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  • 783e6499d8 Remove explicit mjModel dependency from engine_util_misc.c Yuval Tassa 2025-07-07 08:32:14 -07:00
  • 6ccc4f77bc Defer sensor reference id resolution from sensor compiler to model compiler Yuval Tassa 2025-07-07 05:36:44 -07:00
  • 1742ba510c Swap out apostrophe for single quote in mjcPhysics actuator lengthRange docs. Sam Haves 2025-07-07 04:26:52 -07:00
  • 2c4fed07d2 Add missing source files to mj_usd target. Sam Haves 2025-07-04 11:45:36 -07:00
  • be3c3ef8a9 Add missing gravity attribute authoring to Mjcf SdfFileFormat plugin. Sam Haves 2025-07-04 11:24:58 -07:00
  • 45d4cacc45 Remove dense actuator_moment for _put_data_c. Baruch Tabanpour 2025-07-04 11:03:07 -07:00
  • e69b6cc5f3 Fix wrong extent authoring for Cube. Robin Alazard 2025-07-04 10:38:41 -07:00
  • 21a852504c Make sure we never apply the ArticulationRoot API more than once. Robin Alazard 2025-07-04 07:34:39 -07:00
  • 85ad1eec91 Rework USD scene traversal, ensure DFS order of bodies is respected, remove implicit welding of non-jointed nested bodies Robin Alazard 2025-07-04 03:24:35 -07:00
  • 2937efd5f2 Use sparse math in mjd_actuator_vel. Yuval Tassa 2025-07-03 10:51:35 -07:00
  • af7d20c035 Change mjs_nextChild to be DFS to match XML parsing. Alessio Quaglino 2025-07-03 10:05:46 -07:00
  • 67f9ffddbd Delete outdated mjs_delete doc. Alessio Quaglino 2025-07-03 09:53:38 -07:00
  • 69ce5dbd05 Consolidate tree traversal tests in the C and Python APIs. Alessio Quaglino 2025-07-03 07:24:40 -07:00
  • 465fb3234c Updates for documentation. Taylor Howell 2025-07-03 06:34:08 -07:00
  • 7aa3b81c67 Fix minor typo in changelog. Tom Erez 2025-07-03 05:15:14 -07:00
  • 7548d370ed Add missing changelog item and enum documentation, clarify breaking changes. Yuval Tassa 2025-07-03 04:23:33 -07:00
  • 564c51ddb9 Check for duplicated names when setting element names. Alessio Quaglino 2025-07-03 03:19:51 -07:00
  • 594e17074a Replace name attribute with setters and getters in the C API of mjSpec. Alessio Quaglino 2025-07-03 02:29:49 -07:00
  • 1c5d47c94b Fix paragraph rendering in texture docs. Yuval Tassa 2025-07-03 01:41:33 -07:00
  • d2840ce665 Add missing files to mjusd cmake. Sam Haves 2025-07-03 01:26:19 -07:00
  • 1d613b9b9a Add support for mjcPhysics keyframes to USD interop. Sam Haves 2025-07-02 10:16:42 -07:00
  • b2300684d8 Remove unused variable definition Vidur 2025-07-01 18:36:11 -05:00
  • 4c7c68e518 add glfw3 install back to cmake Vidur 2025-07-01 18:17:21 -05:00
  • ef8da59cb3 Merge branch 'original/main' into vidur/remove-installing-glfw3-headers Vidur 2025-07-01 16:27:15 -05:00
  • 641d95313a Remove installing glfw3 headers Vidur 2025-07-01 16:25:07 -05:00
  • 072b327430 Fix the parsing of USD scenes that use ResetXformStack Robin Alazard 2025-07-01 11:06:13 -07:00
  • 50de1b3c2c Read new Mujoco-specific JointAPI when converting USD. Robin Alazard 2025-07-01 07:39:17 -07:00
  • 9dc67b50cd Write new Mujoco-specific JointAPI data to USD. Robin Alazard 2025-07-01 07:34:19 -07:00
  • 862436f9b3 Add JointAPI schema in mjcPhysics. Robin Alazard 2025-07-01 07:20:37 -07:00
  • 3db03dcce5 Don't output a warning about duplicate geom names for unnamed geoms in URDF. Nimrod Gileadi 2025-07-01 05:35:23 -07:00
  • 9eb0745968 Fix comment typo in getimpedance. Taylor Howell 2025-07-01 05:33:01 -07:00
  • 5c1f1f9dba Add octree to meshes of SDF geoms. Alessio Quaglino 2025-06-30 10:49:08 -07:00
  • 106df98946 Create Keyframe schema in mjcPhysics. Sam Haves 2025-06-30 07:47:47 -07:00
  • 1c98dfd86e Remove unused header Yuval Tassa 2025-06-30 04:08:21 -07:00
