e9de358bfc
Merge pull request #3076 from yurekami:fix/plugin-symlink-loading
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PiperOrigin-RevId: 868602117
Change-Id: Ice4d7991f46dad45736864baebd7378cc24e9d4f
2026-02-11 04:13:41 -08:00
91751a506b
Merge pull request #3082 from aftersomemath:sysid-pr2
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PiperOrigin-RevId: 868599752
Change-Id: Ifb57f34857d542b542b8ac9f047397c651f8008b
2026-02-11 04:06:44 -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
e89dae359e
sysid: named ic construction, bug fixes, docstrings, README, more tests
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Co-authored-by: Kevin Zakka <kevinarmandzakka@gmail.com >
2026-02-11 00:22:56 -05:00
730d494b7f
Focus default camera on the model if available.
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PiperOrigin-RevId: 868407477
Change-Id: Iac37bcfe8657dededeeecc70db3e4ac18f8ef151
2026-02-10 18:17:33 -08:00
6715a0ceaa
Expose mju resource functions to public header.
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Many of these functions are useful when writing a custom decoder.
PiperOrigin-RevId: 868321921
Change-Id: I7e0dd285e0559b6f486acf8cbf4376ff8d91943d
2026-02-10 14:31:41 -08:00
210cf86486
Use kernel cache dir per mjx-warp test fixture.
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PiperOrigin-RevId: 868259579
Change-Id: I9f1346899591ca603ad2e34949d22b78c464c2ad
2026-02-10 12:10:28 -08:00
419b96cb91
Reduce simulation steps in MjCollisionTest.PinchingSucceeds.
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PiperOrigin-RevId: 868229821
Change-Id: I781955a8f06ca2338baa713ff6a3448b4743b35e
2026-02-10 11:05:10 -08:00
3ec09f7296
Merge pull request #3079 from aftersomemath:sysid-pr
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PiperOrigin-RevId: 868229512
Change-Id: I790bc08fc8b0745583a2f92d9ee2c5a19ba558ea
2026-02-10 11:04:12 -08:00
3c107b3047
Add stage_in and stage_out for MJX-Warp.
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PiperOrigin-RevId: 868180029
Change-Id: I0d1b17b6023d32498766b5d1d9e5624bd31cda3d
2026-02-10 09:19:09 -08:00
7ef3ae6ad1
Merge pull request #3061 from LouRohanNV:fixUsdMaterialInterfaces
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PiperOrigin-RevId: 868177637
Change-Id: I2de8f2af3b5fc126d103256b1ea00c5f8c7a8955
2026-02-10 09:12:10 -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
e16ee4fcb4
Fix flex-parent coupling in implicit integrator.
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The implicit integrator was not correctly accounting for the off-diagonal coupling terms between flex and non-flex (parent) degrees of freedom in the mass matrix. This change extracts these coupling terms during the factorization step and applies a correction to the flex forces before solving for the flex accelerations, ensuring that the parent accelerations influence the flex dynamics. A new test verifies that the implicit integrator now matches Euler for small timesteps in a model with flex-parent coupling.
PiperOrigin-RevId: 868098126
Change-Id: Ia8cccd7dd428cd0c0898e1663a7e41017a2311b2
2026-02-10 05:35:48 -08:00
e93a69ea01
Add MjcPhysicsEqualityConnectAPI to MjcPhysics for equality/connect parsing.
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PiperOrigin-RevId: 867736241
Change-Id: I2d4e9abcb14280dcfbbf63ff5f888fb57350cfb6
2026-02-09 13:02:42 -08:00
0041fdcbb0
Add implicit stiffness for flex_interp to mj_implicitSkip.
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PiperOrigin-RevId: 867706885
Change-Id: Ic94c65b618a415609bffe3d69a86f9034f2d2400
2026-02-09 11:54:27 -08:00
c1b3b3063e
Fix gravcomp being ignored for movable bodies without joints. Fixes #3066
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PiperOrigin-RevId: 867679545
Change-Id: I8c16d3a4c93d121fcc30cab5179ba44fe49aaa19
2026-02-09 10:55:07 -08:00
b637d7eb76
Call kinematics in case of state mismatch in get_data_into with CPP backend.
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PiperOrigin-RevId: 867667583
Change-Id: Ieec5ff86f6768c11459795068abf17f69bd26f3c
2026-02-09 10:29:27 -08:00
a1f2b87548
Ignore sysid tests.
