18779ab54a
Clean up engine_core_util
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PiperOrigin-RevId: 814709359
Change-Id: If4ec66808e7de51e16b772afdb8485fa4ff30030
2025-10-03 08:48:11 -07:00
b5c35f87fc
Add material parsing path for colliders instead of strictly visual gprims.
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PiperOrigin-RevId: 814692421
Change-Id: If92a36d0382f60e0d92c7d90320dec51c20ea739
2025-10-03 07:52:55 -07:00
24679b47e4
Separate out site and geom frame construction.
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PiperOrigin-RevId: 814677737
Change-Id: I623f9d1e23ac6b3076a577e97911f7ec73492f52
2025-10-03 06:56:53 -07:00
493d73062c
Misc cleanup to addFrameGeoms.
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PiperOrigin-RevId: 814582959
Change-Id: I2546bf1c13334628d379ad24737de095085e1b1f
2025-10-03 01:14:32 -07:00
32e08f9507
Expose userfacenormal to mjsMesh
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PiperOrigin-RevId: 814253177
Change-Id: I644974feea0722f03e7c3b01be7b702dba233f0a
2025-10-02 08:53:42 -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
6ed2ceaa83
Add non-decorative elements before decorative elements.
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PiperOrigin-RevId: 814165875
Change-Id: Iab09e2fe1fa129b0c19760c969b5639e690a95d9
2025-10-02 03:59:06 -07:00
91257896c0
Implement faster mju_isZeroByte.
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PiperOrigin-RevId: 814148714
Change-Id: Iaf5ed9d3502eaaaee8d46a986f2db00811ae0707
2025-10-02 02:53:53 -07:00
edbdb5195c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
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PiperOrigin-RevId: 813754244
Change-Id: I6836e41c3b021cb727e922c25c60f629b9814c93
2025-10-01 07:58:17 -07:00
c439628f82
When parsing USD, infer gravity from stage metadata if UsdPhysicsScene missing or undefined.
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PiperOrigin-RevId: 813705210
Change-Id: I13741af6dc87ecd9efb83219e978f5f06c72d021
2025-10-01 05:19:31 -07:00
b1ae44d10f
Refactor duplicated frame drawing logic into a utility function.
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PiperOrigin-RevId: 813675737
Change-Id: I7f9094852f26b2ddc08534bf87cf2f71476d99ec
2025-10-01 03:36:14 -07:00
f9d0bedb44
Minor cleanup: Move geom-related functions together.
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PiperOrigin-RevId: 813661319
Change-Id: I6cdf74ff57f39f932ddd39268f15f1128ddf1df4
2025-10-01 02:46:45 -07:00
328a4ab293
Merge geomsExhausted into acquireGeom.
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PiperOrigin-RevId: 813347956
Change-Id: I07bd566388383cc5c49e675f5b85fffb379ef6d1
2025-09-30 11:19:53 -07:00
4d590afdad
Instead of caching PNGImage results, cache mjCTexture and mjCHField assets.
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PiperOrigin-RevId: 813307632
Change-Id: I9de8b46423f57240d22811571d0533b010ee1e2b
2025-09-30 09:44:45 -07:00
59d0676dcc
Remove redundant checks for exhausted geoms.
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PiperOrigin-RevId: 813284297
Change-Id: I565c517bef782ba07ff323e206b75f6f905e5809
2025-09-30 08:44:17 -07:00
2dc533b63b
Allow flipping textures with any number of channels and user provided pixel data.
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PiperOrigin-RevId: 813256285
Change-Id: I0d49885dc483ab8f093b2566ec4bef355575505e
2025-09-30 07:28:13 -07:00
70d03adc71
Store the status of the scene in the scene itself.
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PiperOrigin-RevId: 813119377
Change-Id: Iebff9e7796ca9809ea22902522982bfd96eeba06
2025-09-30 00:06:00 -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
e1c7e19780
Add rendering flags to the studio UI.
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PiperOrigin-RevId: 812649785
Change-Id: I47c6f974b7336bdd63c088ccfd06b5835e77ebff
2025-09-28 23:58:33 -07:00
8de86c9944
Remove margin name from geomdist sensors.
