7fddeeaff6
Minor fixes to mj_multiRay
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PiperOrigin-RevId: 847780959
Change-Id: I3588415f215bd5f1592bec6678a5bae45d5f0980
2025-12-22 08:52:36 -08:00
1ff74ba810
Change the type of state signature arguments from unsigned int to int
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PiperOrigin-RevId: 843162492
Change-Id: I51d3324f088e8055898e115bdd32267c5950a412
2025-12-11 04:34:36 -08:00
caec236b2f
Make mj_loadModelBuffer a public API.
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PiperOrigin-RevId: 843105390
Change-Id: I4058471b4cf64995dd5ab43e9c8c24e322004b62
2025-12-11 01:24:17 -08:00
19e2d0ae2f
Add mj_fwdKinematics and a table improving documentation of the MuJoCo computation pipeline structure.
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PiperOrigin-RevId: 838768130
Change-Id: I1a22d5cdca7db704ba4cea1667fcbecb16b87005
2025-12-01 07:39:00 -08:00
888d3a7b07
Add mj_copyState
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PiperOrigin-RevId: 836588419
Change-Id: I7609e121dc0ac697d4d015d4244bdd5962650def
2025-11-25 03:10:30 -08:00
a66cf303f8
Clean up ray functions
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PiperOrigin-RevId: 833299985
Change-Id: I30aabe889ccc5900ff0e50a578e98e176d3effa4
2025-11-17 05:47:44 -08:00
6c15c711ee
Make mjv_cameraFrame and mjv_cameraFrustum public.
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PiperOrigin-RevId: 832187804
Change-Id: I74d05d7fe03bc81bd05a823c7c9791bca12e3079
2025-11-14 00:03:18 -08:00
042c5223a6
Change mj_sizeModel return type to mjtSize.
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PiperOrigin-RevId: 831768095
Change-Id: I079fbadc403b32a3ce8a73fe21b2cd66391401c3
2025-11-13 02:32:18 -08:00
57f7145806
Create mjpDecoder, mj_parse, and mju_decodeResource
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- plugin system similar to mjpResourceProvider, but instead of loading a resource it converts an existing mjResource into an mjSpec.
- The returned spec is then composed into the referencing spec.
- This enables different file types to generate arbitrary specs, and allows us to separate format parsing from compilation code.
Follow up CLs will move some of the logic in src/engine for PNG, USD, KTX, OBJ loading into decoders.
The mj_parse function MjSpec from a given file, it's a more generic version of mj_parseXML.
In it's implementation, mj_parse as opposed to mj_parseXML will look for any registered decoder and
not assume we are striclty dealing with MJCF.
PiperOrigin-RevId: 826149497
Change-Id: I0ece26904280cb94bd5ded6dd5a565c539d60254
2025-10-30 12:54:40 -07:00
ac2cd5dfd6
Add support for querying of MjsTendon path from Python.
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Fixes #2670
PiperOrigin-RevId: 822215254
Change-Id: Ice5a264e54f963776093511c6e4ac830aae6d4f8
2025-10-21 11:51:24 -07:00
2f65e23779
Add mj_extractState as a public API function.
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This function allows the caller to extract a subset of components of a state previously obtained via `mj_getState` without having to first write it back into `mjData`.
PiperOrigin-RevId: 822165077
Change-Id: I6433261f4f5ec2e8d024bb7dee8f7dbf1e62666c
2025-10-21 10:01:22 -07:00
e4704cd28b
Create list_dependencies sample to list all dependencies for an MCJF file.
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PiperOrigin-RevId: 814816067
Change-Id: Idc6232e5d1ef1ff0318aeacd0e3d4b4a5a303485
2025-10-03 13:47:28 -07:00
6320b95957
Add mju_getXMLDependencies that given an MJCF file returns filepaths to all of it's dependencies.
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PiperOrigin-RevId: 814203235
Change-Id: Ib5c2e2f4dd42224a768c88d76473544190c72bc0
2025-10-02 06:14:48 -07:00
6a7566872a
Functions for printing the contents of mjvScene.
