This website requires JavaScript.
f75772587a
Add functions for setting an mjsActuator to a specific shortcut type.
2025-06-09 02:15:48 -07:00
dd18dd2024
Apply metallic and roughness scaling factors.
2025-06-05 03:02:18 -07:00
047df4e871
Add texture to rotating cylinders in pulley example.
2025-06-04 13:15:06 -07:00
35fdc279fe
Merge main branch from mujoco
2025-06-03 13:00:27 -05:00
3eb31f56cd
Copybara import of the project:
2025-06-03 07:00:24 -07:00
fe81373ffe
Enable WriteReadCompare for models with assets.
2025-05-31 00:55:32 -07:00
84ad22a590
Add mj_copyBack for copying real-valued arrays from mjModel back to mjSpec.
2025-05-30 17:16:20 -07:00
072c872deb
Add helper methods for storing USD prim paths into mjsElements.
2025-05-30 07:09:22 -07:00
7932b4b202
Accumulate inertial in mjs_bodyToFrame.
2025-05-30 04:09:37 -07:00
f72a175a2c
Enable using sensor and SDF plugins in MJX:C.
2025-05-30 01:52:00 -07:00
b2e8589e7a
Add support for actuators to Mujoco USD interop.
2025-05-29 08:28:52 -07:00
6b919162d1
Add write_physics_ as a state variable on ModelWriter.
2025-05-28 13:31:59 -07:00
fc69ef1084
Fix authoring type mismatch for geoms sizes attributes.
2025-05-28 13:19:06 -07:00
287f46b220
Ensure last XML is freed after tests.
2025-05-28 09:25:45 -07:00
18b0e68a5a
Fix missing import in model editing colab
2025-05-28 08:27:42 -07:00
9b2b7cf92a
Set light intensity to 0 by default (not 1000).
2025-05-28 07:46:43 -07:00
3a4b6e6c5b
Added terrain generation to mjspec tutorial
2025-05-28 06:12:22 -07:00
56b88b59f0
Support 0-simplex in GJK code, and refactor code for efficiency and readability.
2025-05-28 04:18:01 -07:00
1fbbfd8079
Correct frame property in MjsBody from method to read-only attribute.
2025-05-28 03:46:54 -07:00
568620dd2f
Add texture attribute to lights.
2025-05-27 05:03:04 -07:00
441ca838a1
Add support for inertia and mass to Mujoco USD interop.
2025-05-27 04:57:00 -07:00
de3dc7c234
Update documentation from mjData.solver_iter to mjData.solver_niter.
2025-05-27 04:25:03 -07:00
ccc912c3b0
Improve docstring in mjvGeom, fixes #2629
2025-05-27 02:16:33 -07:00
f1954e98cf
Merge pull request #2589 from Rahul-Lashkari:fix-py-rollout-typos
2025-05-27 02:00:12 -07:00
89e39dc0a7
Expose mj_makeM as a sub-component.
2025-05-27 00:33:27 -07:00
4a102c37bc
Add support for indexing qfrc fields in MJX bind() method.
2025-05-26 07:02:42 -07:00
22bdf22cc7
Merge pull request #2631 from hannesbraun:errno-standard-include
2025-05-26 05:38:45 -07:00
3e2bbbd792
Merge pull request #2612 from budzianowski:main
2025-05-26 05:37:31 -07:00
7a5b55f57e
Expose mjs_resolveOrientation to the Python API.
2025-05-23 14:35:58 -07:00
eb6f7dc6b7
Gate some calls with __EMSCRIPTEN__
2025-05-23 12:10:03 -07:00
9e4931b79d
Add CollisionAPI and MeshCollisionAPI schemas to mjcPhysics.
2025-05-23 10:25:32 -07:00
e389872c7d
Add frame property to python bindings.
