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Author SHA1 Message Date
Sam Haves 3473e4e451 Add group support to mjcPhysics equivalents for sites, geoms, actuators, and joints. 
PiperOrigin-RevId: 781945497
Change-Id: I5c409f05e6bae33c181a51c273f260daea6004fc
 2025-07-11 05:37:41 -07:00
Alessio Quaglino bbb265da4a Do not draw touch sensor grid if contact point vis flag is disabled. 
PiperOrigin-RevId: 781908115
Change-Id: Id42206b1d8b6766352071e20150e2a4047895bf7
 2025-07-11 03:11:26 -07:00
Rishi Krishnan 3c99705f85 Update MuJoCo's version number following the 3.3.4 release. 
PiperOrigin-RevId: 781596261
Change-Id: Iac050c4b9cb65542b52fa6b8c54ff2537bc6a648
 2025-07-10 10:47:26 -07:00
Robin Alazard 723960a1f3 Fix plane size 
Mujoco uses half-sizes so we must divide USD sizes by 2.
Also added a test for geom primitive sizes.

PiperOrigin-RevId: 781595650
Change-Id: If8a84dd942905c367590eafffac61cc23b1c407d
 2025-07-10 10:45:43 -07:00
Yuval Tassa 58c95219dc Modify mjSORT to remove some unnecessary copies. 
PiperOrigin-RevId: 781573097
Change-Id: I60148bc88fb64ea6dfee9390efb3fd161ad3f1d8
 2025-07-10 09:51:40 -07:00
Yuval Tassa 365cac49f8 Add benchmarks for mjSORT macro. 
PiperOrigin-RevId: 781555531
Change-Id: Ia33b5512fbf65b08931037859d8c6062b018d760
 2025-07-10 09:00:46 -07:00
Yuval Tassa 0b11e3e3fa Fix typo in changelog 
PiperOrigin-RevId: 781550866
Change-Id: I960ac501bac04c5f3cc342aea808a390b20443c4
 2025-07-10 08:45:40 -07:00
Robin Alazard 1f8f3a5004 Add capsule axis rotation for USD->MJ. 
PiperOrigin-RevId: 781546484
Change-Id: Ie6613de8faac406664ca22cb246fe7db2a728317
 2025-07-10 08:32:07 -07:00
Robin Alazard 1bb6391d9c Replace SetRotateInto with pxr::GfRotation(from, to) constructor directly 
Also remove duplicate line with no effect

PiperOrigin-RevId: 781540954
Change-Id: I1e161c2ed0b6e3209697c9551ad30e3371e44865
 2025-07-10 08:14:32 -07:00
Alessio Quaglino d81ab17bf5 Cache SDF octree. 
PiperOrigin-RevId: 781500550
Change-Id: I0077d41f13be0243bff292534cc6bce2bdc1caa4
 2025-07-10 06:05:28 -07:00
Sam Haves fbea72d767 Remove MjcActuatorAPI in favor of typed MjcTransmission. 
PiperOrigin-RevId: 781498554
Change-Id: Ib6ce5038645f6ca08638a9d316b0347dc121bc62
 2025-07-10 05:58:58 -07:00
Alessio Quaglino 2d69610abd Use the geom frame for SDF collisions. 
Also disables mesh reorientation for meshes autogenerated with marching cubes from analytic SDFs.

PiperOrigin-RevId: 781487195
Change-Id: I36b66384f240a764823c489f78f22ba9fe32f15f
 2025-07-10 05:16:51 -07:00
Sam Haves 7e57a6bc30 Add missing actuatorgroupdisable default to mjcPhysics schema. 
PiperOrigin-RevId: 781487140
Change-Id: I7b0ff3a015e0c6b229e5409455a648f6d2399617
 2025-07-10 05:15:27 -07:00
Sam Haves e7212d86bc Add maxhullvert attribute to mjcPhysics MeshCollisionAPI. 
PiperOrigin-RevId: 781482346
Change-Id: I0d53f9ad99ac842629243b0375907b2f91bd3b61
 2025-07-10 04:59:18 -07:00
Yuval Tassa 243c011ea0 Add note about performance and release builds. 
PiperOrigin-RevId: 781460349
Change-Id: I7defa9bf31376afa31b32f26523e8ebd9da3fc0e
 2025-07-10 03:40:25 -07:00
Sam Haves 270017f9ba Spurious formatting errors for gravity attr authoring in Mjcf SdfFileFormat plugin. 
PiperOrigin-RevId: 781175798
Change-Id: Ic3b3a14280c051859db7c38af0e271a1878acdb8
 2025-07-09 13:02:19 -07:00
Alessio Quaglino 26a42e2848 Add sdflib changelog item. 
PiperOrigin-RevId: 781106659
Change-Id: If4f151468f65095916d76cea2627779640bd5d29
 2025-07-09 10:15:52 -07:00
Alessio Quaglino cef02fabea Remove sdflib plugin and move interpolation to engine_collision_sdf. 
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
Alessio Quaglino 96118da08b Move SDF precomputation to the mujoco compiler. 
Before:
```
 Simulation time      : 2.24 s
 Steps per second     : 4472
 Realtime factor      : 8.94 x
 Time per step        : 223.6 µs

 Newton iters / step  : 2.47
 Contacts / step      : 3.37
 Constraints / step   : 13.49
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

After:
```
 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
```

PiperOrigin-RevId: 781075182
Change-Id: Ie509047ff581ab0df4b10bbd394c27d350ab5a13
 2025-07-09 08:57:09 -07:00
Yuval Tassa a3d251f552 Add mjModel.sensor_intprm, integer parameters of sensors 
PiperOrigin-RevId: 781053754
Change-Id: I90e5ef1cab3f87b894dbc70dccfc8bf0046ce1b6
 2025-07-09 08:00:21 -07:00
Sam Haves 9d64ed9575 Remove leftover MJ_USD_TARGET_NAME include directories call from USD CMake. 
PiperOrigin-RevId: 781023625
Change-Id: Id75cb94c0eafc27c47a275d3cf4280020ed0c17a
 2025-07-09 06:33:55 -07:00
Alessio Quaglino b81f1db8af Replace SdfLib with linear octree interpolation of TriangleMeshDistance. 
Temporary changes to the octree:
- Changed frame from mesh to geom

Before change (tolerance 1e-3):
```
 Simulation time      : 2.34 s
 Steps per second     : 4275
 Realtime factor      : 8.55 x
 Time per step        : 233.9 µs