  • 2ce5caa239 Update MJX rne_postconstraint with contributions from equality connect and equality weld constraints. Taylor Howell 2025-06-30 03:20:59 -07:00
  • 57b3d6d0f4 Make island discovery compatible with flex Yuval Tassa 2025-06-30 03:15:27 -07:00
  • c945247e7c Don't write limited and actuatorfrclimited attributes when "true" is not a valid value. Yuval Tassa 2025-06-27 09:06:36 -07:00
  • e80a62c6d5 Allow loading USD files into simulate. Sam Haves 2025-06-27 07:58:27 -07:00
  • e97e5d31d0 Replace box SDF with a smooth approximation. Alessio Quaglino 2025-06-27 07:20:43 -07:00
  • 931ea6938c Add parsing tests for joints. Robin Alazard 2025-06-27 06:00:30 -07:00
  • 2e8e38b492 Add double quotes when setting rpath property fixing handling of lists. Sam Haves 2025-06-27 05:56:46 -07:00
  • 09f44b3c92 Explain why mjpython is needed on MacOS Matija Kecman 2025-06-27 03:00:17 -07:00
  • 09f7154e57 Add option to only sync the state to improve sync performance in passive mode. Matija Kecman 2025-06-27 02:48:58 -07:00
  • 8f6a13aa8f Add support for displayColor/Opacity (convert to rgba) Robin Alazard 2025-06-27 02:15:47 -07:00
  • 24789f8fe5 Apply articulation API to the correct body when converting to USD. Sam Haves 2025-06-26 11:06:07 -07:00
  • 1e319aebed Support joint actuator authoring in Mjcf SdfFileFormat plugin. Sam Haves 2025-06-26 10:54:39 -07:00
  • 21bae3a388 Report which body has too-small mass/inertia in compilation error. Yuval Tassa 2025-06-26 10:39:31 -07:00
  • afc35451a0 Expose ability to go from USD stage to MjSpec. Sam Haves 2025-06-26 10:08:45 -07:00
  • 672746f509 Use brackets for USD schema code. Sam Haves 2025-06-26 08:53:36 -07:00
  • 3441e0aa03 mj_usd plugin: add joints export. Robin Alazard 2025-06-26 03:01:31 -07:00
  • 48205fb570 Symmetrize dense matrices before cho_factor, since the jax.scipy.linalg.cho_factor API had a breaking change in https://github.com/jax-ml/jax/commit/a981e1c4b99b7628efe2bf70a75c0422a70e9524. Baruch Tabanpour 2025-06-25 10:14:03 -07:00
  • 18d5d5d03f Improve documentation related to mjSpec element deletion. Yuval Tassa 2025-06-25 07:22:31 -07:00
  • d0faa3624e Update MJX inverse dynamics for tendon armature. Taylor Howell 2025-06-25 06:13:59 -07:00
  • da831f5d3e Add support for separate occlusion, roughness and metallic textures Google DeepMind 2025-06-25 04:36:18 -07:00
  • 81d16b7ccc Add some comments to the material construction code Google DeepMind 2025-06-25 02:21:51 -07:00
  • 9089059517 Move headers from src/experimental/usd to include/experimental/usd Sam Haves 2025-06-24 09:32:13 -07:00
  • 78df2ae7fa Add support mjcf emissive layer materials Google DeepMind 2025-06-24 08:05:08 -07:00
  • a0614fff1f Fix tinyxml2 includes. Sam Haves 2025-06-24 06:16:51 -07:00
  • 8d9556db7c Update MJX feature parity. Taylor Howell 2025-06-24 02:52:54 -07:00
  • 862300def5 Fix comment typo in _resetData. Taylor Howell 2025-06-23 03:48:46 -07:00
  • a00bfa819c Raise error when binding to a removed element. Alessio Quaglino 2025-06-22 10:14:40 -07:00
  • 419cdf1ff3 Add mesh fit image to XMLreference Yuval Tassa 2025-06-22 09:54:01 -07:00
  • 2707eadc00 Refactor mj_crb and mj_tendonArmature to use CSR M. Yuval Tassa 2025-06-21 04:48:07 -07:00
  • 14dc7c2a60 Add "cameraid" attribute to visual/global specifying the default camera to use at model load. Yuval Tassa 2025-06-20 11:39:59 -07:00
  • 7dc7a349c5 Move detach from mjs_delete to mjs_detach. Alessio Quaglino 2025-06-20 07:02:38 -07:00
  • a2acd2d4ed Rename detach_default and detach_body to delete in the mjSpec bindings. Alessio Quaglino 2025-06-20 06:22:15 -07:00
