f9a39413cf
Fix: Include ancestor DOFs in flex interpolation factorization.
...
The reduced dense factorization for flex interpolation now considers all DOFs in the kinematic chain of the body containing the flex, using mj_bodyChain, instead of only the DOFs directly associated with that body. This is necessary for correctly handling pinned flexes when their parent body is part of a larger kinematic structure.
PiperOrigin-RevId: 872854468
Change-Id: Idbe9fb459084dde9e8eb1076c70dbb685c1b0bdb
2026-02-20 05:30:54 -08:00
8c9ba9bcf5
Disable plugin on windows.
...
PiperOrigin-RevId: 872845569
Change-Id: I4d80c80a47358a2882b2c63c2d655fe374afe65d
2026-02-20 05:00:04 -08:00
f71e215c9a
Include missing header.
...
PiperOrigin-RevId: 872835150
Change-Id: I670bddb907b594788bda143c5175bbcb4b427903
2026-02-20 04:23:59 -08:00
0083cf7fa8
Refactor the projectile launcher into a plugin.
...
Add a simple GUI for it that allows users to enable/disable
the key binding as well as control some parameters.
PiperOrigin-RevId: 872816645
Change-Id: I8abb2803e17b4f6195d447220c436d4701b24db8
2026-02-20 03:19:53 -08:00
28ad603f6b
Use templates and macros to reduce boilerplate.
...
PiperOrigin-RevId: 872805912
Change-Id: I6fc1abe283bc809a95d660abc072906b0810aaeb
2026-02-20 02:42:52 -08:00
a79747334b
Merge pull request #3116 from StafaH:render_doc_fix
...
PiperOrigin-RevId: 872799423
Change-Id: Iafd5f05264043cb2060f147c4c047ba849b28475
2026-02-20 02:22:32 -08:00
f0bf403254
Add a delete button to the highlighted element.
...
PiperOrigin-RevId: 872795277
Change-Id: I63afa9c87b425ebed5d20126e9909ad95532d559
2026-02-20 02:09:36 -08:00
82694b520b
Re-apply changes that were accidentally deleted.
...
PiperOrigin-RevId: 872782055
Change-Id: If2f403835cd2d90c88abe9ed82380dfca5b3d9c8
2026-02-20 01:27:57 -08:00
8f56d5eefa
Minor style fixes
...
PiperOrigin-RevId: 872669434
Change-Id: I794173b9fad3a286cbf57d246b2f8672412a0e20
2026-02-19 19:16:31 -08:00
ca0552c83b
Cleanup Studio toolbar
...
PiperOrigin-RevId: 872618794
Change-Id: I2e8f99dc47937416c8516ed1df7821369211b12f
2026-02-19 16:34:38 -08:00
8ba68cee3e
Limit the number of flex contacts per collision pair.
...
This change introduces a filter for flex-related contacts, ensuring that no more than mjMAXCONPAIR contacts are kept for each geom-flex, flex-flex, flex internal, and flex self-collision pair. The contacts are sorted using farthest-point sampling:
- Starts with the deepest penetrating contact
- Iteratively selects the contact farthest from already-selected contacts
- Produces a spatially distributed set of contacts
PiperOrigin-RevId: 872593388
Change-Id: I50b233a0dc66da6a297852c258ba514f131c8f23
2026-02-19 15:32:17 -08:00
fe50efd41a
Sparse tendon Jacobian update for MuJoCo Warp
...
PiperOrigin-RevId: 872550625
Change-Id: Ifc5afacb048bec36ef6455072b188396db958002
2026-02-19 13:52:25 -08:00
86bca81d18
Update mjx docs and changelog.
...
PiperOrigin-RevId: 872535000
Change-Id: I51b05a22ac553c34b436de63f43c7efca6607724
2026-02-19 13:18:10 -08:00
62a32386d6
Add pmap support for mjx-warp render.
...
PiperOrigin-RevId: 872533248
Change-Id: I828303866c31d33d2367dd9fba4eb42028c67540
2026-02-19 13:14:22 -08:00
84431fbf7e
Improved upper bound for nJten
...
PiperOrigin-RevId: 872479828
Change-Id: I750d56320d6ace6145475d378cb9d0c30919438d
2026-02-19 11:09:25 -08:00
9efe41c0c1
Remove dense code path for tendon Jacobian
...