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PiperOrigin-RevId: 811775910
Change-Id: I4d265d4ad0206ea2d92c6c4b659f509a17f12baa
2025-09-26 05:24:12 -07:00
e51459f949
Break out struct initialization functions into engine_init.c.
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PiperOrigin-RevId: 811598048
Change-Id: Ia832a8268e2209a5a264bbf79aa00dda487206bc
2025-09-25 19:22:27 -07:00
fe8384b6c5
Visualize joint and tendon limits by re-coloring.
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PiperOrigin-RevId: 811590674
Change-Id: I5b65f2294a4bcda3c321fb51ebf29501bd0d416d
2025-09-25 19:02:26 -07:00
922aebbeed
Provide explicit argument for asset cache ID.
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This will allow assets to cache compiled results with different parameters. For example, we could cache both an RGB version of a texture and a Mono version.
PiperOrigin-RevId: 811341377
Change-Id: Ifd6a4ff88661a2b38be47c02d6a666de2c202885
2025-09-25 07:24:12 -07:00
0baac58999
Remove redundant ngeoms check.
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PiperOrigin-RevId: 810787607
Change-Id: I5d04b1d7f5f8ad758960a46ff08cc47d2887e851
2025-09-24 02:21:35 -07:00
d9650b68b0
Remove unused private functions
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PiperOrigin-RevId: 810776310
Change-Id: I1c67c5efe07c4ca23b04122548b674719be927f7
2025-09-24 01:48:54 -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
bb0878417e
Automated g4 rollback of changelist 810355812.
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*** Reason for rollback ***
mjv_makeScene does not call mjv_defaultScene directly. Instead, it calls mjv_freeScene which calls mjv_defaultScene. However, mjv_freeScene attempts to free pointers if they are not NULL and if you don't call mjv_defaultScene then you'll have garbage data in those pointers.
*** Original change description ***
Remove redundant mjv_defaultScene call since its called by mjv_makeScene
***
PiperOrigin-RevId: 810442645
Change-Id: Ica50493d6769a0afb086f9ead99d731cdf0d75d9
2025-09-23 08:05:40 -07:00
33b09e0822
Stop using stack allocation for catenary drawing
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PiperOrigin-RevId: 810434095
Change-Id: Iee8c01ff721c2af216c5725fc9eaf6267b2e5284
2025-09-23 07:37:34 -07:00
09e6723dab
Remove unnecessary stack mark/free in engine_vis_visualize.c
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PiperOrigin-RevId: 810391913
Change-Id: Id02f4dadba7ef08f60bb7726470082f45c5761c5
2025-09-23 04:53:50 -07:00
bf918ccf40
Remove redundant mjv_defaultScene call since its called by mjv_makeScene
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PiperOrigin-RevId: 810355812
Change-Id: I2bc112e24c3adaca616604ebc5c1e3e3c494eb59
2025-09-23 02:35:05 -07:00
d616f11508
Remove references to deprecated nconmax and njmax.
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PiperOrigin-RevId: 809987304
Change-Id: I4109497fe108234dd77011d61eb3ef833e6ae111
2025-09-22 06:28:41 -07:00
4bbe4e5ebc
Zero actuator_velocity if actuation is disabled.
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PiperOrigin-RevId: 809986353
Change-Id: Ie9fecda80864fef3377074042fd7829af8d03d64
2025-09-22 06:24:43 -07:00
6eea3d8ec0
Initial implementation of toolbox-based "Studio" app.
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PiperOrigin-RevId: 809966748
Change-Id: Ic6333259ca1d112a2e42d47ccc44326bfcea3bdd
2025-09-22 05:02:31 -07:00
7fc6b29afd
Replace PREPARE_NEXT_GEOM and FINISH_GEOM macros with functions.
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PiperOrigin-RevId: 809940866
Change-Id: I1d45eede9ddf8606e7fd2a8caa2ed0224b0e24a7
2025-09-22 03:21:13 -07:00
d9da8e2570
Replace RETURN_IF_GEOMS_EXHAUSTED macro with inlined code.