2026-02-09 09:58:34 -08:00
146a5c08f7
System identification toolbox for MuJoCo.
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This resulted from a lengthy collaboration with @kevinzakka, @jonathanembleyriches, @nimrod-gileadi, @gizemozd, @quagla, and @yuval.
2026-02-09 12:12:24 -05:00
be93e8eeb2
Give Resource Providers a chance to load files.
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File resolution only checks local file system. Resource providers may still
be able to load from a path even if it is not resolved.
PiperOrigin-RevId: 867534134
Change-Id: I802566136b965ad839393f56a4d4924dda2e1973
2026-02-09 04:23:44 -08:00
8557cf201b
Allow root models to be in a subfolder.
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PiperOrigin-RevId: 867217045
Change-Id: Iae6f7c7f137c2b229b52d93aacea1a4c9e06003e
2026-02-08 08:08:09 -08:00
ed15493aef
Reorganize changelog
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PiperOrigin-RevId: 867201472
Change-Id: I5841bd10656546db7c544ff910ed2983ce88415e
2026-02-08 06:48:14 -08:00
d680b3d234
Rename "delay" buffer functions to "history" buffers.
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The functions and associated tests related to managing time-stamped data buffers have been renamed from `mju_delay*` to `mju_history*` to better reflect their general purpose beyond just handling delays.
PiperOrigin-RevId: 866978339
Change-Id: I8655e91bce783287ad2adc412d13a1c39aa2c322
2026-02-07 14:10:16 -08:00
3497b7658c
fix: resolve symlinks when loading plugin libraries
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Use stat() instead of d_type to check if a file is a regular file
when scanning for plugin libraries. This allows symlinked plugins
to be loaded, which is common in ROS 2 workspaces built with
colcon build --symlink-install.
The stat() approach also handles filesystems that report DT_UNKNOWN
for d_type (e.g., NFS, XFS), making the code more robust.
Fixes #3072
2026-02-07 02:45:22 -08:00
e6639f1e29
Apply prefix/suffix to flex material names.
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PiperOrigin-RevId: 866518766
Change-Id: I5f042f52a27d2a6c66fe9642bccc73328fe14603
2026-02-06 10:32:32 -08:00
74d657a777
Add X macros for mjVisual and mjStatistic.
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PiperOrigin-RevId: 866502731
Change-Id: I7cfaf3cd96512d93c801b7611eedb71689e21a5b
2026-02-06 09:53:22 -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
84fa527723
Add delay buffer utilities to engine_util_misc.
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PiperOrigin-RevId: 866450284
Change-Id: I86d6dd6a6f7519640f75ca405fb60a12e8619c86
2026-02-06 07:22:34 -08:00
60b5b1d59d
Fix include path.
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PiperOrigin-RevId: 866348008
Change-Id: Ie67fc38ac108810c1ecbefbb8d26c394d988956b
2026-02-06 01:52:03 -08:00
3e8a81383a
Move mjSpec/mjModel/mjData management into a separate class.
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PiperOrigin-RevId: 866327584
Change-Id: I72f6ec656e193f67dee22214fe01c517432f87e5
2026-02-06 00:51:15 -08:00
eb7aaa2868
Internal changes.
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PiperOrigin-RevId: 866317956
Change-Id: Ic92c0f9b7005198025e388f83dff630253240b3b
2026-02-06 00:22:31 -08:00
c63ba211e5
Refactor MjcPhysics EqualityJointAPI polynomial coefficients.
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The single array attribute `mjc:polycoef` has been replaced by five individual double attributes: `mjc:coef0`, `mjc:coef1`, `mjc:coef2`, `mjc:coef3`, and `mjc:coef4`.
PiperOrigin-RevId: 865947359
Change-Id: If9d14a77b0a06e5dc712eeadd6e9402411570706
2026-02-05 07:56:11 -08:00
7b0b3cf8e3
Set CMAKE_INSTALL_RPATH for USD decoder plugin.
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PiperOrigin-RevId: 865918418
Change-Id: If56b83925301b8d02411c35ae5906901a8dd97f8
2026-02-05 06:37:18 -08:00
6afd742f43
Fix trilinear flexcomp with unused vertices.
