2e8e38b492
Add double quotes when setting rpath property fixing handling of lists.
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PiperOrigin-RevId: 776549203
Change-Id: I51375c536729356f023076037ec1f5335d407fa4
2025-06-27 05:57:36 -07:00
09f44b3c92
Explain why mjpython is needed on MacOS
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PiperOrigin-RevId: 776500649
Change-Id: Ifc4c944284f541cdb3a7027365ee27caaee39731
2025-06-27 03:01:10 -07:00
09f7154e57
Add option to only sync the state to improve sync performance in passive mode.
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By default this option is off, which preserves the current behavior of syncing all of `mjModel` and `mjData`.
PiperOrigin-RevId: 776498017
Change-Id: I02127c9397efbabebb89b0e0d139b00b6e665d35
2025-06-27 02:49:58 -07:00
8f6a13aa8f
Add support for displayColor/Opacity (convert to rgba)
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PiperOrigin-RevId: 776488857
Change-Id: I34713748ac553b5fdfad736801cdaa7dc2b7f1b0
2025-06-27 02:16:49 -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
afc35451a0
Expose ability to go from USD stage to MjSpec.
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PiperOrigin-RevId: 776184388
Change-Id: I0325b347c9896183d148a196897e1e5d0c4bbde2
2025-06-26 10:09:55 -07:00
672746f509
Use brackets for USD schema code.
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PiperOrigin-RevId: 776157077
Change-Id: Id8c55a98dc695348430a99ca59ec509a6db26403
2025-06-26 08:54:55 -07:00
3441e0aa03
mj_usd plugin: add joints export.
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Note that ball joint is missing, will come later.
PiperOrigin-RevId: 776057523
Change-Id: I8d13c3ea9e7f3d894af73a4640eb93202f8a2a03
2025-06-26 03:02:17 -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 .
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PiperOrigin-RevId: 775740310
Change-Id: I1a172ec4851b5d6a7f3d56179c54fec5d4c9e0c5
2025-06-25 10:15:00 -07:00
18d5d5d03f
Improve documentation related to mjSpec element deletion.
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PiperOrigin-RevId: 775677830
Change-Id: I02e51b57956b0b6a20c654326b54e001b498dd96
2025-06-25 07:23:51 -07:00
d0faa3624e
Update MJX inverse dynamics for tendon armature.
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PiperOrigin-RevId: 775658246
Change-Id: Ie6a71b971d4b165e0235689b7b4ee3246486e10d
2025-06-25 06:14:46 -07:00
da831f5d3e
Add support for separate occlusion, roughness and metallic textures
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PiperOrigin-RevId: 775632047
Change-Id: I40ba0b3d4ecb0c0a03534b8d93f85d279febbc9c
2025-06-25 04:37:19 -07:00
81d16b7ccc
Add some comments to the material construction code
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Grouped similar lines together, since they have become separated.
PiperOrigin-RevId: 775595031
Change-Id: Id75e87e07eb2e6b745698a57ea048daaff34f35c
2025-06-25 02:22:42 -07:00
9089059517
Move headers from src/experimental/usd to include/experimental/usd
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PiperOrigin-RevId: 775269423
Change-Id: Ifca6c3ead32b9fb3f02784ed38a9efae300be410
2025-06-24 09:33:26 -07:00
78df2ae7fa
Add support mjcf emissive layer materials
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Mujoco supports emission as a constant coefficient, and emissive, an rgb texture. This cl supports the rgb emissive texture for usd.
PiperOrigin-RevId: 775236677
Change-Id: I0e2ce1d9f68d79b6e9d2c28eecab22b2692f061c
2025-06-24 08:06:32 -07:00
a0614fff1f
Fix tinyxml2 includes.
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PiperOrigin-RevId: 775204246
Change-Id: Ia5c692eb29b2a670cb01e3efdeb85fd6e1474b99
2025-06-24 06:18:00 -07:00
8d9556db7c
Update MJX feature parity.
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PiperOrigin-RevId: 775147260
Change-Id: I48097c2ac4ef17b7f17f6fd8a894ae00a25abf63
2025-06-24 02:54:23 -07:00
862300def5
Fix comment typo in _resetData.