PiperOrigin-RevId: 872444531
Change-Id: I6180101abc49469a72aee8bec5726e1e94f142ec
2026-02-19 09:53:49 -08:00
10524c28dd
Track and restore viscous pause state every frame.
...
PiperOrigin-RevId: 872382150
Change-Id: I96bddcfb2a0a204c6505e9795dfff97f09834855
2026-02-19 07:06:38 -08:00
cdc1f266c6
Merge pull request #3114 from thowell:lint
...
PiperOrigin-RevId: 872331279
Change-Id: I26848d48e3f66f29f32a9a03ab38f373123abd1d
2026-02-19 04:31:19 -08:00
3c5986fe50
Minor edit to MJWarp batch rendering documentation
2026-02-19 07:20:31 -05:00
ab80bd0916
Allow model holder to release ownership of mujoco structs.
...
PiperOrigin-RevId: 872242489
Change-Id: I055f54f4e111cc78c489c12d9ae5c02cfb57169d
2026-02-19 00:06:07 -08:00
ccd282b036
Update MJX docs with MJX-Warp.
...
PiperOrigin-RevId: 872083735
Change-Id: Id09b82d1f6e7a69ec34353ba35a63edb5eae1046
2026-02-18 16:02:57 -08:00
3c858f871b
Keep render_util arg order consistent between mujoco_warp and mjx-warp.
...
PiperOrigin-RevId: 872055868
Change-Id: Ic5b4bdedbdb353dc0b1385cf555261a86407cfdb
2026-02-18 14:57:06 -08:00
57c2316b9e
Merge pull request #3080 from kevinzakka:fix-fusestatic-camera-light-crash
...
PiperOrigin-RevId: 872054304
Change-Id: I9eab499002077afa46b236e8eae13100285f362c
2026-02-18 14:53:30 -08:00
59bc4fb88e
Fix typo and improve wording in render doc
2026-02-18 15:19:00 -05:00
485e2eb028
Fix bug in mjx-warp render vmap.
...
PiperOrigin-RevId: 871901512
Change-Id: Ifc25e98ffd89284cc6db9248bcca352bb8811e7e
2026-02-18 09:10:34 -08:00
7d3e1abb21
Merge pull request #3083 from Ashutosh0x:fix/mingw-linker-stack
...
PiperOrigin-RevId: 871828475
Change-Id: I8abe526a81b9c1f51307729b5dde01aad809ff97
2026-02-18 05:59:41 -08:00
42514920c4
Merge pull request #3111 from StafaH:main
...
PiperOrigin-RevId: 871825088
Change-Id: I1e9c4a559a19427753cfdbacc7c7254ad0cb9c6c
2026-02-18 05:48:03 -08:00
fdf6f1017c
Remove enable_keyboard flag.
...
PiperOrigin-RevId: 871823567
Change-Id: I1e307f366106aa542a66b68b8e057b35c25134c9
2026-02-18 05:43:33 -08:00
bb0b5ca521
lint
2026-02-18 12:43:31 +00:00
8541128853
Update _get_data_into_warp. Fixes #3109
...
PiperOrigin-RevId: 871790690
Change-Id: I225579f7559ca5c1de92af6606d02ff763f9f4d1
2026-02-18 04:04:29 -08:00
50349dc685
Fix MinGW stack flag syntax and Python binding crashes
...
- Detect linker type (lld-link vs ld) and use the appropriate stack flag: /STACK:16777216 for lld-link, --stack,16777216 for MinGW ld
- Filter out stack-related flags from Python binding modules to prevent crashes when loading MuJoCo as a DLL in Python
Fixes #3011
2026-02-18 14:22:59 +05:30
6b197e198a
Reset free camera when loading a new model.
...
PiperOrigin-RevId: 871622663
Change-Id: I1f1a4681752f7436c7bc7adbe64dcea286c5620c
2026-02-17 20:08:02 -08:00
fa43e2c03b
Fix tracking camera detaching when toggling visualization flags, fixes #3108
...
Toggling visualization flags via keyboard shortcuts (e.g., C for contact points, F for contact forces) causes the SECT_RENDERING event handler to unconditionally re-evaluate the camera selection, which can reset a tracking camera to free mode. This particularly affects users of mujoco.viewer who set tracking cameras programmatically.
