Beta: components are the MuJoCo model - #85

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jonathanembleyriches wants to merge 32 commits into

mainfrom

feat/protospec

Commits on Aug 11, 2026

Resolve the step mode on the engine and make the worker thread-safe
jonathanembleyriches
committed
5edcefd
Decouple camera capture from the step loop
jonathanembleyriches
committed
2a2fc2e
Split the RPC dispatcher and give the bridge ownership and jobs
jonathanembleyriches
committed
36d9c96
Carry state and frames over shared memory as well as ZMQ
jonathanembleyriches
committed
1930e43
Unify state serialization behind one IR
jonathanembleyriches
committed
15bc7af
Add ROS 2 as an optional module over the state IR
jonathanembleyriches
committed
d5ba79a
Plan and execute for the Franka through MoveIt
jonathanembleyriches
committed
ffe691b
Fix import and export across the element tree
jonathanembleyriches
committed
1a88912
Follow the overhaul through the editor and its tests
jonathanembleyriches
committed
bb0e9f8
Document the camera, streaming and ROS protocols
jonathanembleyriches
committed
3dbd438
Bump MuJoCo to upstream main (3.11.1)
jonathanembleyriches
committed
46d9133
Add ProtoSpec: MJCF as an object model generated from MuJoCo's schema
jonathanembleyriches
committed
8c415a1
Make the components the model, and delete the XML compile path
jonathanembleyriches
committed
f447bbe
Match stock on every menagerie robot, and support MuJoCo plugins
jonathanembleyriches
committed
a750d38
Format the tree and pin line endings to LF
jonathanembleyriches
committed
3381d85
Skip the reformat commit in blame
jonathanembleyriches
committed
2ea768a
Move convex decomposition onto the component tree, and finish its assets
jonathanembleyriches
committed
10d7573
Keep the Blueprint spec root out of non-editor builds
jonathanembleyriches
committed
fdcf0c6
Warn that the beta breaks existing MjArticulation assets
jonathanembleyriches
committed
9c7e69f
Record the beta in the changelog and bump the version
jonathanembleyriches
committed
06c4b67
Let an imported model's options reach the scene
jonathanembleyriches
committed
a9d0e39
Carry control values as double end to end
jonathanembleyriches
committed
f9238b0
Name the control-owner field for what it owns
jonathanembleyriches
committed
7aedd61
Test the PD control law and run it in mjtNum
jonathanembleyriches
committed
5a2dfc6
Source convex decomposition from the geom's mesh element
jonathanembleyriches
committed
999fcb5
Move the beta notice below the hero image
jonathanembleyriches
committed
41e0f0c
Let the engine see the articulation's element index
jonathanembleyriches
committed
59a8268
Draw a mesh geom's authored rgba
jonathanembleyriches
committed
4e456fd
Give the model root one of every top-level section
jonathanembleyriches
committed
7aed76a
Point the MuJoCo submodule at upstream
jonathanembleyriches
committed
f6de5d9

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Beta: components are the MuJoCo model - #85

Beta: components are the MuJoCo model#85
jonathanembleyriches wants to merge 32 commits into
mainfrom
feat/protospec

Commits on Aug 11, 2026

Resolve the step mode on the engine and make the worker thread-safe

Decouple camera capture from the step loop

Split the RPC dispatcher and give the bridge ownership and jobs

Carry state and frames over shared memory as well as ZMQ

Unify state serialization behind one IR

Add ROS 2 as an optional module over the state IR

Plan and execute for the Franka through MoveIt

Fix import and export across the element tree

Follow the overhaul through the editor and its tests

Document the camera, streaming and ROS protocols

Bump MuJoCo to upstream main (3.11.1)

Add ProtoSpec: MJCF as an object model generated from MuJoCo's schema

Make the components the model, and delete the XML compile path

Match stock on every menagerie robot, and support MuJoCo plugins

Format the tree and pin line endings to LF

Skip the reformat commit in blame

Move convex decomposition onto the component tree, and finish its assets

Keep the Blueprint spec root out of non-editor builds

Warn that the beta breaks existing MjArticulation assets

Record the beta in the changelog and bump the version

Let an imported model's options reach the scene

Carry control values as double end to end

Name the control-owner field for what it owns

Test the PD control law and run it in mjtNum

Source convex decomposition from the geom's mesh element

Move the beta notice below the hero image

Let the engine see the articulation's element index

Draw a mesh geom's authored rgba

Give the model root one of every top-level section

Point the MuJoCo submodule at upstream

Commits on Aug 14, 2026

Cut Linux compile memory in the spec tree templates

Build Linux deps against the UE toolchain sysroot