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PiperOrigin-RevId: 774705647
Change-Id: Id933cae9a219798eae266b36bd3efba2a3b88163
2025-06-23 03:49:55 -07:00
a00bfa819c
Raise error when binding to a removed element.
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PiperOrigin-RevId: 774462737
Change-Id: I820c0e1c010ae9fbf6d9667c3364d4b65bf21002
2025-06-22 10:15:31 -07:00
419cdf1ff3
Add mesh fit image to XMLreference
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PiperOrigin-RevId: 774458193
Change-Id: I3bae60e431c628ccc4cb96f96cc7b045dc365698
2025-06-22 09:54:44 -07:00
2707eadc00
Refactor mj_crb and mj_tendonArmature to use CSR M.
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PiperOrigin-RevId: 774077388
Change-Id: Id57118a5d66c074766f5c69fd3b889ebc625cbf7
2025-06-21 04:49:06 -07:00
14dc7c2a60
Add "cameraid" attribute to visual/global specifying the default camera to use at model load.
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PiperOrigin-RevId: 773783069
Change-Id: I2fff2abdceedc982d89cee8d14b95abceea1c113
2025-06-20 11:41:27 -07:00
7dc7a349c5
Move detach from mjs_delete to mjs_detach.
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PiperOrigin-RevId: 773686024
Change-Id: Ida2c032a6329104df80ed134cf904dde7259bd1e
2025-06-20 07:04:12 -07:00
a2acd2d4ed
Rename detach_default and detach_body to delete in the mjSpec bindings.
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PiperOrigin-RevId: 773674361
Change-Id: I3977060e19e9ff0afc65ad91693c017958576b78
2025-06-20 06:23:30 -07:00
e23b39fbfa
Increase test tolerance in engine_solver_test
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PiperOrigin-RevId: 773647308
Change-Id: I11605518c4bb1d257763b7f3334de358bacc194c
2025-06-20 04:48:09 -07:00
60955d7e88
Fix rollout notebook, update light.directional to light.type.
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PiperOrigin-RevId: 773646227
Change-Id: I3bb54e548b1a74d7523aaa91be0fc3cb980866f3
2025-06-20 04:43:59 -07:00
0488d9f4eb
Replace mjs_detachBody and mjs_detachDefault with mjs_detach.
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In a follow-up, mjs_detach will be changed to only remove without deleting an element.
PiperOrigin-RevId: 773637351
Change-Id: I9ee4d3584ba88ccc225591337cf036bab806e25c
2025-06-20 04:12:27 -07:00
4ce6293217
Fix bug in inverse dynamics when tendon armature is present.
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PiperOrigin-RevId: 773604419
Change-Id: Iaffe3d831c6a5aba8a0a99c05aa76cbd862745f5
2025-06-20 02:25:04 -07:00
2ca9602d3c
Remove crank site from ActuatorAPI generated code.
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The generated code was stale and no longer reflected the current schema.
PiperOrigin-RevId: 773369007
Change-Id: Ife3fa373309e668430453351f6fd10998edfdd8a
2025-06-19 09:31:10 -07:00
86e6a0415b
Add missing PLUG_INFO_LIBRARY_PATH to mjcPhysics plugInfo.json
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This gets replaced during build installation time to have the actual path to the plugin shared lib.
PiperOrigin-RevId: 773354944
Change-Id: Ib4a78d6308f97654fdd995460ac05c1c4cfbd70f
2025-06-19 08:31:05 -07:00
f1b3897ea7
Fix missing namespace in test_utils.
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PiperOrigin-RevId: 773354912
Change-Id: Ic19ba6f1ed4c3ae37a9c143f64da8b7ddc3b3e86
2025-06-19 08:29:34 -07:00
35665c5cb3
Skip mesh geoms in touch sensor.
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Also, use geom_rbound for the sensor size and check that there is at least one collision geom.
PiperOrigin-RevId: 772928954
Change-Id: I56f1577df66213a70fb1dc12488fbcd2f8a4b8b4
2025-06-18 08:24:37 -07:00
335a9ce0c2
Use early-exit to improve readability of mj_instantiateEquality.
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PiperOrigin-RevId: 772917213
Change-Id: I106402d063a8fd0e95154bd8608eb4359d4dfdab
2025-06-18 07:45:23 -07:00
92bc486558
Make mjs_findElement find textures by file name.
