02cfb57169d
2026-02-19 00:06:07 -08:00
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
3c858f871b
Keep render_util arg order consistent between mujoco_warp and mjx-warp.
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PiperOrigin-RevId: 872055868
Change-Id: Ic5b4bdedbdb353dc0b1385cf555261a86407cfdb
2026-02-18 14:57:06 -08:00
57c2316b9e
Merge pull request #3080 from kevinzakka:fix-fusestatic-camera-light-crash
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PiperOrigin-RevId: 872054304
Change-Id: I9eab499002077afa46b236e8eae13100285f362c
2026-02-18 14:53:30 -08:00
59bc4fb88e
Fix typo and improve wording in render doc
2026-02-18 15:19:00 -05:00
485e2eb028
Fix bug in mjx-warp render vmap.
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PiperOrigin-RevId: 871901512
Change-Id: Ifc25e98ffd89284cc6db9248bcca352bb8811e7e
2026-02-18 09:10:34 -08:00
MatiasManevi