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
a3d251f552
Add mjModel.sensor_intprm, integer parameters of sensors
...
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.
...
PiperOrigin-RevId: 780993257
Change-Id: I2dcfc840d222680adc3b934344a0819f4d78b6eb
2025-07-09 04:56:42 -07:00
5c1f1f9dba
Add octree to meshes of SDF geoms.
...
PiperOrigin-RevId: 777634862
Change-Id: I3210c2f8d73fd30ceecb0a11abd1d82e086b3d5d
2025-06-30 10:50:15 -07:00
14dc7c2a60
Add "cameraid" attribute to visual/global specifying the default camera to use at model load.
...
PiperOrigin-RevId: 773783069
Change-Id: I2fff2abdceedc982d89cee8d14b95abceea1c113
2025-06-20 11:41:27 -07:00
568620dd2f
Add texture attribute to lights.
...
PiperOrigin-RevId: 763739805
Change-Id: I333ed2ac68f30f79f688ca01d7b5fd6bf2d836c9
2025-05-27 05:04:01 -07:00
74cc904edc
Convert light directional boolean into a type enum.
...
PiperOrigin-RevId: 761983728
Change-Id: Id5bf93c103e5358d9c5cd9f1176532a978e0b3a8
2025-05-22 08:51:18 -07:00
3e9bc79b54
Adds color space to textures.
...
PiperOrigin-RevId: 761907261
Change-Id: Iec546d1d5907a15e57ef809ec31850640fc52915
2025-05-22 04:33:40 -07:00
71bdd915f7
Move bending stiffness from plugin to the compiler.
...
PiperOrigin-RevId: 758677644
Change-Id: I7d5c5140ba6948002bfa4ae9d6b4bf0f6de0e39b
2025-05-14 07:39:24 -07:00
fa95fe0c59
Add intensity and range parameters to lights.
...
PiperOrigin-RevId: 758603199
Change-Id: I74e88bdfeedd9224e84d953f237d68eca79e6cb7
2025-05-14 03:28:03 -07:00
34e8ff1aad
Add flex edge flap connectivity to mjModel.
...
PiperOrigin-RevId: 758593152
Change-Id: I79836df961972c9eae8037e5fcbfc3d0122645de
2025-05-14 02:50:37 -07:00
8a7c42c747
Add SDF functions to public API.
...
PiperOrigin-RevId: 757829339
Change-Id: I81ee7c3f33acf234835bf34cbb632e23cb9e284e
2025-05-12 10:53:39 -07:00
96dda6ea75
Add tendon actuator force limits and tendon actuator force sensor.
...
PiperOrigin-RevId: 745096883
Change-Id: Ib9acb727fbbfc6b0b0323ee6a889053a7a878056
2025-04-08 05:16:35 -07:00
e1f5ceb65a
Add mjModel.tendon_armature (in preparation, not yet implemented)
...
PiperOrigin-RevId: 743649968
Change-Id: I1d893e3e06afc48b652575bc7837750ab3573670
2025-04-03 12:06:27 -07:00
c0a7ea1edb
Added the element type mjOBJ_SPEC for mjSpec.
...
PiperOrigin-RevId: 742678572
Change-Id: I95a382ac58b5bc88c2aa5c07210549a1d5e2f538
2025-04-01 06:51:49 -07:00
0abf184d49
Align comment in mjmodel.h.
...
PiperOrigin-RevId: 741214316
Change-Id: I449c4a6e1c70b30d60636e11f26fb0bc8653f2a5
2025-03-27 11:05:46 -07:00
157b074116
Add signature to mjSpec and mjModel and use it to perform safe bind to mjModel and mjData.
...
PiperOrigin-RevId: 740378879
Change-Id: If14b326942529494f172e7aedcae30195798b458
2025-03-25 09:37:49 -07:00
be64747166
add mjs_detachDefault to delete a default class from mjSpec
...
