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1368 Commits

Author SHA1 Message Date
Yuval Tassa 55f300b78c Fix typo 
PiperOrigin-RevId: 862781462
Change-Id: I88844e2148e821ec92e37aa8aab3554c132a4d43
 2026-01-29 09:57:09 -08:00
Yuval Tassa 883e69d7b1 Minor improvements to collision sensor documentation. 
PiperOrigin-RevId: 862767431
Change-Id: I53861430e7868b23e37be9694f195a2dd3685db4
 2026-01-29 09:22:23 -08:00
Taylor Howell 57b5ebc92b MuJoCo Warp documentation: height field collision overflow 
PiperOrigin-RevId: 862454467
Change-Id: Iaccc44aa0c57faf6ad2dbc62f2b727cea2e4980d
 2026-01-28 16:55:10 -08:00
Taylor Howell 8889c13fa7 MuJoCo Warp documentation: Inertia matrix factorization 
PiperOrigin-RevId: 862290080
Change-Id: I7acd30f1fff5cca95ca1139f71710cab5c493561
 2026-01-28 10:18:50 -08:00
Yuval Tassa c5925e7b0e Improve wording in changelog 
PiperOrigin-RevId: 862288773
Change-Id: I2dcd09ed1fb929396218ee32e99242d9be508b3b
 2026-01-28 10:15:11 -08:00
Yuval Tassa 1d44f7a0d0 Minor fix to changelog 
PiperOrigin-RevId: 862213255
Change-Id: I20017785aca047efaead582f84a1ba9769411d41
 2026-01-28 06:48:39 -08:00
Yuval Tassa 1d2d0b1c37 Remove batching optimization from GEOM* sensors 
PiperOrigin-RevId: 861938606
Change-Id: Ibb135a4d99cab9ce23a04f844f7c730e8f3b31c8
 2026-01-27 16:44:10 -08:00
Yuval Tassa 5fb47df197 Add mjData flags marking lazily evaluated pipeline stages 
PiperOrigin-RevId: 861763477
Change-Id: Ib613c56949264573a16306800658f868d2aa7665
 2026-01-27 09:45:06 -08:00
Alessio Quaglino ba32568138 Move flex vertex-edge adjacency to mjModel. 
PiperOrigin-RevId: 861717037
Change-Id: I2ad8090b0318cb04b43d13966cb42260c82ef930
 2026-01-27 07:41:47 -08:00
Haroon Qureshi 0ddbb46fa1 Refactor mjVFS and resource management. 
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
Yuval Tassa 5fc6ed4eda Make XML schema dropdown titles clickable links. 
PiperOrigin-RevId: 861182944
Change-Id: I01fec8f102a87f8daf65ad5ba5ed3a09c0022cd0
 2026-01-26 07:26:27 -08:00
Yuval Tassa 7f8084ae1d Rename XML reference icons to avoid anchor issues. 
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
Alessio Quaglino 7da271c687 Add vertex equality option. 
PiperOrigin-RevId: 860299454
Change-Id: I7befd8e5f4c8bac6d74684a96a9cc3cee9ae1e29
 2026-01-23 16:30:05 -08:00
Yuval Tassa 30b903b6c0 Migrate mjModel size fields from int to mjtSize. 
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
Taylor Howell 4a64017a5f Add documentation for MJX API 
PiperOrigin-RevId: 860108133
Change-Id: I85469efcfe49d320ef8b89c9d174f33499a22b31
 2026-01-23 07:53:17 -08:00
Alessio Quaglino 54dd623650 Add vertex-based flex constraints (dim=2). 
PiperOrigin-RevId: 859552050
Change-Id: I61d4b9dc40f041c5b930e5f8810a803e8bccb87a
 2026-01-22 04:54:53 -08:00
Taylor Howell d173ee5bee MuJoCo Warp documentation: option-ccd-iterations -> option-ccd_iterations 
PiperOrigin-RevId: 858100397
Change-Id: I358875ba56e6769fda75dba72377286c40771716
 2026-01-19 02:42:04 -08:00
Taylor Howell 9ba545b8b0 MuJoCo Warp documentation: Memory. 
