2f28473bc1
Remove transposed Jacobian fields from mjData
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No longer computed unconditionally, only ad-hoc where required.
PiperOrigin-RevId: 797753297
Change-Id: I2030fc342c98ff33575b0526dd72e2110c4fcb74
2025-08-21 07:21:24 -07:00
c7a82c32dc
Do not update qacc_warmstart at the end of the solver call; instead, update it at the same time as all other state variables. This change makes mj_forward idempotent.
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See changelog herein for motivation and discussion.
PiperOrigin-RevId: 797392841
Change-Id: If50e9f09e1d07e8363169d3589c32097aeca2432
2025-08-20 11:30:13 -07:00
424226b640
Refactor mj_mulM to use CSR structure
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PiperOrigin-RevId: 796450207
Change-Id: I2a9d567732614674547c7ae02ff0d3d4bbf1b654
2025-08-18 09:09:29 -07:00
eed43f6982
Add section to OpenUSD/Exporting docs linking to mujoco-usd-converter.
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PiperOrigin-RevId: 796420566
Change-Id: I47728e3900720d732162c06f96a231a75d8bc931
2025-08-18 07:44:40 -07:00
b66175eba6
Bending stiffness for curved shells in flex.
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PiperOrigin-RevId: 796361841
Change-Id: I105ea235fe2a8e1bcbde67276d77fa92eed214a1
2025-08-18 04:13:18 -07:00
972ffd7b90
Improve mj_fullM documentation, add clarifying test.
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PiperOrigin-RevId: 796134559
Change-Id: I85ab3680d3545ccf83d0d3af8a7c21cb36e96d4e
2025-08-17 11:02:14 -07:00
6b41fbe72a
Use CSR matrices for dof-dof index mappings
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PiperOrigin-RevId: 795895311
Change-Id: I1000e0ee98906ef35990e73236e85d6354487b82
2025-08-16 13:06:32 -07:00
c0096b51a4
Move ntree to mjModel allocator sizes
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PiperOrigin-RevId: 795855203
Change-Id: Idab185294d53dced9ebf073b782969dc5643b95a
2025-08-16 09:16:41 -07:00
1447711037
Rename spec to sig in state-related API functions.
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(to avoid confusion with mjSpec)
PiperOrigin-RevId: 795848898
Change-Id: I0b64eb85f5c7a3ee889a746c751d9f5561650277
2025-08-16 08:38:25 -07:00
977f94e9df
Delete sparsity structures from mjData, use the ones in mjModel
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PiperOrigin-RevId: 795067950
Change-Id: If4f52e40ac49f7c6986b33ef9c8b534199dfd21a
2025-08-14 09:13:02 -07:00
7eb13777f8
Put sparsity structures in mjModel, don't use them yet.
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PiperOrigin-RevId: 795032051
Change-Id: I75c69e881980ff9c308acf00bb3a65f4b2ef12f5
2025-08-14 07:37:42 -07:00
1763fa537a
Add ten_length as MJX public field and warp tendon function call to MJX.
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PiperOrigin-RevId: 794869371
Change-Id: I733da169b0092e3165478324697d7aa3569eca8b
2025-08-13 21:54:18 -07:00
d3ff929bc6
Add ten_length as MJX public field and warp tendon function call to MJX.
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PiperOrigin-RevId: 794813523
Change-Id: Ic5684788eca5a3f4fd86193ec5d035d40b3aad35
2025-08-13 18:09:22 -07:00
d7e925bd8a
Add ten_length as MJX public field and warp tendon function call to MJX.
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PiperOrigin-RevId: 794801198
Change-Id: I970ce665339c75910a767a1b24d8ac9c2bd68b1d
2025-08-13 17:27:16 -07:00
ed3ff15870
Update MuJoCo's version number following the 3.3.5 release.
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PiperOrigin-RevId: 792806341
Change-Id: Ic68ecceacc48ddbd6b0c741ae8f0791551e1b4dd
2025-08-08 16:45:12 -07:00
3152458a6b
Update Mujoco Deps in preperation for the 3.3.5 release
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PiperOrigin-RevId: 792755404
Change-Id: I9776bb5e5bf2a891e0fa0fbf486875727e1d13b4
2025-08-08 14:07:00 -07:00
249b0cd87d
Improve field order and comments in mjdata.h
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PiperOrigin-RevId: 792642328
Change-Id: I59330e228a111edec9e86d93d5cdf646b0fab00e
2025-08-08 08:52:35 -07:00
92d77819fd
Note the mjs parsing error in the changelog.
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PiperOrigin-RevId: 792336077
Change-Id: I09cd2eb310c6e2bc74051419f6d69f5db1081cec
2025-08-07 15:40:23 -07:00
2e60d05887
Update Kokoro script to use CUDA 12.8 and manylinux_2_28.
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PiperOrigin-RevId: 791714944
Change-Id: I66850eda0395d913c2c706dbc79625a2f682c380
2025-08-06 09:06:53 -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
4a91c34239
Modify warp-lang deps.
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PiperOrigin-RevId: 790925317
Change-Id: I1db6c1820270722afa6a3475a1088d1553571295
2025-08-04 16:00:24 -07:00
3d537c85ef
Fix mjcPhysics typo in USD docs.