PiperOrigin-RevId: 738452369
Change-Id: I5a53a6dc8f89e1e8136aeefc09d7d9b7b7204e1f
2025-03-19 10:31:04 -07:00
7651cb1b33
Copy texture coordinates from OBJ into flex. Fixes #2464 .
...
PiperOrigin-RevId: 732109960
Change-Id: I506b3540ab5d489ce8f10d0c473919611ccb654a
2025-02-28 06:04:19 -08:00
ed16f2daf2
Set nativeccd as default.
...
PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
2025-02-26 09:15:15 -08:00
7f3bb062c3
Add fields in mjModel for supporting mesh multicontact in nativeccd.
...
PiperOrigin-RevId: 728659204
Change-Id: I7f8a11b082640284ea009d8693f228078680b953
2025-02-19 07:12:26 -08:00
7cdf180641
Introduce trilinear flex parametrization.
...
These flexes use only 24 DOFs (3 per vertex of the bounding box), while colliding with the full high resolution mesh.
On an 8x8x8 cube, the performance using DOFs at all vertices is
```
Simulation time : 18.74 s
Steps per second : 533
Realtime factor : 0.53 x
Time per step : 1874.4 µs
Contacts per step : 114.88
Constraints per step : 3322.51
Degrees of freedom : 1536
```
With the new implementation, it is the following:
```
Simulation time : 1.82 s
Steps per second : 5507
Realtime factor : 5.51 x
Time per step : 181.6 µs
Contacts per step : 38.84
Constraints per step : 155.36
Degrees of freedom : 24
```
PiperOrigin-RevId: 721008829
Change-Id: I833df027527db578d86667cc4b24295bcf6f7d22
2025-01-29 09:38:22 -08:00
240a7afdee
Add sensors for potential and kinetic energy.
...
PiperOrigin-RevId: 716775375
Change-Id: Ic8ab7f1a51df970ab551dabe7c797cde13cd97fd
2025-01-17 13:10:12 -08:00
aae5fd6906
Add nJmom, the number of non-zeros in sparse actuator_moment matrix, to mjModel.
...
PiperOrigin-RevId: 698343986
Change-Id: I3d4a4dea1ec095d4e7b231c2fffc0e6241cee39f
2024-11-20 04:30:47 -08:00
9f51ba50db
Fix field ordering in mjModel.
...
`nnames_map` is not required for `mjModel` construction, it is set during construction.
PiperOrigin-RevId: 696462793
Change-Id: Ie722e2a04d7fd7ed96634d3304cc94e895ed713b
2024-11-14 03:45:34 -08:00
94bbf297fc
Replace flex_xvert0 with flex_vert0
...
`flex_xvert0` stored the Cartesian position of the vertices in `qpos0`. This array was unused, so it is now replaced with `flex_vert0`, which still contains the positions of the vertices, but normalized on the bounding box of the flex so that the coordinates are in `[0,1]^m->flex_dim`. This will be useful in the future for using different interpolation methods for computing flex deformations.
PiperOrigin-RevId: 691779361
Change-Id: I5c4223103cd4558f4e268fe3e8d8177541e4754f
2024-10-31 06:30:36 -07:00
98478f8811
Minor changes to inline comments in mjModel and mjData headers.
...
PiperOrigin-RevId: 688231631
Change-Id: Iae5430142cab256a73a0fb8c698992ceba21b28c
2024-10-21 12:31:15 -07:00
4998e7b392
Move flex damping to the engine and remove membrane and solid plugins.
...
PiperOrigin-RevId: 676434954
Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
2024-09-19 09:01:30 -07:00
31abd7900a
Add edge ids to flex elements in mjModel.
...
PiperOrigin-RevId: 675130981
Change-Id: If2ccfb268142d235273b7a50e15740f6399903b2
2024-09-16 06:58:10 -07:00
2da15cf137
Add flex elasticity stiffness matrix to mjModel.
...