  • e23b39fbfa Increase test tolerance in engine_solver_test Yuval Tassa 2025-06-20 04:47:09 -07:00
  • 60955d7e88 Fix rollout notebook, update light.directional to light.type. Tom Power 2025-06-20 04:43:06 -07:00
  • 0488d9f4eb Replace mjs_detachBody and mjs_detachDefault with mjs_detach. Alessio Quaglino 2025-06-20 04:11:14 -07:00
  • 4ce6293217 Fix bug in inverse dynamics when tendon armature is present. Yuval Tassa 2025-06-20 02:23:53 -07:00
  • 2ca9602d3c Remove crank site from ActuatorAPI generated code. Sam Haves 2025-06-19 09:30:10 -07:00
  • 86e6a0415b Add missing PLUG_INFO_LIBRARY_PATH to mjcPhysics plugInfo.json Sam Haves 2025-06-19 08:28:01 -07:00
  • f1b3897ea7 Fix missing namespace in test_utils. Sam Haves 2025-06-19 08:27:55 -07:00
  • 35665c5cb3 Skip mesh geoms in touch sensor. Alessio Quaglino 2025-06-18 08:23:24 -07:00
  • 335a9ce0c2 Use early-exit to improve readability of mj_instantiateEquality. Yuval Tassa 2025-06-18 07:44:23 -07:00
  • 92bc486558 Make mjs_findElement find textures by file name. Alessio Quaglino 2025-06-18 05:53:16 -07:00
  • 9e2c21a17d Return stricter type from mjCModel::operator+=(mjDef&). Nimrod Gileadi 2025-06-18 04:59:46 -07:00
  • 6b309b5251 Display equality constraints in the simulate UI. Google DeepMind 2025-06-18 04:41:32 -07:00
  • bb1d313780 Update docs reflecting MJX now has good support for implicitfast. Erik Frey 2025-06-17 16:06:50 -07:00
  • a7559ed0ad Merge pull request #2378 from Balint-H:feature/unity-obj Copybara-Service 2025-06-17 14:24:08 -07:00
  • a64f1fd335 Compute M in mjx._get_data_into. Taylor Howell 2025-06-17 13:20:14 -07:00
  • 8084b06a35 Add tendon armature with sparse qM to MJX. Fixes #2681. Taylor Howell 2025-06-17 12:50:56 -07:00
  • 3a035fc0a9 Remove trailing whitespaces from MjMeshfilter Bálint Hodossy 2025-06-17 19:32:24 +02:00
  • d2501eff68 Use procedural model creation in plugin tests. Alessio Quaglino 2025-06-17 09:29:52 -07:00
  • d9aae1521a Remove confusing operator overload in user_api.cc Nimrod Gileadi 2025-06-17 08:33:38 -07:00
  • 998769a995 Return the total non-zeros from mju_sqrMatTDSparseCount. Yuval Tassa 2025-06-17 04:26:10 -07:00
  • ea949f1cee Add support for ORM maps in mujoco file format plugin Google DeepMind 2025-06-17 01:44:17 -07:00
  • e2e2932fe6 Mark all single-argument constructors in user_objects.h as explicit. Nimrod Gileadi 2025-06-16 11:59:42 -07:00
  • 1f0e4891c2 Add some autoformatting changes to mujoco_to_usd.cc Google DeepMind 2025-06-16 08:13:51 -07:00
  • bb1b2db3a9 Add support for normal maps in mujoco file format plugin Google DeepMind 2025-06-16 06:00:14 -07:00
  • 3969cac614 Fix tinyxml include Google DeepMind 2025-06-16 04:25:55 -07:00
  • 41eb966c9b Resolve deprecation warnings in playground. Baruch Tabanpour 2025-06-13 12:27:10 -07:00
  • a4ab35c194 update scrubs and set next version Kevin Sayed 2025-06-12 11:38:03 -07:00
  • 65deedbc75 Rename backend_impl to impl. Remove _full_compat from callsites. Baruch Tabanpour 2025-06-11 18:04:51 -07:00
  • f978b4eea3 Release notes for 3.3.3 + update git hashes. Kevin Sayed 2025-06-10 14:48:28 -07:00
  • e5631c0bab [MJX] Don't raise sparse qM error in tendon_armature if there are no tendons. Erik Frey 2025-06-10 12:45:49 -07:00
  • 5f42078dc1 Do not write nameless frames whose class is "main". Alessio Quaglino 2025-06-10 10:14:42 -07:00
  • bf56312c9d Increase size of image in changelog Yuval Tassa 2025-06-10 03:33:27 -07:00
  • caaf7b3a69 Add tendon armature to MJX. Erik Frey 2025-06-09 14:26:18 -07:00
  • b8768aa1cd Allow to fusestatic a body if it doesn't generate a referencing error. Alessio Quaglino 2025-06-09 10:04:47 -07:00