840108cf7c
Refactor octree in preparation for continuous interpolation.
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PiperOrigin-RevId: 792092644
Change-Id: I096ca0989210a00ae0b4556498d96212755d23c7
2025-08-07 04:06:03 -07:00
fde479736e
Finalize built-in mesh example model and documentation
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PiperOrigin-RevId: 791227350
Change-Id: Ibdcdb8a4ee5b3f78c9ae93e1db2a9a2f9d55a80c
2025-08-05 08:32:51 -07:00
705ec6d7fb
Adds built-in superellipsoid mesh.
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PiperOrigin-RevId: 791196831
Change-Id: I1d864f6e620870f016377a4d9e2e26d1a23fd77e
2025-08-05 07:02:52 -07:00
a5d4d1000e
Add built-in supertoroid mesh.
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PiperOrigin-RevId: 791180080
Change-Id: I3a70f50ff4a52a1bd4b88fc30334a574895145b4
2025-08-05 06:06:43 -07:00
996f0040fd
Add built-in sphere mesh.
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PiperOrigin-RevId: 791162850
Change-Id: I573a414727e79f1a495e0f2282b2faff48ab3443
2025-08-05 05:05:05 -07:00
5220767457
Add built-in hemisphere mesh.
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PiperOrigin-RevId: 791148546
Change-Id: Ic9ff0c9b0f5fa4fd22d5f7f848f150cf74d378ba
2025-08-05 04:16:24 -07:00
a5a6379f83
Add built-in cone mesh type.
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Also delete `prism` type since it is subsumed by cone.
PiperOrigin-RevId: 790992343
Change-Id: I7a9c6f2a4377489173acd64b23086c748d2cee8e
2025-08-04 19:35:32 -07:00
7b9f5bdae7
Fix bug in raycast to hfield. Fixes #2765
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PiperOrigin-RevId: 790784429
Change-Id: Ib2319722796ed510afed960bbf5cebc86cf185a9
2025-08-04 09:40:59 -07:00
f2a2afeb03
Fix address bug in meshEdgeNormals in doing edge multiccd with meshes.
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PiperOrigin-RevId: 790731924
Change-Id: Ia475b1f01731518166f229c25ebffd1fbf7c7939
2025-08-04 07:03:14 -07:00
7baaa39846
Add SDF geom to test/testdata/model.xml.
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Also, when a mesh has both an octree and a bvh, render only the octree.
PiperOrigin-RevId: 790680831
Change-Id: Iaf3896933f6728af4db1eaa83ff5b06558ab0d19
2025-08-04 03:53:51 -07:00
4c288c19ac
Remove physics schema authoring toggle from MJCF SdfFileFormat plugin.
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PiperOrigin-RevId: 789321573
Change-Id: Ib29bb426f8598a58f7b34c048b154fa8ada589ef
2025-07-31 07:07:18 -07:00
b5368a3385
Add displayColor authoring to site geometry when converting MJCF to USD.
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PiperOrigin-RevId: 789311878
Change-Id: I70027cd5d8d02f4ee26043f3b9fb03311e38984b
2025-07-31 06:28:42 -07:00
51babec9c5
Move tactile sensor to the engine.
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PiperOrigin-RevId: 788863133
Change-Id: I3172ebb7641fa8146469da25cba7db794760e7b1
2025-07-30 05:27:44 -07:00
89f4789085
Add mjs_makeMesh to create a builtin mesh.
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PiperOrigin-RevId: 788538127
Change-Id: I999733399a1a0da07b0f915f34d31364ab8b3b52
2025-07-29 11:31:18 -07:00
a771fc6c09
Increase mjNSENS to 3
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PiperOrigin-RevId: 788468705
Change-Id: Id22f131bebb6accc9a29c9aa285efa75fa8b2c16
2025-07-29 08:38:13 -07:00
3434f5d9c7
Compute convex hull for collision pairs.
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build / windows-2025 (push) Has been cancelled
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build / macos-15-arm64 (push) Has been cancelled
build / macos-15-x86_64 (push) Has been cancelled
PiperOrigin-RevId: 788074030
Change-Id: I3d4bbe71f824db82e998e374d95a5c49995af806
2025-07-28 10:49:50 -07:00
541c56b46f
Create mjcPhysics ImageableAPI for visual, non physical visual entities.
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PiperOrigin-RevId: 786366034
Change-Id: Ifb72d2daf8f5963bb7007dda1685da94b456ff41
2025-07-23 11:48:17 -07:00
6144a508b5
In Mujoco USD interop, only consider dynamic friction when writing to and parsing from USD.