 Newton iters / step  : 2.26
 Contacts / step      : 3.69
 Constraints / step   : 14.76
 Degrees of freedom   : 12
 Dynamic memory usage : 0.7% of 14M
```

After change (6 octree levels):
```
 Simulation time      : 2.24 s
 Steps per second     : 4472
 Realtime factor      : 8.94 x
 Time per step        : 223.6 µs

 Newton iters / step  : 2.47
 Contacts / step      : 3.37
 Constraints / step   : 13.49
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

PiperOrigin-RevId: 781019754
Change-Id: Ib15581244dfe9e571e1c6c2cac4a101cf3d8ba3d
 2025-07-09 06:21:41 -07:00
Yuval Tassa e6c5715903 Add insidesite sensor for detecting when an object is inside the volume of a site. 
PiperOrigin-RevId: 780993257
Change-Id: I2dcfc840d222680adc3b934344a0819f4d78b6eb
 2025-07-09 04:56:42 -07:00
Taylor Howell a86461fc57 Set MJX minimum friction value to mjMINMU. 
PiperOrigin-RevId: 780934075
Change-Id: I1ae0b678526218514cc260fdb9f2a62d88394cbe
 2025-07-09 01:59:29 -07:00
Taylor Howell 8da4e1c354 Fix deriv_smooth_vel docstring. 
PiperOrigin-RevId: 780923683
Change-Id: I05fc5426a980dfffa22cba7cac71f5e4a811b5eb
 2025-07-09 01:33:33 -07:00
Rishi Krishnan 2a32babb78 Update Mujoco Deps in preperation for the 3.3.4 release 
PiperOrigin-RevId: 780712420
Change-Id: Ib13d18bcf0f248acff93c04f977eec59185dc932
 2025-07-08 14:21:53 -07:00
Taylor Howell 13621879c6 Remove unnecessary loop from mj_collideOBB. 
PiperOrigin-RevId: 780629489
Change-Id: I715cd1f72012c0655997ba4c967fa7b5b8731d54
 2025-07-08 10:50:33 -07:00
Sam Haves 14972d2490 Add mj_loadUSD function. Change simulate to use that instead of manual spec compilation. 
PiperOrigin-RevId: 780608874
Change-Id: I333238c756fe76b371518a7cdf9452b93da3540a
 2025-07-08 10:04:08 -07:00
Sam Haves e507e31922 Fix schema naming in mjcPhysics to avoid collisions. 
PiperOrigin-RevId: 780537076
Change-Id: I4ea24162ba20d6aae10207491f9aae2250808576
 2025-07-08 06:27:30 -07:00
Yuval Tassa d464165e30 Print contact forces in mj_printData. 
PiperOrigin-RevId: 780503111
Change-Id: I17c6f1584d5260fa9c88c54d0aea9ec0101c082b
 2025-07-08 04:11:10 -07:00
Alessio Quaglino 1a4ddca6cf Make mjs_findElement find meshes by file name. 
PiperOrigin-RevId: 780150428
Change-Id: Ie500062fa8cca755683b66540e84ede588d7c331
 2025-07-07 09:51:33 -07:00
Yuval Tassa 7a09145161 Rename variables to avoid shadowing in user_objects.cc 
PiperOrigin-RevId: 780137314
Change-Id: Ife5abd0ecc3851837a7aef7048efe80dbdfcf60e
 2025-07-07 09:15:03 -07:00
Yuval Tassa e01c4b454a Rename variables to avoid shadowing in xml_native_reader.cc 
PiperOrigin-RevId: 780135233
Change-Id: I509ac6a0807e102ad8749f81562ad45bf4c04335
 2025-07-07 09:10:02 -07:00
Yuval Tassa 783e6499d8 Remove explicit mjModel dependency from engine_util_misc.c 
PiperOrigin-RevId: 780123513
Change-Id: I567e09db3cd13a93a4720742affb62b54bfa5426
 2025-07-07 08:33:19 -07:00
Yuval Tassa 6ccc4f77bc Defer sensor reference id resolution from sensor compiler to model compiler 
