fec7a576ad
Revert the Eigen3 version due to an [upstream bug in Eigen]( https://gitlab.com/libeigen/eigen/-/issues/2986 )
...
PiperOrigin-RevId: 819709602
Change-Id: I948daf46419547a598b23810c2c4a7adca74fb05
2025-10-15 05:47:03 -07:00
b6f25ca623
Check mjs_getName return value in XML parser. Fixes #2898 .
...
PiperOrigin-RevId: 819351410
Change-Id: I0807d71328068f6388991ae15274c7d61b4d3e53
2025-10-14 12:40:28 -07:00
27e8736fc7
This CL updates the changelog to mark the release of MuJoCo 3.4.0. It also updates the versions of Eigen3, Abseil, and benchmark used in the CMake build.
...
PiperOrigin-RevId: 818719010
Change-Id: I865b0f647003d579af9d6c87fa081c4f7cbe34d0
2025-10-13 10:13:01 -07:00
624ae0ac26
Silence warning/error relating to not using a const-ref in a for loop.
...
PiperOrigin-RevId: 817652277
Change-Id: Ia700c67fe2c163c7a1e6e35fbbaed632cca213c3
2025-10-10 08:22:11 -07:00
bd68f0c6cc
Update CMake to use C++20
...
PiperOrigin-RevId: 817573868
Change-Id: I22c98515763623d7411fd12910cf88cdaa336e6e
2025-10-10 03:54:47 -07:00
681f5767b2
Remove -Wno-extra-semi, add workaround for mjSORT confusing some IDEs
...
PiperOrigin-RevId: 808689636
Change-Id: Ia091fb597c171a33842e62690d06f32614fbe4eb
2025-09-18 12:28:09 -07:00
4b8454b79c
Add semicolons after mjSORT macro calls.
...
PiperOrigin-RevId: 808587320
Change-Id: I9fd290b9a2b615647135f1250e87af8ea9bb81f6
2025-09-18 08:13:46 -07:00
155d6c686a
remove UpdateCMakeMinimumRequired.cmake
2025-09-15 13:30:56 +01:00
ea856a4c31
Refactor cmake_minimum_required handling in dependencies
...
Removed PATCH_COMMAND for cmake_minimum_required updates and added checks for CMAKE_POLICY_VERSION_MINIMUM.
2025-09-15 13:44:10 +02:00
0ddb840395
add comments explaining patches
2025-09-15 12:28:38 +01:00
c79b2d064b
add description of file utility
2025-09-15 12:17:41 +01:00
1b7e508f17
add copyright header
2025-09-15 12:16:15 +01:00
83a619c5b7
patch for cmake_minimum_required version
2025-09-15 11:40:08 +01:00
4b18009f47
Revert Eigen version
...
PiperOrigin-RevId: 805395095
Change-Id: I9c8184f2e667dd7595a6211626be606878f9c04f
2025-09-10 09:34:06 -07:00
6ec5f8b9c2
Update Mujoco Deps in preperation for the 3.3.6 release
...
PiperOrigin-RevId: 805007266
Change-Id: I9332d0b8439f8941b9dc9889c1e27d54e9a70b99
2025-09-09 12:01:53 -07:00
3152458a6b
Update Mujoco Deps in preperation for the 3.3.5 release
...
PiperOrigin-RevId: 792755404
Change-Id: I9776bb5e5bf2a891e0fa0fbf486875727e1d13b4
2025-08-08 14:07:00 -07:00
e45150747a
Import qhull/qhull from GitHub.
...
#MIGRATION_3P_QHULL__DEFAULT
- 49bbade5bc43b2267334bb30926f838e7fa7a903 Remove tools from CMake exported targets (#152 ) by StefanBruens <stefan.bruens@rwth-aachen.de >
- 62ccc56af071eaa478bef6ed41fd7a55d3bb2d80 Cmake improvements (#158 ) by Cristian Le <github@lecris.me >
PiperOrigin-RevId: 791673333
Change-Id: Ib231db3cd58988faf4d5288a2ddf761a106080c8
2025-08-06 07:00:26 -07:00
b81f1db8af
Replace SdfLib with linear octree interpolation of TriangleMeshDistance.
...
Temporary changes to the octree:
- Changed frame from mesh to geom
Before change (tolerance 1e-3):
```
Simulation time : 2.34 s
Steps per second : 4275
Realtime factor : 8.55 x
Time per step : 233.9 µs
Newton iters / step : 2.26
Contacts / step : 3.69
Constraints / step : 14.76
Degrees of freedom : 12
Dynamic memory usage : 0.7% of 14M
```
After change (6 octree levels):
```
Simulation time : 2.24 s
Steps per second : 4472
Realtime factor : 8.94 x
Time per step : 223.6 µs
Newton iters / step : 2.47
Contacts / step : 3.37
Constraints / step : 13.49
Degrees of freedom : 12
Dynamic memory usage : 0.2% of 14M
```
PiperOrigin-RevId: 781019754
Change-Id: Ib15581244dfe9e571e1c6c2cac4a101cf3d8ba3d
2025-07-09 06:21:41 -07:00
2a32babb78
Update Mujoco Deps in preperation for the 3.3.4 release
...
