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
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
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
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
ed15493aef
Reorganize changelog
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PiperOrigin-RevId: 867201472
Change-Id: I5841bd10656546db7c544ff910ed2983ce88415e
2026-02-08 06:48:14 -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
a52180069c
MuJoCo Warp documentation: Options update
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PiperOrigin-RevId: 865820928
Change-Id: I36fd4c52ad8bcb9cc8ecae7c93410023a4e56ed0
2026-02-05 01:47:51 -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
0ec7259e5c
MuJoCo Warp documentation: Options
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PiperOrigin-RevId: 864932415
Change-Id: I54fc7e8972ea38da783c5537fdfa62644f180e51
2026-02-03 10:14:22 -08:00
24e5b966c3
MuJoCo Warp documentation: remove beta software warning.
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PiperOrigin-RevId: 864761934
Change-Id: I56afaf9bf9e86ed3ea34ff576230d3b3bc4bf28a
2026-02-03 01:56:35 -08:00
55f300b78c
Fix typo
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PiperOrigin-RevId: 862781462
Change-Id: I88844e2148e821ec92e37aa8aab3554c132a4d43
2026-01-29 09:57:09 -08:00
883e69d7b1
Minor improvements to collision sensor documentation.
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PiperOrigin-RevId: 862767431
Change-Id: I53861430e7868b23e37be9694f195a2dd3685db4
2026-01-29 09:22:23 -08:00
57b5ebc92b
MuJoCo Warp documentation: height field collision overflow
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PiperOrigin-RevId: 862454467
Change-Id: Iaccc44aa0c57faf6ad2dbc62f2b727cea2e4980d
2026-01-28 16:55:10 -08:00
8889c13fa7
MuJoCo Warp documentation: Inertia matrix factorization
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PiperOrigin-RevId: 862290080
Change-Id: I7acd30f1fff5cca95ca1139f71710cab5c493561
2026-01-28 10:18:50 -08:00
c5925e7b0e
Improve wording in changelog
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PiperOrigin-RevId: 862288773
Change-Id: I2dcd09ed1fb929396218ee32e99242d9be508b3b
2026-01-28 10:15:11 -08:00
1d44f7a0d0
Minor fix to changelog
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PiperOrigin-RevId: 862213255
Change-Id: I20017785aca047efaead582f84a1ba9769411d41
2026-01-28 06:48:39 -08:00
1d2d0b1c37
Remove batching optimization from GEOM* sensors
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PiperOrigin-RevId: 861938606
Change-Id: Ibb135a4d99cab9ce23a04f844f7c730e8f3b31c8
2026-01-27 16:44:10 -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
0ddbb46fa1
Refactor mjVFS and resource management.
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Resource operations (e.g. mju_openResource, mju_readResource, and
mju_closeResource, etc.) are now all handled by a VFS instance. It
is now up to the VFS to determine which provider to use in order to
handle those operations.
This allows us to dynamically add/remove (aka "mount") providers to
a VFS to handle special requests. mj_addFileVFS and mj_addBufferVFS
have been reimplemented as two such use-cases. Moreover, we expose
the mounting behaviour with two new functions: mj_mountVFS and
mj_unmountVFS.
PiperOrigin-RevId: 861550939
Change-Id: I070eb4bcc2982466c8f368f7918005538baa5185
2026-01-26 23:53:29 -08:00
5fc6ed4eda
Make XML schema dropdown titles clickable links.
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PiperOrigin-RevId: 861182944
Change-Id: I01fec8f102a87f8daf65ad5ba5ed3a09c0022cd0
2026-01-26 07:26:27 -08:00
7f8084ae1d
Rename XML reference icons to avoid anchor issues.
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Before this change:
`https://mujoco.readthedocs.io/en/latest/XMLreference.html#body-site-m `
After this change:
`https://mujoco.readthedocs.io/en/latest/XMLreference.html#body-site `
PiperOrigin-RevId: 861180069
Change-Id: I6f15906c8be463825248487021f9f46fc82a95da
2026-01-26 07:16:08 -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
4a64017a5f
Add documentation for MJX API
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PiperOrigin-RevId: 860108133
Change-Id: I85469efcfe49d320ef8b89c9d174f33499a22b31
2026-01-23 07:53:17 -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
d173ee5bee
MuJoCo Warp documentation: option-ccd-iterations -> option-ccd_iterations
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PiperOrigin-RevId: 858100397
Change-Id: I358875ba56e6769fda75dba72377286c40771716
2026-01-19 02:42:04 -08:00
9ba545b8b0
MuJoCo Warp documentation: Memory.
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PiperOrigin-RevId: 857148640
Change-Id: I7f21bebb2186a5dd4287a8d2ee9b430f823b9051
2026-01-16 07:13:38 -08:00
d86acd7e12
MuJoCo Warp documentation: Warmstart.
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PiperOrigin-RevId: 856608941
Change-Id: Iae1bd0a3916d98affff4d5dbb442f9d951622e52
2026-01-15 04:50:27 -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
cbc1136502
Roll back VFS refactor due internal breakages
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PiperOrigin-RevId: 856273160
Change-Id: I4097e05ed4e48ebee05b4347d0f227d4f39c1b09
2026-01-14 10:38:29 -08:00
cc4c2bc398
Improve wording in changelog.