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PiperOrigin-RevId: 789385654
Change-Id: Ib15450e81258e3d202d8123c0c43f8421ebefed6
2025-07-31 10:23:53 -07:00
47bc16a37c
Add mujoco_warp as an implementation in mjx.
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PiperOrigin-RevId: 789366860
Change-Id: I84b49e744552092434df49d855f1052b04291b87
2025-07-31 09:33:35 -07:00
700da7c5bd
Add initial documentation for experimental OpenUSD support in MuJoCo.
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PiperOrigin-RevId: 789365870
Change-Id: I19cce03ec2ffc28cdf4252bfd02c8b5163bb5ba2
2025-07-31 09:30:50 -07:00
32c7d3f085
Tag nullable arguments in main header. Fixes #309
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Nullable arguments will be added to the `introspect` datastructures in a future change.
PiperOrigin-RevId: 789350522
Change-Id: I0bfd12fab5121f94b937264570f907593b63cf64
2025-07-31 08:39:16 -07:00
23fa7c00d5
Remove usage of size_t types in mjModel, use mjtSize (uint64_t) instead to improve portabilty of MJB files to WASM.
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PiperOrigin-RevId: 789321991
Change-Id: Ic25fab876c347fc75f5ca24cad09e8fd972f035f
2025-07-31 07:08:33 -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
46dc67b7eb
Add function mjs_sensorDim to user API.
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Note: change to (unreleased) contact sensor mjSpec API
PiperOrigin-RevId: 788507423
Change-Id: Ie639afb7ed01dc3f7bab43a3e812e8e0b0c67d07
2025-07-29 10:20:27 -07:00
a771fc6c09
Increase mjNSENS to 3
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PiperOrigin-RevId: 788468705
Change-Id: Id22f131bebb6accc9a29c9aa285efa75fa8b2c16
2025-07-29 08:38:13 -07:00
3434f5d9c7
Compute convex hull for collision pairs.
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build / windows-2025 (push) Has been cancelled
build / ubuntu-22.04-clang-13 (push) Has been cancelled
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build / macos-15-arm64 (push) Has been cancelled
build / macos-15-x86_64 (push) Has been cancelled
PiperOrigin-RevId: 788074030
Change-Id: I3d4bbe71f824db82e998e374d95a5c49995af806
2025-07-28 10:49:50 -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
83435361fa
Increase max points in 2D plot from 1000 to 1001.
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PiperOrigin-RevId: 787513580
Change-Id: I573c779932fa7411b132020213637a25fa859844
2025-07-26 12:46:31 -07:00
ddb7eb07c7
Initial implementation of contact sensor for MJX JAX backend.
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PiperOrigin-RevId: 786742643
Change-Id: Idabd98320a4716c597bb596e32a8a90f3cd5f356
2025-07-24 09:59:40 -07:00
3901dcde96
Move changelog item into breaking changes section in 3.3.4
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PiperOrigin-RevId: 785479748
Change-Id: Ic0e779a9fddfa945e94fc6870a1a3fe826980f4b
2025-07-21 10:09:08 -07:00
8b94bd0ef6
Update MJX feature parity documentation.
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PiperOrigin-RevId: 785411252
Change-Id: I2bf6619c8114f2e9d9eedceed26177a5a8c3b073
2025-07-21 06:20:51 -07:00
5e666635f6
Remove mjtVisFlag.mjVIS_FLEXBVH and mjvOption.oct_depth
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PiperOrigin-RevId: 783355711
Change-Id: I1e11999d5c533925f1d07266aeca95598a5691ba
2025-07-15 09:08:22 -07:00
ad0dc0de5e
Document change in inertia calculation.
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PiperOrigin-RevId: 783249303
Change-Id: I93b24d6601c46073df2a18fbc24c52f8f7dfb915
2025-07-15 02:35:19 -07:00
d0e4771c8c
Add contact sensor.
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PiperOrigin-RevId: 783011982
Change-Id: Ica56fe9d520fa1d1ee7338e09148b1a55a049912
2025-07-14 13:03:35 -07:00
2a700c98aa
Check MJX with JAX backend for flex.
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PiperOrigin-RevId: 782964265
Change-Id: I744d114569738ad0d5c4ee11ffba90bd50ef25ed
2025-07-14 10:49:30 -07:00
6e7aaacb85
Do not rely on global object lists in mjCBody::NextChild().
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PiperOrigin-RevId: 782963753
Change-Id: I0afecbab4b7796f077963ba66eb7140d8f83ad89
2025-07-14 10:47:45 -07:00
9a41d385c1
Add needsdf flag to mjsMesh.
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PiperOrigin-RevId: 782949528
Change-Id: Iaa96326a91795c3469c991bd8def53560b38e4f0
2025-07-14 10:13:05 -07:00
3c99705f85
Update MuJoCo's version number following the 3.3.4 release.
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PiperOrigin-RevId: 781596261
Change-Id: Iac050c4b9cb65542b52fa6b8c54ff2537bc6a648
2025-07-10 10:47:26 -07:00
0b11e3e3fa
Fix typo in changelog
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PiperOrigin-RevId: 781550866
Change-Id: I960ac501bac04c5f3cc342aea808a390b20443c4
2025-07-10 08:45:40 -07:00
Yuval Tassa