PiperOrigin-RevId: 780712420
Change-Id: Ib13d18bcf0f248acff93c04f977eec59185dc932
2025-07-08 14:21:53 -07:00
2e8e38b492
Add double quotes when setting rpath property fixing handling of lists.
...
PiperOrigin-RevId: 776549203
Change-Id: I51375c536729356f023076037ec1f5335d407fa4
2025-06-27 05:57:36 -07:00
f978b4eea3
Release notes for 3.3.3 + update git hashes.
...
- Upgraded dependencies versions.
- Added release date for 3.3.3
- Reordered changelog to be a numbered list.
PiperOrigin-RevId: 769808336
Change-Id: Iffa074f52ef2e3f9d450ce6973a7e85980417367
2025-06-10 14:49:17 -07:00
da1850760a
Prepare for v3.3.1 release.
...
PiperOrigin-RevId: 745602958
Change-Id: I412fd58bb063959d5a151f4bca9b3ba26e942d02
2025-04-09 08:40:30 -07:00
e1f18a747e
Update dependencies and the changelog ahead of the 3.3.0 release.
...
PiperOrigin-RevId: 731406295
Change-Id: I05027722a9681f71549b7e022dfe13fc381b8564
2025-02-26 12:07:55 -08:00
61973a33c9
Update eigen3 and the changelog ahead of the 3.2.7 release.
...
PiperOrigin-RevId: 715467319
Change-Id: I4a6a168bc981c976890c46b784e94805afc86323
2025-01-14 11:51:12 -08:00
0f64959e27
Update the version of eigen3 ahead of the 3.2.6 release
...
PiperOrigin-RevId: 702026493
Change-Id: Ibb0447b7106e9b873386c153283c81685583350f
2024-12-02 11:12:39 -08:00
072039ac60
Update Google Benchmark library to v1.9.0.
...
The old version doesn't build under LLVM 19 with -Werror.
PiperOrigin-RevId: 697919386
Change-Id: I6cfa64936af9e2ea3b2c03e724b33f5bde7c799a
2024-11-19 01:27:36 -08:00
d1e004aa97
Update version hashes in MuJoCo CMake files ahead of the 3.2.4 release.
...
PiperOrigin-RevId: 686208889
Change-Id: I19d3e6566e76c44e199f427aed984b9a530f4262
2024-10-15 13:03:13 -07:00
dde25d039b
Update Mujoco dependencies to latest versions.
...
PiperOrigin-RevId: 674003245
Change-Id: Ib758fa361cb34a786dcd3d55fbf3e5a459b75a3f
2024-09-12 14:10:21 -07:00
828b900358
Update dependency versions.
...
PiperOrigin-RevId: 659624959
Change-Id: I21bb1f352107ed399a1029aa1d7f5b6ed29ab3cf
2024-08-05 11:37:14 -07:00
cb4cb7d09b
Update version hashes in MuJoCo CMake files ahead of the 3.2.0 release.
...
PiperOrigin-RevId: 652555501
Change-Id: I4279ea670e837414adbfc69f6e1e96a4c635f17d
2024-07-15 12:00:25 -07:00
44be878e7e
Enable inter-procedural optimization by default in cmake
...
PiperOrigin-RevId: 647336693
Change-Id: I44acf48ed9825dd3e71b06f2aca581cdb17dce34
2024-06-27 09:05:49 -07:00
efbcd86e29
Update abseil to LTS 20240116.2.
...
This is a minor update to the previous version, LTS 20240116.1. The only change is a fix for a bug in the `absl::StrFormat` function.
PiperOrigin-RevId: 631495397
Change-Id: I28aec52fb526a2168900a4ee93ffc6e11650a3be
2024-05-07 11:40:44 -07:00
4647f79c55
Update MarchingCubeCpp to version f03a1b3ec29b1d7d865691ca8aea4f1eb2c2873d.
...
PiperOrigin-RevId: 631401047
Change-Id: I3e82f7f1188470f8c40bd2e6ce1df2bd813c96c5
2024-05-07 06:22:49 -07:00
e2c14188ad
Updated abseil for release version v3.1.3
...
PiperOrigin-RevId: 612939979
Change-Id: I0e5c5301d6d6f2139a71d8df95966124e584e14d
2024-03-05 12:57:23 -08:00
7e87c6ac44
Updated Eigen3 hash in below files for Mujoco release version v3.1.3
...
- CMakeLists.txt
- MujocoDependencies.cmake
PiperOrigin-RevId: 612910476
Change-Id: I67ec8b4550abde82378a875809552fa10d4924cd
2024-03-05 11:26:16 -08:00
edc4db6898
Update sdflib version.
...