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PiperOrigin-RevId: 856204666
Change-Id: I6ccf2ea727210e4695fff8d56ff7de10b9ebd73c
2026-01-14 07:29:10 -08:00
d387578783
Refactor mjVFS and resource management.
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Resource operations (e.g. mju_openResource, mju_readResource, and
mju_closeResource, etc.) are now all handled by a VFS instance. It
is now up to the VFS to determine which provider to use in order to
handle those operations.
This allows us to dynamically add/remove (aka "mount") providers to
a VFS to handle special requests. mj_addFileVFS and mj_addBufferVFS
have been reimplemented as two such use-cases. Moreover, we expose
the mounting behaviour with two new functions: mj_mountVFS and
mj_unmountVFS.
PiperOrigin-RevId: 856166919
Change-Id: Id723d612ffc0bff020705cf19ef95fbf24676840
2026-01-14 05:19:57 -08:00
e50e2e9691
Correct dimensions for constraint-related quantities in documentation.
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PiperOrigin-RevId: 856159539
Change-Id: I83f0414a78239cae9c91bb51b16f5e2549891517
2026-01-14 04:54:03 -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
7e21f18fd3
Document compiler/usethread fix.
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PiperOrigin-RevId: 855735924
Change-Id: I5b638ccf2a74194b363cf7c6436f78c1c3d9b0e1
2026-01-13 08:21:27 -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
013268c283
Documentation: Pair-wise colliders.
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PiperOrigin-RevId: 855245724
Change-Id: Iffad5dc426350040f730dc1a7b9766f079ef949e
2026-01-12 08:47:45 -08:00
f0e1d8ce2c
Fix typo in XML reference: damping -> damper.
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PiperOrigin-RevId: 855198029
Change-Id: I2cc2b833e8a7fad8c63d1eb7b3febdd54d0c9056
2026-01-12 06:13:20 -08:00
5979c5aa03
Fix link in changelog.
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PiperOrigin-RevId: 855183695
Change-Id: I9ef63fe03f3b68707ff7eec1813403a08b0a8074
2026-01-12 05:22:14 -08:00
cb9a9c159c
Remove getdir from mjpResourceProvider.
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All known implementations were effectively the same as the default fallback. It was just adding unneeded complexity. Removing this now will help with upcoming improvements to resource providers.
PiperOrigin-RevId: 855163273
Change-Id: I529fc18d0d03a8dc676c909ec9e4b1da1454d414
2026-01-12 04:07:42 -08:00
1d482047d1
MuJoCo Warp documentation: How to fix simulation runtime warnings?
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PiperOrigin-RevId: 855149274
Change-Id: Iccfb85f1ec836cb06235d21d23e913f77a816487
2026-01-12 03:17:13 -08:00
a26f09accf
Standardize function docstring style in MuJoCo API.
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Updates function comments to consistently use a semicolon (`;`) before describing the return value and to use the imperative form "return" instead of "returns".
Also fix error in docstring of `mjp_registerResourceProvider`
PiperOrigin-RevId: 854888532
Change-Id: I311239a2770ded5febece9958ae4e94c1e522600
2026-01-11 09:00:35 -08:00
a5dc57c0c3
Move OpenUSD parsing to usd_decoder
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Add usd_decoder to mujoco/plugin.
- Previously was src/experimental/usd/usd_to_mjspec.cc, now that same spec is returned by the plugin.
PiperOrigin-RevId: 854350962
Change-Id: Ia980190a557c50ce8197980922a2594b613859b4
2026-01-09 14:48:29 -08:00
310ac0c5ac
MuJoCo Warp documentation: When To Use MJWarp?
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PiperOrigin-RevId: 853830564
Change-Id: I9208e9a2f2781efbedc7846f5c13036ef83d5770
2026-01-08 11:54:57 -08:00
166fa17a1c
MuJoCo Warp documentation: inertia matrix automatic sparsity.
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PiperOrigin-RevId: 853805011
Change-Id: I8c0040f3b2b08d8615f1fbf559cdc9841e33438a
2026-01-08 10:47:27 -08:00
ab939683bc
MuJoCo Warp documentation: Why are numerical results from MJWarp and MuJoCo different?.
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PiperOrigin-RevId: 853696967
Change-Id: I0cf8539e341d2aa1cfd07ac75de18128ce9beb3b
2026-01-08 05:34:23 -08:00
07deca990a
Merge pull request #3006 from thowell:mujoco_warp_docs_modifying_fields
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PiperOrigin-RevId: 853619026
Change-Id: I5a5348e1cdbee22e40b516cf8ed649645f54bf6f
2026-01-08 01:32:50 -08:00
f4beb95212
Merge pull request #2990 from google-deepmind:mjwarp_doc_batched_model_field_warning
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PiperOrigin-RevId: 853420667
Change-Id: I540b36611485054851e497c8f74302ac0fbedd36
2026-01-07 14:46:36 -08:00
Yuval Tassa