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PiperOrigin-RevId: 812699642
Change-Id: Iafff53c952c952624129ff01a8c1b0aa5d38eec5
2025-09-29 02:47:17 -07:00
d71d42a374
Add private function mju_isZeroByte to check for byte-wise zero.
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PiperOrigin-RevId: 810456282
Change-Id: I877d0f9225e7a783ed7ff12ce54f4ed0a7889793
2025-09-23 08:49:43 -07:00
ea660f4c13
Expose minimal asset cache API.
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PiperOrigin-RevId: 803126923
Change-Id: Iabf63802572f7cb86864b5ece85f44b3f15a4ec0
2025-09-04 12:18:36 -07:00
debfdf011e
Add some missing Nullable annotations.
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PiperOrigin-RevId: 799527319
Change-Id: If84a3b2f19243ea9cf8b114d1421879d8186eb1d
2025-08-26 05:52:01 -07:00
a230aa60c5
Improve mj_addM and associated test
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- Updated docs to clarify that only the lower triangle is touched
- The function was unnecessarily adding the upper triangle in the sparse case
- The test used an unnecessarily large model and stepping it leading to timeouts under ASAN
PiperOrigin-RevId: 798528736
Change-Id: I592cc17dfb62379bb0cd6b332a8eb7e8b0ef6355
2025-08-23 03:56:47 -07:00
a64a26c3ae
No public description
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PiperOrigin-RevId: 798355907
Change-Id: I3a225e3200cbc60ccc3d93f21694a606a7ab296a
2025-08-22 15:04:46 -07:00
93c5665730
Add some missing Nullable annotations.
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PiperOrigin-RevId: 798298579
Change-Id: I773eda7deca10c820345a33835716072e0b9af5a
2025-08-22 12:15:02 -07:00
ecfe65242f
Add nullable attribute to AST nodes for function parameters in API introspection. Fixes #309
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This change introduces an `nullable` flag to `ArrayType`, `PointerType`, and `FunctionParameterDecl`. The code generation process now parses function comments from `mujoco.h` to identify parameters marked as "Nullable" and sets this flag accordingly.
PiperOrigin-RevId: 797870883
Change-Id: Ic7cac5a7a9c14177fbf97b8655c5c4809d4ef683
2025-08-21 12:35:10 -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
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
564c51ddb9
Check for duplicated names when setting element names.
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PiperOrigin-RevId: 778827590
Change-Id: I77a208c1571cf735cae80840ea830aa347681f71
2025-07-03 03:20:55 -07:00
594e17074a
Replace name attribute with setters and getters in the C API of mjSpec.
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PiperOrigin-RevId: 778816015
Change-Id: Ieffb7a5bce37e887ff009f9a02d2434435e79ca1
2025-07-03 02:30:56 -07:00
18d5d5d03f
Improve documentation related to mjSpec element deletion.
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PiperOrigin-RevId: 775677830
Change-Id: I02e51b57956b0b6a20c654326b54e001b498dd96
2025-06-25 07:23:51 -07:00
a00bfa819c
Raise error when binding to a removed element.
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PiperOrigin-RevId: 774462737
Change-Id: I820c0e1c010ae9fbf6d9667c3364d4b65bf21002
2025-06-22 10:15:31 -07:00
0488d9f4eb
Replace mjs_detachBody and mjs_detachDefault with mjs_detach.
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In a follow-up, mjs_detach will be changed to only remove without deleting an element.
PiperOrigin-RevId: 773637351
Change-Id: I9ee4d3584ba88ccc225591337cf036bab806e25c
2025-06-20 04:12:27 -07:00
f75772587a
Add functions for setting an mjsActuator to a specific shortcut type.
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PiperOrigin-RevId: 769049331
Change-Id: If5bb04966bd29a57569a2c17d712b9ae3d33324d
2025-06-09 02:17:02 -07:00
84ad22a590
Add mj_copyBack for copying real-valued arrays from mjModel back to mjSpec.