PiperOrigin-RevId: 857148640
Change-Id: I7f21bebb2186a5dd4287a8d2ee9b430f823b9051
 2026-01-16 07:13:38 -08:00
Taylor Howell d86acd7e12 MuJoCo Warp documentation: Warmstart. 
PiperOrigin-RevId: 856608941
Change-Id: Iae1bd0a3916d98affff4d5dbb442f9d951622e52
 2026-01-15 04:50:27 -08:00
Alessio Quaglino e56b31e98f Reduce flexedge_J size from nflexedge x nv to the effective sparse size. 
PiperOrigin-RevId: 856290141
Change-Id: Ide297d1b6f0e3aa07e3e20bf9ab44b6501097695
 2026-01-14 11:18:41 -08:00
Google DeepMind cbc1136502 Roll back VFS refactor due internal breakages 
PiperOrigin-RevId: 856273160
Change-Id: I4097e05ed4e48ebee05b4347d0f227d4f39c1b09
 2026-01-14 10:38:29 -08:00
Yuval Tassa cc4c2bc398 Improve wording in changelog. 
PiperOrigin-RevId: 856204666
Change-Id: I6ccf2ea727210e4695fff8d56ff7de10b9ebd73c
 2026-01-14 07:29:10 -08:00
Haroon Qureshi d387578783 Refactor mjVFS and resource management. 
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
Yuval Tassa e50e2e9691 Correct dimensions for constraint-related quantities in documentation. 
PiperOrigin-RevId: 856159539
Change-Id: I83f0414a78239cae9c91bb51b16f5e2549891517
 2026-01-14 04:54:03 -08:00
Yuval Tassa 218226fc95 Breaking change: Add surface normal output to MuJoCo raycast functions. 
PiperOrigin-RevId: 855781592
Change-Id: Id96b1ca7eaf722e260cc69d7706c28dc51f52d92
 2026-01-13 10:22:21 -08:00
Yuval Tassa 7e21f18fd3 Document compiler/usethread fix. 
PiperOrigin-RevId: 855735924
Change-Id: I5b638ccf2a74194b363cf7c6436f78c1c3d9b0e1
 2026-01-13 08:21:27 -08:00
Alessio Quaglino a49576e469 Move flexedge sparse Jacobian indices to mjModel. 
PiperOrigin-RevId: 855718305
Change-Id: Ic136f4efa6735b934288f65c332d71ee8b0f6da5
 2026-01-13 07:33:17 -08:00
Taylor Howell 013268c283 Documentation: Pair-wise colliders. 
PiperOrigin-RevId: 855245724
Change-Id: Iffad5dc426350040f730dc1a7b9766f079ef949e
 2026-01-12 08:47:45 -08:00
Yuval Tassa f0e1d8ce2c Fix typo in XML reference: damping -> damper. 
PiperOrigin-RevId: 855198029
Change-Id: I2cc2b833e8a7fad8c63d1eb7b3febdd54d0c9056
 2026-01-12 06:13:20 -08:00
Yuval Tassa 5979c5aa03 Fix link in changelog. 
PiperOrigin-RevId: 855183695
Change-Id: I9ef63fe03f3b68707ff7eec1813403a08b0a8074
 2026-01-12 05:22:14 -08:00
Haroon Qureshi cb9a9c159c Remove getdir from mjpResourceProvider. 
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
Taylor Howell 1d482047d1 MuJoCo Warp documentation: How to fix simulation runtime warnings? 
PiperOrigin-RevId: 855149274
Change-Id: Iccfb85f1ec836cb06235d21d23e913f77a816487
 2026-01-12 03:17:13 -08:00
Yuval Tassa a26f09accf Standardize function docstring style in MuJoCo API. 
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
Sam Haves a5dc57c0c3 Move OpenUSD parsing to usd_decoder 
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
Taylor Howell 310ac0c5ac MuJoCo Warp documentation: When To Use MJWarp? 