2025-05-23 09:23:28 -07:00
e44513bee5
Merge pull request #2640 from google-deepmind:dependabot/pip/mjx/setuptools-78.1.1
2025-05-23 07:37:33 -07:00
76ddc30072
Make MJCF SdfFileFormat plugin create hierarchy reflecting MJCF instead of sibling rigidbodies.
2025-05-22 14:03:52 -07:00
74cc904edc
Convert light directional boolean into a type enum.
2025-05-22 08:50:23 -07:00
373b4c0437
Support image/ktx format for textures.
2025-05-22 05:46:49 -07:00
3e9bc79b54
Adds color space to textures.
2025-05-22 04:32:04 -07:00
62a9d5b98d
Add MjcPhysicsSceneAPI support.
2025-05-21 13:02:32 -07:00
bf1f8081c1
Enable Visualization pane in Passive Viewer. Fixes #2158
2025-05-21 07:51:59 -07:00
7da6b5b9d9
Ensure mjx.get_data_into returns correct efc_J, qLD, and qLDiagInv.
2025-05-20 16:02:13 -07:00
49c33716a1
Allow _realloc_con_efc to also allocate new nJ arrays.
2025-05-20 15:25:10 -07:00
5051520733
Delete commented code.
2025-05-20 14:36:59 -07:00
85c84c1ece
Initialize Passive Viewer's internal mjModel and mjData to nullptr.
2025-05-20 12:18:14 -07:00
b728a50eb2
Correct elastic2d default information in the changelog.
2025-05-20 09:47:06 -07:00
1663867cba
Add GL_EXT_texture_sRGB to MuJoCo's GLAD stubs.
2025-05-20 04:37:32 -07:00
06e4937ed7
Bump setuptools from 75.5.0 to 78.1.1 in /mjx
2025-05-19 21:16:37 +00:00
cada50434a
Raise an error if MJX scan functions are called on models with zero DoFs.
2025-05-19 12:40:56 -07:00
bf722098f0
Fix broken link in changelog.
2025-05-19 12:39:33 -07:00
94803d772c
Enable multithreading of Newton solver.
2025-05-19 12:17:22 -07:00
7edbdd0ad6
Remove the Shell plugin and integrate it into the engine.
2025-05-19 10:50:27 -07:00
45fc15b844
Speed up sparse supernode detection by combining it with transposition.
2025-05-19 10:13:20 -07:00
ced630181d
Replace mjv_sceneState and related code with mjv_copy{Model,Data}
2025-05-19 09:50:49 -07:00
8268c6d1ff
Add mjv_copyData
2025-05-19 08:58:45 -07:00
670c97c4f7
Reorder model editing notebook, placing dm_control example last
2025-05-19 08:56:55 -07:00
6c201d3e1c
Add examples of scaling assets into tutorial notebook. Fixes #2476
2025-05-19 07:33:54 -07:00
84d658a5ad
Remove redundant variable in mj_factorI
2025-05-19 06:41:06 -07:00
178fb49c2b
Fix namespacing in USD schema.
2025-05-16 08:53:16 -07:00
df09980258
Create python module for MjcPhysics.
2025-05-16 07:12:00 -07:00
ee8abdf854
Speed up mju_sqrMatTDSparse
2025-05-16 06:41:08 -07:00
af0cb2d365
Use errno.h instead of sys/errno.h
2025-05-15 15:42:51 +02:00
81442e06a0
Add MjcPhysicsSiteAPI support and testing.
2025-05-15 06:37:10 -07:00
7ba507323d
Handle mocap body in bind.
2025-05-15 03:09:30 -07:00
e8c566bee1
Remove use of diagnum in solver
2025-05-15 00:38:33 -07:00
dc4968506b
Remove MjcPhysics prefix from schema API types.
2025-05-14 09:38:11 -07:00
0a5da8db22
Rename MjcSiteAPI to MjcPhysicsSiteAPI for consistency.
2025-05-14 09:09:01 -07:00
e1baa15776
Remove unnecessary argument in mju_mulSymVecSparse
2025-05-14 08:11:10 -07:00
71bdd915f7
Move bending stiffness from plugin to the compiler.