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Fix a crash and dimension mismatch issue in user_flexcomp when dealing with interpolated="true" meshes that contain unused vertices. Previously, vertbody would correspond only to used vertices while vert included all vertices, leading to assertions or out-of-bounds access. Also enable node pinning for interpolated meshes.
PiperOrigin-RevId: 865881995
Change-Id: Id150f00f22b5f48896ffbffddf03c57b252de8c0
2026-02-05 04:41:02 -08:00
a52180069c
MuJoCo Warp documentation: Options update
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PiperOrigin-RevId: 865820928
Change-Id: I36fd4c52ad8bcb9cc8ecae7c93410023a4e56ed0
2026-02-05 01:47:51 -08:00
a6a639003f
Fix number of textures in BM_CompileManyTextures to 100.
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PiperOrigin-RevId: 865475996
Change-Id: I63fd1e8b9aaff9536a9609d8f8390f8c9473785e
2026-02-04 10:35:20 -08:00
d07f39b4a0
Add graph mode to MJX, in preparation of supporting staged graph capture.
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PiperOrigin-RevId: 865380826
Change-Id: I840b48027e1142f87eb745d0d19b0cd3e87904b2
2026-02-04 06:38:13 -08:00
b37caf6d0c
Show save dialog (instead of open dialog) as needed.
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PiperOrigin-RevId: 865374467
Change-Id: I599333659b12b05b7c779115fa397302f4978751
2026-02-04 06:20:01 -08:00
1a0fe29c41
Make missing decoder non-failing.
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Otherwise, if you try to open a random file in studio, it will crash.
PiperOrigin-RevId: 865372002
Change-Id: I96d3121b6de792daaff53155ea2436ac3f6668db
2026-02-04 06:12:54 -08:00
1a9ca3239a
Replace comma operator with semi-colon.
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PiperOrigin-RevId: 865353927
Change-Id: I3498d8dc17f96caf8fa1975613ed6a815d2f20e7
2026-02-04 05:14:17 -08:00
c2ede20d08
Move model_, data_, and spec_ into private accessors.
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This is in preparation for an upcoming change.
PiperOrigin-RevId: 865332731
Change-Id: I74041b3caf5de841f583f76682e1ced049557202
2026-02-04 04:02:52 -08:00
0add985a15
Handle null camera and vis_option.
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PiperOrigin-RevId: 865088406
Change-Id: I4a3bf7f6cb696de1461bc53fd5d77b941ea0c0c5
2026-02-03 16:06:06 -08:00
1bd72428f1
Perform ImGui calls only when a context is available.
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PiperOrigin-RevId: 865072901
Change-Id: I4b35d953df2f686d2f02f8e0aede7109729b5e04
2026-02-03 15:29:44 -08:00
144a8a9e85
Make EGL utils conditional on EGL.h.
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PiperOrigin-RevId: 865064686
Change-Id: I3728de6e49e4c36d76b410c2458767f74df069c9
2026-02-03 15:09:51 -08:00
feb3abcccf
Fix paths.
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PiperOrigin-RevId: 864933655
Change-Id: I44f34b47fe4f6725de59c6565f6b2b557b80eaa6
2026-02-03 10:16:19 -08:00
0ec7259e5c
MuJoCo Warp documentation: Options
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PiperOrigin-RevId: 864932415
Change-Id: I54fc7e8972ea38da783c5537fdfa62644f180e51
2026-02-03 10:14:22 -08:00
ef8e6802ef
Move EGL initialization into a separate class.
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Initialize the EGL context in the Renderer when using the classic
rendering engine with no window.
PiperOrigin-RevId: 864884976
Change-Id: Ic6cc4637855a361e41f3bfb4b738c012ec93711f
2026-02-03 08:12:35 -08:00
7ec8b6e341
Pause sim when loading an empty model.
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PiperOrigin-RevId: 864855430
Change-Id: Ib8c2b0949ee6fda8dd1490017e146d792119e840
2026-02-03 06:49:58 -08:00
34add7bb32
Removing trailing newline in zenity file dialogs.
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PiperOrigin-RevId: 864842389
Change-Id: Ie4cc61a91732fcde0ef2c7eba927aede217b2e6d
2026-02-03 06:15:37 -08:00
e82253e86c
Prevent file dialog from reopening after being dismissed.
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PiperOrigin-RevId: 864842269
Change-Id: I91819a3418875fe06dbed0cf7777e1dc7d358079
2026-02-03 06:14:35 -08:00
Copybara-Service