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PiperOrigin-RevId: 783741987
Change-Id: I23c47a6e95c160c5c7d5c513e268c79e4236e2e4
2025-07-16 07:00:18 -07:00
ac0701d582
Add mujoco compiler settings to MjcSceneAPI in mjcPhysics.
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PiperOrigin-RevId: 783729333
Change-Id: Ic1c3e4fb47a901de4eebdc2e987d276f4202d9ed
2025-07-16 06:09:36 -07:00
cdf5bcb693
Add inheritrange attribute to mjcPhysics MjcActuator
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PiperOrigin-RevId: 783363012
Change-Id: I7d0476aae70c3acc3ed4808a8741b7eb12948dba
2025-07-15 09:30:16 -07:00
576a34bcf2
Add netforce reduction to contact sensor.
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PiperOrigin-RevId: 783020713
Change-Id: I0d11ccc4e1fd16d07e6f116d64a26485346d9cf1
2025-07-14 13:27:43 -07:00
d0e4771c8c
Add contact sensor.
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PiperOrigin-RevId: 783011982
Change-Id: Ica56fe9d520fa1d1ee7338e09148b1a55a049912
2025-07-14 13:03:35 -07:00
e441868dad
Add missing attributes to MjcCollisionAPI USD schema.
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PiperOrigin-RevId: 783006362
Change-Id: I02d51190d62bb9460863025cd16360427afc70c4
2025-07-14 12:47:24 -07:00
ef013a0633
Add mjPARTIAL_SORT macro to engine_sort.h
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PiperOrigin-RevId: 782999687
Change-Id: I986aec0e1faedae90f1891b5f3233d5262d167f3
2025-07-14 12:26:36 -07:00
6e7aaacb85
Do not rely on global object lists in mjCBody::NextChild().
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PiperOrigin-RevId: 782963753
Change-Id: I0afecbab4b7796f077963ba66eb7140d8f83ad89
2025-07-14 10:47:45 -07:00
92bcbeb5d3
Add support for UsdPhysicsMaterialAPI and create MjcMaterialAPI for missing attributes.
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PiperOrigin-RevId: 782942169
Change-Id: I344b5e47d1d63c9d4e50173cb6a96d0af177ec9e
2025-07-14 09:53:13 -07:00
11e695b4c2
Rename MjcTransmission to MjcActuator in mjcPhysics schema.
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PiperOrigin-RevId: 782352356
Change-Id: I4b74e3131b0fed925c506742c22038231f848909
2025-07-12 09:39:01 -07:00
3473e4e451
Add group support to mjcPhysics equivalents for sites, geoms, actuators, and joints.
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PiperOrigin-RevId: 781945497
Change-Id: I5c409f05e6bae33c181a51c273f260daea6004fc
2025-07-11 05:37:41 -07:00
365cac49f8
Add benchmarks for mjSORT macro.
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PiperOrigin-RevId: 781555531
Change-Id: Ia33b5512fbf65b08931037859d8c6062b018d760
2025-07-10 09:00:46 -07:00
fbea72d767
Remove MjcActuatorAPI in favor of typed MjcTransmission.
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PiperOrigin-RevId: 781498554
Change-Id: Ib6ce5038645f6ca08638a9d316b0347dc121bc62
2025-07-10 05:58:58 -07:00
e7212d86bc
Add maxhullvert attribute to mjcPhysics MeshCollisionAPI.
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PiperOrigin-RevId: 781482346
Change-Id: I0d53f9ad99ac842629243b0375907b2f91bd3b61
2025-07-10 04:59:18 -07:00
cef02fabea
Remove sdflib plugin and move interpolation to engine_collision_sdf.
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Before:
```
Simulation time : 1.71 s
Steps per second : 5854
Realtime factor : 11.71 x
Time per step : 170.8 µs
Newton iters / step : 2.19
Contacts / step : 3.45
Constraints / step : 13.79
Degrees of freedom : 12
Dynamic memory usage : 0.2% of 14M
```
After:
```
Simulation time : 1.41 s
Steps per second : 7093
Realtime factor : 14.19 x
Time per step : 141.0 µs
Newton iters / step : 2.19
Contacts / step : 3.45
Constraints / step : 13.79
Degrees of freedom : 12
Dynamic memory usage : 0.2% of 14M
```
PiperOrigin-RevId: 781087896
Change-Id: Iaf69dccc5e95af5bac862344683c74f962162186
2025-07-09 09:29:47 -07:00
a3d251f552
Add mjModel.sensor_intprm, integer parameters of sensors
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PiperOrigin-RevId: 781053754
Change-Id: I90e5ef1cab3f87b894dbc70dccfc8bf0046ce1b6
2025-07-09 08:00:21 -07:00
e6c5715903
Add insidesite sensor for detecting when an object is inside the volume of a site.