2025-05-14 07:38:25 -07:00
d8bebdc675
Remove unnecessary diagnum argument in mj_solveLD and mj_factorI
2025-05-14 07:12:19 -07:00
b0c36c6b33
Remove dead functions.
2025-05-14 06:54:36 -07:00
dd28b887d4
Rename C sparse structure to M in mjdata, improve docstrings.
2025-05-14 05:25:11 -07:00
4ba04586ae
Fix setting slices of multidimensional arrays for multiple targets
2025-05-14 04:35:56 -07:00
1165018f71
Add island support to Newton solver
2025-05-14 04:19:46 -07:00
fa95fe0c59
Add intensity and range parameters to lights.
2025-05-14 03:27:06 -07:00
a6c3a287d6
Prepare Newton solver for island support
2025-05-14 03:16:41 -07:00
34e8ff1aad
Add flex edge flap connectivity to mjModel.
2025-05-14 02:49:46 -07:00
2386dfd7da
Add touch sensor for estimating the surface contact stresses from the SDF.
2025-05-14 00:45:05 -07:00
23865c7491
Skip cow.xml from xml_native_writer_test.
2025-05-13 16:09:28 -07:00
4186589738
Use mjData.M where appropriate
2025-05-13 14:21:41 -07:00
79c74d7eae
Add mjData.M, not yet used.
2025-05-13 13:27:01 -07:00
1e02d66c3d
Remove M matrix structure from mjData.
2025-05-13 11:46:24 -07:00
6bc0bbf7df
internal change
2025-05-13 10:51:49 -07:00
627fffdef9
Switch mjData.{qH,qLD} from full ("M") to reduced ("C") inertia matrix structure.
2025-05-13 10:19:22 -07:00
436b5a8e1f
Add mju_addToSymSparse
2025-05-12 16:18:51 -07:00
755564a348
Remove unused code related to legacy island implementation.
2025-05-12 15:38:15 -07:00
8a7c42c747
Add SDF functions to public API.
2025-05-12 10:52:41 -07:00
d77126dc58
Add vertcollide option for adding spheres at flex vertices.
2025-05-12 09:12:44 -07:00
09bf5409ab
Add code generated files for mjcPhysics schema.
2025-05-12 08:59:34 -07:00
b53ed63b5f
Use 2humanoid100.xml model in a benchmark test.
2025-05-12 08:58:12 -07:00
bd5cb88211
Change mjPhysics schema library name from mujocoPhysics to mjcPhysics.
2025-05-12 08:35:57 -07:00
dfe22f7ef7
Remove stale reference to uncompressed sparse matrix.
2025-05-12 08:29:44 -07:00
6a977d073b
Fix GitHub Actions builds.
2025-05-12 07:59:23 -07:00
9ac5fff41d
Move local function to top of test file.
2025-05-12 05:35:49 -07:00
af088adaee
Add mjPhysics schemas, starting with MjcPhysicsSceneAPI and MjcPhysicsSiteAPI
2025-05-12 04:57:14 -07:00
85dd78d6f3
Add private function mj_makeM.
2025-05-12 03:51:31 -07:00
9accc7ae51
Update mj_energyPos.
2025-05-12 03:12:10 -07:00
b0b2c48190
Update comment in mj_energyPos.
2025-05-12 02:44:42 -07:00
924ee3070a
Modify user values in mujoco to allow users to provide cleanup functions to avoid memory leaks.
2025-05-09 11:02:09 -07:00
baf84265b8
Improve wrap_circle.
2025-05-09 04:12:17 -07:00
ad80a4625b
Always generate a BVH in flex.
2025-05-08 09:45:43 -07:00
f4774a5449
Fix bug in cached meshes where convex hull was missing. Previously if a mesh was copied from the cache it would not have its convex hull if the original mesh that was cached didn't previously compute it. Fixes #2609
2025-05-08 02:41:06 -07:00
Alessio Quaglino