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This is done if the model is uncompiled and their name is empty.
PiperOrigin-RevId: 772885774
Change-Id: I827d5b679637fa0571cfb0a69833ed688df16304
2025-06-18 05:54:12 -07:00
9e2c21a17d
Return stricter type from mjCModel::operator+=(mjDef&).
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PiperOrigin-RevId: 772871198
Change-Id: I4c840389b38e2d8d6bcf92311fad3242324fa3af
2025-06-18 05:00:46 -07:00
6b309b5251
Display equality constraints in the simulate UI.
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Add section for toggling constraint activity to the UI, similar to actuators or joint controls.
PiperOrigin-RevId: 772866923
Change-Id: I017b9195fcf67b5865e9d44d6c8aded64c8bc46d
2025-06-18 04:42:34 -07:00
bb1d313780
Update docs reflecting MJX now has good support for implicitfast.
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PiperOrigin-RevId: 772660862
Change-Id: I2ba27b39bb6885b48f65ca1afdc6b83ec027a26d
2025-06-17 16:08:12 -07:00
a7559ed0ad
Merge pull request #2378 from Balint-H:feature/unity-obj
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PiperOrigin-RevId: 772619174
Change-Id: I62a2bbeb0d8bb0fb007af1abc93d6e8b3449b3fe
2025-06-17 14:24:08 -07:00
a64f1fd335
Compute M in mjx._get_data_into.
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PiperOrigin-RevId: 772594295
Change-Id: I7da992e9e5590c6060fbe1e2c1e40ccbd3c9b2b9
2025-06-17 13:21:22 -07:00
8084b06a35
Add tendon armature with sparse qM to MJX. Fixes #2681 .
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PiperOrigin-RevId: 772583693
Change-Id: I827d61aacada33f53500bf54613ccb8145bc854b
2025-06-17 12:52:03 -07:00
3a035fc0a9
Remove trailing whitespaces from MjMeshfilter
2025-06-17 19:32:24 +02:00
d2501eff68
Use procedural model creation in plugin tests.
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This will be useful for simplifying the mjSpec API for plugins.
PiperOrigin-RevId: 772505558
Change-Id: I8eb57d7e129e0f6430fb4c610a543e0dc0f3b295
2025-06-17 09:30:54 -07:00
d9aae1521a
Remove confusing operator overload in user_api.cc
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Explicitly add const_cast. This doesn't change the previous behaviour, just makes it explicit.
PiperOrigin-RevId: 772486471
Change-Id: I942bd4effed93a366089411ca18461cad52bff88
2025-06-17 08:34:33 -07:00
998769a995
Return the total non-zeros from mju_sqrMatTDSparseCount.
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PiperOrigin-RevId: 772414653
Change-Id: Ic1cac868af0034196f33d08b2456be77c72cbd50
2025-06-17 04:27:15 -07:00
ea949f1cee
Add support for ORM maps in mujoco file format plugin
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The ORM texture is a packed-channel map, with ambient occlusion in Red, roughness in Green, and metallic in Blue channel.
PiperOrigin-RevId: 772367369
Change-Id: I88a4dee2477daa1e3c0b00197bfbe2b276ba9937
2025-06-17 01:45:10 -07:00
e2e2932fe6
Mark all single-argument constructors in user_objects.h as explicit.
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This avoids accidental implicit conversions.
Also included some constructors with multiple arguments, where default values mean that the single-argument constructor is valid.
PiperOrigin-RevId: 772117936
Change-Id: I57e54a373593080e9d68961b00488c7a70f1aff8
2025-06-16 12:00:51 -07:00
1f0e4891c2
Add some autoformatting changes to mujoco_to_usd.cc
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PiperOrigin-RevId: 772032458
Change-Id: I94a80e7f7928b2956e76268c0d89fb862a228c41
2025-06-16 08:15:00 -07:00
bb1b2db3a9
Add support for normal maps in mujoco file format plugin
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PiperOrigin-RevId: 771992722
Change-Id: Ifeae9e12f1071018112e697402361caa84095ff2
2025-06-16 06:01:18 -07:00
Sam Haves