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
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
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
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
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
7e21f18fd3
Document compiler/usethread fix.
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PiperOrigin-RevId: 855735924
Change-Id: I5b638ccf2a74194b363cf7c6436f78c1c3d9b0e1
2026-01-13 08:21:27 -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
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
775c0698c3
MJCF schema: use responsive grids for attributes
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PiperOrigin-RevId: 853263519
Change-Id: I79cb6e6208061d9546f0dca7a941838caa6b1a91
2026-01-07 08:00:16 -08:00
3868ed0382
Improve XML schema usability
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PiperOrigin-RevId: 852820889
Change-Id: I04eea45161f9e71f9ccf49afad57ff28fd099b35
2026-01-06 09:51:36 -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
9d646e6548
Extend rangefinder sensor to support cameras.
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PiperOrigin-RevId: 848255889
Change-Id: I6e1a9ed13d29d2242558625a47e24e47ad6e87db
2025-12-23 12:04:49 -08:00
c7f5766345
Add frustum visualization for orthographic cameras.
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PiperOrigin-RevId: 847698917
Change-Id: I13633e8ba2d4718b127a5838c404ab74c6180e3d
2025-12-22 03:43:54 -08:00
158525269b
Refactor camera intrinsic parameter handling.
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Move logic from parser to compiler.
PiperOrigin-RevId: 847689906
Change-Id: I844746081973205e1b33a3845add842e8b8c3c07
2025-12-22 03:08:18 -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
c064abc3da
Change row-flipping logic for heightfields.
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Move row-flipping logic from `mjCModel::CopyBack` to `mjXWriter`.
PiperOrigin-RevId: 842220322
Change-Id: I6fb09db6c9e8689f6e435f82f58dd3e7c4314478
2025-12-09 07:02:21 -08:00
a9fe8340bf
Remove extraneous colons in XMLreference
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PiperOrigin-RevId: 837017632
Change-Id: Ie89adf4fd3725cfa4b8eb0bcddedd4fa886ed8fb
2025-11-26 01:56:28 -08:00
a0cb97eb4d
Improve attach docs.
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PiperOrigin-RevId: 834366494
Change-Id: I9086097990f09e848d0b76d9c22f4fd2bbd70718
2025-11-19 11:08:36 -08:00
8734cab366
Add sleeping documentation
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https://youtu.be/vct493lGQ8Q
PiperOrigin-RevId: 829390353
Change-Id: I92f85a03be0bb585d2d8e29de1ed1a2e848f247f
2025-11-07 05:12:42 -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
3a7aa84e53
Add quadratic stiffness to flex.
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PiperOrigin-RevId: 827409919
Change-Id: I3dff8ea49fb1726fec4acf5b91138d6d52c4bfba
2025-11-03 03:01:38 -08:00
37563a050e
Remove obsolete docs references to convexhull.
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Fixes #2912 .
PiperOrigin-RevId: 825679563
Change-Id: I8ee14415fb1eb64ece5cf4f3c07d016126025364
2025-10-29 13:17:48 -07:00
64add36adb
Update documentation to be compatible with PDF generation
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PiperOrigin-RevId: 822081040
Change-Id: I935b08751109e973398bc61c21f7217408983494
2025-10-21 06:02:53 -07:00
98682ae284
Do not modify mesh position when fitting a geom to the mesh AABB.
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Also, unify the meaning of fitting a geom to an AABB: it now means to find the smallest geom such that its AABB contains the mesh AABB.
Fixes #2881 .
PiperOrigin-RevId: 817097544
Change-Id: I883c686feffa803bd16ba461db24a474dfec7712
2025-10-09 03:05:00 -07:00
431f96572e
Remove unused mjOption.apirate.
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PiperOrigin-RevId: 815633571
Change-Id: Ib98f3eb2df47f96fa1fe6e987a3a0cd23a9479f6
2025-10-06 02:51:17 -07:00
50920450d2
Update box geom docs.
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PiperOrigin-RevId: 814646973
Change-Id: I6ef294c2b740ca2ebbf2501974120d13d08bf56e
2025-10-03 05:00:26 -07:00
9a5acbd662
Clarify subtree definition and self-collision matching in contact sensor docs.
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PiperOrigin-RevId: 811731260
Change-Id: Ib890c59f67489de7d482cb239c146a9d565b6027
2025-09-26 02:34:56 -07:00
fe8384b6c5
Visualize joint and tendon limits by re-coloring.
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PiperOrigin-RevId: 811590674
Change-Id: I5b65f2294a4bcda3c321fb51ebf29501bd0d416d
2025-09-25 19:02:26 -07:00
9d5063799f
Resize keyframes also at the start of compilation.
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Previously, it was assumed that attaching was the last operation performed on the mjSpec, so keyframes resulted in the incorrect size. In order to prevent information loss, we now only allow the resize function to expand the keyframe array, since attach should never remove a degree of freedom.