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Also add `SaveAndReadXML` function to test fixture using `mjSpec` as input.
PiperOrigin-RevId: 765393821
Change-Id: Ic257addd2fc89678fc11b226c168c077626cc51e
2025-05-30 17:17:14 -07:00
89e39dc0a7
Expose mj_makeM as a sub-component.
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PiperOrigin-RevId: 763662068
Change-Id: I55ced456dca751c1de09fb35e2f73c60ffc0d626
2025-05-27 00:35:55 -07:00
ced630181d
Replace mjv_sceneState and related code with mjv_copy{Model,Data}
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PiperOrigin-RevId: 760662776
Change-Id: I512bda9187fbc19ade6924b91d5cb2275078de42
2025-05-19 09:51:58 -07:00
8268c6d1ff
Add mjv_copyData
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PiperOrigin-RevId: 760642972
Change-Id: I16227fd91bf42618fda684b15b3650758ae29b13
2025-05-19 08:59:43 -07:00
8a7c42c747
Add SDF functions to public API.
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PiperOrigin-RevId: 757829339
Change-Id: I81ee7c3f33acf234835bf34cbb632e23cb9e284e
2025-05-12 10:53:39 -07:00
dfe22f7ef7
Remove stale reference to uncompressed sparse matrix.
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PiperOrigin-RevId: 757775265
Change-Id: Ic18c0c89ab84285a7d93e24c65e50832ebc53c6f
2025-05-12 08:30:43 -07:00
3e9d130092
Add mjs_getPluginAttributes.
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PiperOrigin-RevId: 752691116
Change-Id: Ib503a99f8d10661b8bf92410ccf471420f924986
2025-04-29 05:19:09 -07:00
a02a27d4a4
Combine all mjs_attach functions into one.
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PiperOrigin-RevId: 742702092
Change-Id: I89e35c59ada017cd061e2031584eeea71776743d
2025-04-01 08:05:58 -07:00
86c970bc23
Add error checking in mjs_setFrame.
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Also raise error if the frame is not found in the mjCBody copy constructor.
Fixes #2543 .
PiperOrigin-RevId: 742624013
Change-Id: I4999b3165c97f8d079412214d027ca7a8dae8cb3
2025-04-01 03:34:48 -07:00
be64747166
add mjs_detachDefault to delete a default class from mjSpec
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PiperOrigin-RevId: 738452369
Change-Id: I5a53a6dc8f89e1e8136aeefc09d7d9b7b7204e1f
2025-03-19 10:31:04 -07:00
209d2bd2c5
Added functionality for user payload data in mjSpec.
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PiperOrigin-RevId: 738343134
Change-Id: I6217362ced9993afcd5a2914c78718ffe3bf753a
2025-03-19 04:36:00 -07:00
1bf24e9f67
Do not overwrite existing parent frames for worldbody elements when attaching an mjSpec to a frame or a site.
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PiperOrigin-RevId: 737662046
Change-Id: I7028c21c803c01845ae1d53cb476f7b3df172313
2025-03-17 10:21:38 -07:00
bd9d30adc7
Improve documentation of mj_saveLastXML fixes #2075
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PiperOrigin-RevId: 735672207
Change-Id: I951b8be9cf12a2a4965a40bb8db4de4ddda18570
2025-03-11 01:57:46 -07:00
ce82b63155
Add mjs_attachFrameToSite.
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This is required in preparation of changing the spec.attach behavior in the Python bindings.
PiperOrigin-RevId: 730810198
Change-Id: I095808f0afe62b5bbd27201ed5c75804e0e9c4bf
2025-02-25 03:21:05 -08:00
b0e9d08673
Move introspect to python/introspect
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PiperOrigin-RevId: 728695024
Change-Id: I96433e1e9ee509704d66bd4c1be1906732e4cc55
2025-02-19 09:01:21 -08:00
Yuval Tassa