Guard the camera update logic so it only runs when the camera selector itself is changed, not when other items in the rendering section are modified.
PiperOrigin-RevId: 871600340
Change-Id: Ia6ef2a1617c6cdc18c7d10b4b099a8f2c620a824
2026-02-17 18:59:33 -08:00
f6129596a6
Save depth images in visualize_render.py
...
PiperOrigin-RevId: 871454618
Change-Id: If844e2c4af10e271536c4e6a36e760e8d4d50374
2026-02-17 12:55:39 -08:00
b7875df580
Fixes
2026-02-17 14:54:26 -05:00
448e221690
Raise ValueError if adding a spec results in a duplicate name.
...
PiperOrigin-RevId: 871397807
Change-Id: I50742efe7ba194ed3b1fe916f05e35b7fb2d7ec0
2026-02-17 10:54:47 -08:00
af802a5386
Import google-deepmind/mujoco_warp from GitHub.
...
PiperOrigin-RevId: 871338519
Change-Id: I6ef9b4a4c3b623a87f4c43efa798b6757ac534ae
2026-02-17 08:48:20 -08:00
4d256c0ff1
MuJoCo Warp documentation: nccdmax / naccdmax
...
PiperOrigin-RevId: 871221522
Change-Id: Ia4e5c9a700b809815bd40af048762bfecde9231a
2026-02-17 03:12:50 -08:00
767e52fb5b
Fire projectiles when hitting "Ctrl+Shift+Enter".
...
PiperOrigin-RevId: 871215312
Change-Id: Ie22699d5446a49ea6997594b2800cf72840554c1
2026-02-17 02:53:31 -08:00
4ce9fb53ee
Re-enable MJZ support.
...
Disabled on Windows until we can make plugins work correctly.
PiperOrigin-RevId: 871214280
Change-Id: I831238704c2807e70f4347989d642a189764e53c
2026-02-17 02:51:14 -08:00
8024124572
Use stack allocation for temporary flex rigidity storage in mj_setConst. Fixes #3081
...
PiperOrigin-RevId: 871200819
Change-Id: Ifbc1c0bd62261325a06a246cb2adb1106c02f829
2026-02-17 02:16:07 -08:00
989b6e63c7
Add ability to delete bodies.
...
PiperOrigin-RevId: 871200603
Change-Id: I08bc786ca8106ef13cfcbe89e8cc42e9ad2c99d5
2026-02-17 02:14:54 -08:00
911124f2c6
Add batch rendering to readme
2026-02-17 00:21:10 -05:00
8f2799a34b
Move renderer.py and gl_context.py into a submodule.
...
PiperOrigin-RevId: 870789311
Change-Id: Iaa0fcc764a770eeb4570a6a189a5ad032d41d64c
2026-02-16 02:41:35 -08:00
66a413419a
Reorder Option fields
...
PiperOrigin-RevId: 870779423
Change-Id: Ie356725810a820e910396abd9daef0f9c9f94abc
2026-02-16 02:18:23 -08:00
160e601ba1
Merge pull request #3085 from Ashutosh0x:fix/windows-zero-alloc
...
PiperOrigin-RevId: 870765044
Change-Id: I91b6a6096fe58200f8b36fda62838046a9ee08fe
2026-02-16 01:47:04 -08:00
2efca34f58
Fix mjpython after breakage from 496f6b47fc.
...
PiperOrigin-RevId: 870253531
Change-Id: Icfbfaed41d4cdd3f8472c37a254cb7b1f2a32d7b
2026-02-14 14:32:42 -08:00
538c131415
Last bits of mjx-warp render codegen.
...
PiperOrigin-RevId: 869900622
Change-Id: If86942fddc45b9d71505d7fc4e2345dc120ccab2
2026-02-13 14:55:26 -08:00
bbfe7fe0e2
Update mjx-warp render with partial codegen.
...
PiperOrigin-RevId: 869874195
Change-Id: I71a16a6c192873786a09211dc4d326c3a4115ad9
2026-02-13 13:50:07 -08:00
faf55f7020
Fix header_test.cc.
...
C++ standard says the argument to alignof must be a type. Clang and GCC are permissive but MSVC isn't.
PiperOrigin-RevId: 869823902
Change-Id: I7e113ce62a60cc9be499e8580846a5258deea001
2026-02-13 11:43:45 -08:00
Alessio Quaglino