PiperOrigin-RevId: 853830564
Change-Id: I9208e9a2f2781efbedc7846f5c13036ef83d5770
 2026-01-08 11:54:57 -08:00
Taylor Howell 166fa17a1c MuJoCo Warp documentation: inertia matrix automatic sparsity. 
PiperOrigin-RevId: 853805011
Change-Id: I8c0040f3b2b08d8615f1fbf559cdc9841e33438a
 2026-01-08 10:47:27 -08:00
Taylor Howell ab939683bc MuJoCo Warp documentation: Why are numerical results from MJWarp and MuJoCo different?. 
PiperOrigin-RevId: 853696967
Change-Id: I0cf8539e341d2aa1cfd07ac75de18128ce9beb3b
 2026-01-08 05:34:23 -08:00
Copybara-Service 07deca990a Merge pull request #3006 from thowell:mujoco_warp_docs_modifying_fields 
PiperOrigin-RevId: 853619026
Change-Id: I5a5348e1cdbee22e40b516cf8ed649645f54bf6f
 2026-01-08 01:32:50 -08:00
Copybara-Service f4beb95212 Merge pull request #2990 from google-deepmind:mjwarp_doc_batched_model_field_warning 
PiperOrigin-RevId: 853420667
Change-Id: I540b36611485054851e497c8f74302ac0fbedd36
 2026-01-07 14:46:36 -08:00
Yuval Tassa 608115ab95 Add output attribute to camera elements. 
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
Yuval Tassa 775c0698c3 MJCF schema: use responsive grids for attributes 
PiperOrigin-RevId: 853263519
Change-Id: I79cb6e6208061d9546f0dca7a941838caa6b1a91
 2026-01-07 08:00:16 -08:00
Yuval Tassa 4830f5a79e Add missing documentation for the asset cache. 
Also improve `compile` sample timing logic and documentation.

PiperOrigin-RevId: 852855741
Change-Id: I9b2798208198ca68cf4cee9c968772954ada91c5
 2026-01-06 11:07:42 -08:00
Yuval Tassa 3868ed0382 Improve XML schema usability 
PiperOrigin-RevId: 852820889
Change-Id: I04eea45161f9e71f9ccf49afad57ff28fd099b35
 2026-01-06 09:51:36 -08:00
Taylor Howell 47ea0e76ae mujoco warp documentation: update modifying fields 2026-01-04 14:00:53 +00:00
Taylor Howell fba2021091 MuJoCo Warp documentation: Modifying fields. 
PiperOrigin-RevId: 851709416
Change-Id: I48071a9dddd79b1e765f8ae170594d4687615877
 2026-01-03 10:49:09 -08:00
Taylor Howell 28f14b3258 MuJoCo Warp documentation: Update Batched Model Fields code example. 
PiperOrigin-RevId: 851699741
Change-Id: I30d98db7ee6bfe2104408fb0f84e472da649887b
 2026-01-03 09:57:11 -08:00
Taylor Howell 14e90f3897 MuJoCo Warp documentation: Array shapes. 
PiperOrigin-RevId: 850969970
Change-Id: I41dce50644c9a6521e0bab9c84fea63f78e7a6ce
 2026-01-01 02:46:48 -08:00
Yuval Tassa 70bc7be4bc Add additional data fields that can be reported by rangefinder sensors. 
PiperOrigin-RevId: 848316991
Change-Id: Idbf7ba81b4da711a22c23302c8782ab2b0b98d82
 2025-12-23 15:33:00 -08:00
Yuval Tassa f2e9097ed6 Change mjsCamera.resolution type from float to int. 
Resolution is inherently an integer quantity (pixels).

PiperOrigin-RevId: 848276456
Change-Id: I92ee1aa88fd552fd42cb3871442f020f26d6fa6a
 2025-12-23 13:14:32 -08:00
Yuval Tassa 9d646e6548 Extend rangefinder sensor to support cameras. 
PiperOrigin-RevId: 848255889
Change-Id: I6e1a9ed13d29d2242558625a47e24e47ad6e87db
 2025-12-23 12:04:49 -08:00