PiperOrigin-RevId: 780070082
Change-Id: I7166f589f15bb0cd14b92e213d7a9f2a3bbad4e4
 2025-07-07 05:37:53 -07:00
Sam Haves 1742ba510c Swap out apostrophe for single quote in mjcPhysics actuator lengthRange docs. 
PiperOrigin-RevId: 780051495
Change-Id: Ib56a012ded364740564b879456a9e0570b5a0d7a
 2025-07-07 04:27:49 -07:00
Sam Haves 2c4fed07d2 Add missing source files to mj_usd target. 
PiperOrigin-RevId: 779244207
Change-Id: I3a913f8add82838a1d7371f84b4f03f271a1897b
 2025-07-04 11:46:48 -07:00
Sam Haves be3c3ef8a9 Add missing gravity attribute authoring to Mjcf SdfFileFormat plugin. 
PiperOrigin-RevId: 779239797
Change-Id: I039b1089e5b436498d14df384c1aee830fd4b48a
 2025-07-04 11:25:49 -07:00
Baruch Tabanpour 45d4cacc45 Remove dense actuator_moment for _put_data_c. 
PiperOrigin-RevId: 779234984
Change-Id: I19ac2849aa2b00b1688781491c9230558c24c7a2
 2025-07-04 11:03:59 -07:00
Robin Alazard e69b6cc5f3 Fix wrong extent authoring for Cube. 
PiperOrigin-RevId: 779230125
Change-Id: I96c3d5daa7a760cd87a714a14ea74a15faf3d7db
 2025-07-04 10:39:32 -07:00
Robin Alazard 21a852504c Make sure we never apply the ArticulationRoot API more than once. 
PiperOrigin-RevId: 779185190
Change-Id: If441d0e2ba24191883839977b46864db2b4b8204
 2025-07-04 07:36:05 -07:00
Robin Alazard 85ad1eec91 Rework USD scene traversal, ensure DFS order of bodies is respected, remove implicit welding of non-jointed nested bodies 
PiperOrigin-RevId: 779121640
Change-Id: Ic3281ac10ce51975cd681e9342b2fffd5f24376f
 2025-07-04 03:25:49 -07:00
Yuval Tassa 2937efd5f2 Use sparse math in mjd_actuator_vel. 
PiperOrigin-RevId: 778924297
Change-Id: I221fb338c894f278e9f8401f25056539c62ccc65
 2025-07-03 10:52:54 -07:00
Alessio Quaglino af7d20c035 Change mjs_nextChild to be DFS to match XML parsing. 
PiperOrigin-RevId: 778915232
Change-Id: I5e290f47b7d2530597bb6c85b66ff2ae807e5510
 2025-07-03 10:07:13 -07:00
Alessio Quaglino 67f9ffddbd Delete outdated mjs_delete doc. 
PiperOrigin-RevId: 778912984
Change-Id: I2c09c67706679e9e85ea29fd63e698cddb0ef6ca
 2025-07-03 09:54:52 -07:00
Alessio Quaglino 69ce5dbd05 Consolidate tree traversal tests in the C and Python APIs. 
PiperOrigin-RevId: 778883024
Change-Id: I0d30ed011e60a6da7148cebc1f715895fd0c6fd6
 2025-07-03 07:25:23 -07:00
Taylor Howell 465fb3234c Updates for documentation. 
PiperOrigin-RevId: 778872216
Change-Id: I01406dcc03b11dfde80d6f59c6138b1ceb670716
 2025-07-03 06:35:11 -07:00
Tom Erez 7aa3b81c67 Fix minor typo in changelog. 
PiperOrigin-RevId: 778854401
Change-Id: Ie1a2f2b4b6e0524d0ca7463b84c8fc550dcbdda7
 2025-07-03 05:16:11 -07:00
Yuval Tassa 7548d370ed Add missing changelog item and enum documentation, clarify breaking changes. 
PiperOrigin-RevId: 778842895
Change-Id: I53f7f639ce8f1d3d5066fa7364bc1b74f2ed14ef
 2025-07-03 04:24:23 -07:00
Alessio Quaglino 564c51ddb9 Check for duplicated names when setting element names. 
PiperOrigin-RevId: 778827590
Change-Id: I77a208c1571cf735cae80840ea830aa347681f71
 2025-07-03 03:20:55 -07:00