PiperOrigin-RevId: 804917828
Change-Id: Icfacd207ced1c6aac600d514f8d9065ceff2d347
2025-09-09 08:16:32 -07:00
8acd83f317
Add passive collision mode for flexes.
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PiperOrigin-RevId: 801754907
Change-Id: I4147af2ee2596519d42cb9a03cf8d5488f0bc3e8
2025-09-01 04:13:58 -07:00
5d598a49a2
Documentation bug fixes.
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PiperOrigin-RevId: 801283863
Change-Id: I85bb11f4970bd6206f99a91cee04c2b99f73c576
2025-08-30 11:03:43 -07:00
b092563cab
Remove mjDSBL_PASSIVE, split it into mjDSBL_SPRING and mjDSBL_DAMPING.
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PiperOrigin-RevId: 800870384
Change-Id: I273e0ceec090901e2620febb67e57914928e94bb
2025-08-29 06:06:28 -07:00
7443e685ac
Allow contact sensor subtree1/subtree2 to be any body.
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PiperOrigin-RevId: 799632590
Change-Id: If9cd6c5a3a5f83d89ae024a8f64232ab1f1d603a
2025-08-26 11:00:39 -07:00
ec94bb49aa
Make constraint island discovery on by default.
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Also fix latent bug in mjData serialization.
PiperOrigin-RevId: 799505349
Change-Id: I299e7cc8133fa2ec0b339a7ff3d02543e06778b1
2025-08-26 04:27:24 -07:00
1fb1810b07
Add ability to specify a material assignment to a mesh asset.
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This extends both the spec and the XML definition to allow specification of a material name on a mesh. This material acts as a fallback in the case that the referencing geom element does not specify a material of it's own.
PiperOrigin-RevId: 798232378
Change-Id: Iaf300c727732744ea1b613e64334ee505ac6e209
2025-08-22 09:11:31 -07:00
784c7a419b
Improve builtin hemisphere docs
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PiperOrigin-RevId: 791271829
Change-Id: I391215b5388f4e9e2a17198dbcdbd0c605fda4b4
2025-08-05 10:25:45 -07:00
fde479736e
Finalize built-in mesh example model and documentation
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PiperOrigin-RevId: 791227350
Change-Id: Ibdcdb8a4ee5b3f78c9ae93e1db2a9a2f9d55a80c
2025-08-05 08:32:51 -07:00
705ec6d7fb
Adds built-in superellipsoid mesh.
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PiperOrigin-RevId: 791196831
Change-Id: I1d864f6e620870f016377a4d9e2e26d1a23fd77e
2025-08-05 07:02:52 -07:00
a5d4d1000e
Add built-in supertoroid mesh.
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PiperOrigin-RevId: 791180080
Change-Id: I3a70f50ff4a52a1bd4b88fc30334a574895145b4
2025-08-05 06:06:43 -07:00
5220767457
Add built-in hemisphere mesh.
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PiperOrigin-RevId: 791148546
Change-Id: Ic9ff0c9b0f5fa4fd22d5f7f848f150cf74d378ba
2025-08-05 04:16:24 -07:00
a5a6379f83
Add built-in cone mesh type.
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Also delete `prism` type since it is subsumed by cone.
PiperOrigin-RevId: 790992343
Change-Id: I7a9c6f2a4377489173acd64b23086c748d2cee8e
2025-08-04 19:35:32 -07:00
9f64338b37
Clarify principal point description in documentation.
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PiperOrigin-RevId: 789314970
Change-Id: I2b5beca1599d40acb00406aee7dbcea928da4433
2025-07-31 06:40:54 -07:00
51babec9c5
Move tactile sensor to the engine.
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PiperOrigin-RevId: 788863133
Change-Id: I3172ebb7641fa8146469da25cba7db794760e7b1
2025-07-30 05:27:44 -07:00
89f4789085
Add mjs_makeMesh to create a builtin mesh.
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PiperOrigin-RevId: 788538127
Change-Id: I999733399a1a0da07b0f915f34d31364ab8b3b52
2025-07-29 11:31:18 -07:00
e4eb654573
Updates joint/ref attribute documentation to clarify that the initial model configuration is unmodified.
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PiperOrigin-RevId: 787679025
Change-Id: I4eab9d2ea1b411d40c780c087fa44ccff0b10094
2025-07-27 04:55:03 -07:00
d0e4771c8c
Add contact sensor.
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PiperOrigin-RevId: 783011982
Change-Id: Ica56fe9d520fa1d1ee7338e09148b1a55a049912
2025-07-14 13:03:35 -07:00
e6c5715903
Add insidesite sensor for detecting when an object is inside the volume of a site.
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PiperOrigin-RevId: 780993257
Change-Id: I2dcfc840d222680adc3b934344a0819f4d78b6eb
2025-07-09 04:56:42 -07:00
1c5d47c94b
Fix paragraph rendering in texture docs.
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PiperOrigin-RevId: 778803841
Change-Id: I17412b4d549984b361cab9edc20d04a708a71985
2025-07-03 01:42:26 -07:00
Alessio Quaglino