PiperOrigin-RevId: 612389341
Change-Id: Id3e7a4fb51e63b7fef7e9ca7f94a0bc7e54e8413
2024-03-04 03:41:58 -08:00
f75923a48d
Updated version numbers to cmake files
...
build / windows-2022 (push) Has been cancelled
build / macos-12 (push) Has been cancelled
build / ubuntu-20.04-clang-10 (push) Has been cancelled
build / ubuntu-20.04-clang-11 (push) Has been cancelled
build / ubuntu-20.04-clang-12 (push) Has been cancelled
build / ubuntu-22.04-clang-13 (push) Has been cancelled
build / ubuntu-22.04-clang-14 (push) Has been cancelled
build / ubuntu-22.04-gcc-10 (push) Has been cancelled
build / ubuntu-22.04-gcc-11 (push) Has been cancelled
build / ubuntu-22.04-gcc-12 (push) Has been cancelled
build / ubuntu-22.04-gcc-9 (push) Has been cancelled
PiperOrigin-RevId: 604406364
Change-Id: I85ab41b048fff9484c81e858c2bbcfeb6066fd4b
2024-02-05 12:55:30 -08:00
0df1c9c733
Updated version number in cmakelist, mujcodepencies.cmake for v 3.1.0
...
PiperOrigin-RevId: 590312529
Change-Id: Ie4fb2a76f88d5032c53365995a2bb7b691485e96
2023-12-12 13:17:35 -08:00
23cdfef7fe
Update C++ dependency versions.
...
PiperOrigin-RevId: 583105482
Change-Id: Ieeffd477a3b3baafd1d7f622881c81944298d233
2023-11-16 11:15:01 -08:00
db067a3b94
Update SdfLib to latest version.
...
PiperOrigin-RevId: 574140359
Change-Id: Icbbf1c863204bef45252cfd184e0d80046261dc4
2023-10-17 07:20:26 -07:00
efdc89e347
Update dependency versions.
...
PiperOrigin-RevId: 573323079
Change-Id: I01fbcc582626b179ce72b2aabcac0f389801a97f
2023-10-13 14:41:48 -07:00
6ca8a7bdf7
Make SdfLib dependency on args and stb_image optional.
...
PiperOrigin-RevId: 566309916
Change-Id: I74880781848b7e5235cdf5d723b0c8805827a4c8
2023-09-18 08:31:53 -07:00
e76e1c72f9
Fix SdfLib relative path.
...
PiperOrigin-RevId: 565884473
Change-Id: I77e25b55a5062ec089bbb643bd722ec2fbc7b211
2023-09-16 00:41:28 -07:00
492b6a72ec
Prevent patches to be applied to an already patched dependency.
...
See https://gitlab.kitware.com/cmake/cmake/-/issues/21146
BEGIN_PUBLIC
Prevent patches to be applied to an already patched dependency.
END_PUBLIC
PiperOrigin-RevId: 565624168
Change-Id: I29b36d2cd02f58d5d9e84f9cae5e5bbf8be1b404
2023-09-15 02:58:54 -07:00
4751f70026
Export SdfLib patch to GitHub.
...
PiperOrigin-RevId: 565354963
Change-Id: I10089d8abf85617d8e34da35c4bf4bfcb0a3684b
2023-09-14 06:56:12 -07:00
1afd98ec4b
Add [SdfLib]( https://github.com/UPC-ViRVIG/SdfLib ) plugin to first-party SDFs.
...
The following dependencies are disabled with a cmake patch file.
- Enoki
- OpenMP
- Assimp
- FCPW
PiperOrigin-RevId: 565352386
Change-Id: Icff9de68408e0afa2032bb83b24491fc4e41d181
2023-09-14 06:42:42 -07:00
860f7b376a
Fix GCC and MSVC build.
...
PiperOrigin-RevId: 564390190
Change-Id: Icba3eefb394b8d17798679dd9876f127fba5a599
2023-09-11 08:17:08 -07:00
78183e60e1
Refactor thread pool implementation.
...
- Make mjTask non-opaque and remove C++ Task class.
- Make C++ thread pool a subclass of a skeletal mjThreadPool C struct.
- Make the mjTask status enum more consistent with the rest of MuJoCo.
- Change mju_threadPoolEnqueue to take just the mjTask. Users must now prepare the mjTask by assigning the function pointer and argument into the struct.
- Rename files in thread/ to be more consistent with the rest of MuJoCo.
- Run threading tests in CMake.
- Allow use of C++20 designated initializers.
Otherwise the functionality remains identical.
PiperOrigin-RevId: 564374675
Change-Id: I37c9894566bc39faf217e5aa97a4e2713a70e467
2023-09-11 07:20:34 -07:00
329ed193ac
Disallow variable-length arrays and turn on -Wpedantic in Clang and GCC.
...
PiperOrigin-RevId: 562832747
Change-Id: I0532624cee31e089a47426305d885687eb0fc5c5
2023-09-05 11:05:04 -07:00
fdb041580c
Add Signed Distance Field to collision geometries.
...
PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
2023-08-16 09:15:23 -07:00
Matija Kecman