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PiperOrigin-RevId: 809919921
Change-Id: Icf2afbd4168ebb18577b5915afa9d457001259d6
2025-09-22 02:03:19 -07:00
d55da23235
Simplify mj_comPos, avoid stack allocation
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PiperOrigin-RevId: 809762290
Change-Id: I87824279ff5f7049b1f06b900d4d3e33f5fafe0f
2025-09-21 14:06:22 -07:00
0e1104768a
No public description
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PiperOrigin-RevId: 809083979
Change-Id: I5c6641b73c76153c15f5cdf858b788e1433acc81
2025-09-19 10:10:45 -07:00
26ea20a21f
No public description
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PiperOrigin-RevId: 809074980
Change-Id: Ib3e3522addceddba6a057cfef80fcbd30a420b3d
2025-09-19 09:49:07 -07:00
77e025ea98
Move meshdir and texturedir to mjsCompiler.
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For backwards compatibility in the Python bindings, both `spec.compiler.meshdir` and `spec.meshdir` are now allowed.
Fixes #2834 .
PiperOrigin-RevId: 809060113
Change-Id: Ie23f1c5dd57de43568312a8e062906f4013bb474
2025-09-19 09:05:44 -07:00
681f5767b2
Remove -Wno-extra-semi, add workaround for mjSORT confusing some IDEs
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PiperOrigin-RevId: 808689636
Change-Id: Ia091fb597c171a33842e62690d06f32614fbe4eb
2025-09-18 12:28:09 -07:00
eb96dd556c
Reduce ccd_iterations from 50 to 35.
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PiperOrigin-RevId: 808610578
Change-Id: I8755f9ba2902bf0805b7ded07ee6e048e404a31f
2025-09-18 09:16:52 -07:00
4b8454b79c
Add semicolons after mjSORT macro calls.
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PiperOrigin-RevId: 808587320
Change-Id: I9fd290b9a2b615647135f1250e87af8ea9bb81f6
2025-09-18 08:13:46 -07:00
f9f3dd3c1d
Fix ImGui input processing
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PiperOrigin-RevId: 808555760
Change-Id: Ie443143d9c058058b99786e44f27715b05c9f8ed
2025-09-18 06:42:16 -07:00
d7500e0dec
Split START macro into two parts: one for control flow and one for assignment.
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PiperOrigin-RevId: 808497167
Change-Id: I4d78426af69d98f57600cb7fd76edaf5b20b0039
2025-09-18 03:23:12 -07:00
6f5a7576f9
Move simlib into experimental folder and rename it toolbox.
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Also:
- update the namespace to `toolbox` (instead of `filament`)
- Add copyright notices to all files
PiperOrigin-RevId: 808474353
Change-Id: Id1fe86c5d183c8e91bec8509b6c0830b5fe84c1c
2025-09-18 02:15:23 -07:00
8e9eb2fa38
Update MuJoCo's version number following the 3.3.6 release.
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PiperOrigin-RevId: 808180152
Change-Id: I23de64cb0968b94c489b29622e4308d16513793a
2025-09-17 09:13:04 -07:00
7eab0117f7
Don't smooth tracking camera motion
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PiperOrigin-RevId: 808110613
Change-Id: Ib8631e5ace6db7c7bb780f26b79a72e26e72f451
2025-09-17 05:25:17 -07:00
52da7586dc
Clean up includes in src/engine
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PiperOrigin-RevId: 807726978
Change-Id: I02800deb79bfb3c328d941861ded9d817e8f6e32
2025-09-16 09:36:44 -07:00
5bbda2186d
Make the Octree interpolation continuous.
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This is done by detecting the hanging nodes and compute the function at those location by interpolating the corresponding coarse vertices.
PiperOrigin-RevId: 807700228
Change-Id: I27dcb85361ca445c2099dd07b280cae5c92d3131
2025-09-16 08:15:26 -07:00
ac4874226c
Support NULL in dir parameter in mj_addFileVFS.
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Fixes #2839 .
PiperOrigin-RevId: 807208005
Change-Id: I8def3b1e388dc19fa2fa8a92d53abef30dee5b88
2025-09-15 06:00:13 -07:00
Yuval Tassa