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PiperOrigin-RevId: 780993257
Change-Id: I2dcfc840d222680adc3b934344a0819f4d78b6eb
2025-07-09 04:56:42 -07:00
14972d2490
Add mj_loadUSD function. Change simulate to use that instead of manual spec compilation.
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PiperOrigin-RevId: 780608874
Change-Id: I333238c756fe76b371518a7cdf9452b93da3540a
2025-07-08 10:04:08 -07:00
be3c3ef8a9
Add missing gravity attribute authoring to Mjcf SdfFileFormat plugin.
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PiperOrigin-RevId: 779239797
Change-Id: I039b1089e5b436498d14df384c1aee830fd4b48a
2025-07-04 11:25:49 -07:00
e69b6cc5f3
Fix wrong extent authoring for Cube.
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PiperOrigin-RevId: 779230125
Change-Id: I96c3d5daa7a760cd87a714a14ea74a15faf3d7db
2025-07-04 10:39:32 -07:00
21a852504c
Make sure we never apply the ArticulationRoot API more than once.
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PiperOrigin-RevId: 779185190
Change-Id: If441d0e2ba24191883839977b46864db2b4b8204
2025-07-04 07:36:05 -07:00
af7d20c035
Change mjs_nextChild to be DFS to match XML parsing.
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PiperOrigin-RevId: 778915232
Change-Id: I5e290f47b7d2530597bb6c85b66ff2ae807e5510
2025-07-03 10:07:13 -07:00
69ce5dbd05
Consolidate tree traversal tests in the C and Python APIs.
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PiperOrigin-RevId: 778883024
Change-Id: I0d30ed011e60a6da7148cebc1f715895fd0c6fd6
2025-07-03 07:25:23 -07:00
594e17074a
Replace name attribute with setters and getters in the C API of mjSpec.
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PiperOrigin-RevId: 778816015
Change-Id: Ieffb7a5bce37e887ff009f9a02d2434435e79ca1
2025-07-03 02:30:56 -07:00
1d613b9b9a
Add support for mjcPhysics keyframes to USD interop.
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PiperOrigin-RevId: 778552679
Change-Id: I04026599f7a2836e3fe1cf0d553bcc86a5795f98
2025-07-02 10:17:41 -07:00
9dc67b50cd
Write new Mujoco-specific JointAPI data to USD.
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PiperOrigin-RevId: 778035661
Change-Id: I945aa38fc58973023d78ab0ab5fad7783d23e1ef
2025-07-01 07:35:34 -07:00
5c1f1f9dba
Add octree to meshes of SDF geoms.
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PiperOrigin-RevId: 777634862
Change-Id: I3210c2f8d73fd30ceecb0a11abd1d82e086b3d5d
2025-06-30 10:50:15 -07:00
1c98dfd86e
Remove unused header
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PiperOrigin-RevId: 777505320
Change-Id: I39d4ccf47a49bfb6f74090e59c68373e76a0bcf5
2025-06-30 04:09:10 -07:00
57b3d6d0f4
Make island discovery compatible with flex
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PiperOrigin-RevId: 777490642
Change-Id: Iae2f4e8297cc24bded833e04ebfe32895f3a5460
2025-06-30 03:16:57 -07:00
e97e5d31d0
Replace box SDF with a smooth approximation.
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This approximation is equivalent to the exact SDF on the surface and externally, but it is smooth on the inside, rotating the gradient from radial at the box center to normal to the faces at the surface, and interpolated linearly (using two Euler angles) in between. This enables stable contact gradients for deeper penetrations.
PiperOrigin-RevId: 776574022
Change-Id: I562976e9f0535b0067aa12b2bc9d48eccb6472e9
2025-06-27 07:21:30 -07:00
24789f8fe5
Apply articulation API to the correct body when converting to USD.
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PiperOrigin-RevId: 776206773
Change-Id: I84b5687a9900b42fd208124414ac98feaaa9f8c4
2025-06-26 11:07:11 -07:00
1e319aebed
Support joint actuator authoring in Mjcf SdfFileFormat plugin.
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PiperOrigin-RevId: 776202325
Change-Id: I8503dd98c1b64502550b879e70039ae568517508
2025-06-26 10:55:49 -07:00
21bae3a388
Report which body has too-small mass/inertia in compilation error.
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PiperOrigin-RevId: 776196017
Change-Id: Ib81efb170347a57cdc4b446c14cd7b8f5357958c
2025-06-26 10:40:40 -07:00
Alessio Quaglino