PiperOrigin-RevId: 675101645
Change-Id: Ic169c108b9eece3657ea4ec211df357abe615b7e
2024-09-16 05:00:54 -07:00
3437361bfb
Add reduced sparse dof-dof matrix structures to mjData.
...
PiperOrigin-RevId: 670919263
Change-Id: I3592de802ae84648d97230115c2e9c3437424968
2024-09-04 04:24:02 -07:00
a1036b86d3
Allow connect constraints to be specified using sites.
...
PiperOrigin-RevId: 668925419
Change-Id: I10cb71e6706e617c830cd90d6d0836b94a5a8cfa
2024-08-29 07:10:51 -07:00
088079eff0
Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations.
...
PiperOrigin-RevId: 666438658
Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463
2024-08-22 12:01:54 -07:00
2efbd31762
Add mjSAMEFRAME_BODYROT and mjSAMEFRAME_INERTIAROT frame alignment shortcuts.
...
PiperOrigin-RevId: 666318799
Change-Id: I0af1824d2bd9eaca7b48a9e33e09f873dd33b22d
2024-08-22 06:08:25 -07:00
8b03daa09b
Add mjtSameFrame enum to specify frame alignment of bodies with their children.
...
PiperOrigin-RevId: 666303674
Change-Id: I53dc56e1ca52afa280ae5abaf4158edc465fb1e0
2024-08-22 05:17:06 -07:00
0bffd744f9
Add nativeccd flag. When this flag is enabled, general convex collision detection is handled natively, as opposed to using libccd.
...
PiperOrigin-RevId: 663859009
Change-Id: Ife18bb1de62f2154e4725fdf764484a18586b836
2024-08-16 14:08:35 -07:00
24a555062d
Rename mjDSBL_AUTORESETNAN to mjDSBL_AUTORESET.
...
- Expose in MJCF.
- Add documentation.
- Improve handling in simulate.
PiperOrigin-RevId: 657606140
Change-Id: I6a27c2f4842d7d4ae32642f2a6255e5f8f1f605a
2024-07-30 08:41:59 -07:00
f62792594f
Add a new disable flag mjDSBL_AUTORESETNAN.
...
PiperOrigin-RevId: 654677473
Change-Id: Id92383fe413729bf6697353aa6e0bc8a946ec7e8
2024-07-22 03:22:41 -07:00
796173170c
Add support in mjModel for tagging textures with different roles, and use the slot index of a texture to designate its role.
...
PiperOrigin-RevId: 654030065
Change-Id: I34a5b132a7f91a6bb8f260500c1b9c128a03b596
2024-07-19 09:29:22 -07:00
e92af73cbf
Add mjmodel support for textures with different number of channels.
...
PiperOrigin-RevId: 653974959
Change-Id: Ia280e0bdb21027646249f104f21bedee792ba7e5
2024-07-19 05:22:19 -07:00
57e6760ec9
Re-implement VFS internals in C++, removing the constraints of the previous implementation.
...
PiperOrigin-RevId: 649433087
Change-Id: Icaa3e6b7f2ef14f56b04fef2f4360b46d8b5f022
2024-07-04 09:22:23 -07:00
df7ea3ed33
Add support for multiple textures in one material (mjModel).
...
PiperOrigin-RevId: 648732764
Change-Id: I29b60dd62a069789a32017ff0d55e36b57e0052b
2024-07-02 08:50:23 -07:00
3b73dfe33b
Add textured materials to render context, and refactor mjvGeom to refer to those textures.
...
PiperOrigin-RevId: 648719103
Change-Id: Idb4425bdeea3cbc1133cda3e4366574ed3bb5ccc
2024-07-02 08:01:40 -07:00
07fc95ca9a
Add orthographic cameras.
...
Orthographic cameras are specified by setting the `orthographic` attribute of the `<camera>` element. The `fovy` attribute is still used to specify the field-of-view, but its semantic is different for orthographic cameras. For orthographic cameras, the field-of-view is expressed in units of length, rather than degrees.
Other related changes:
* Fix bug in the ordering of `cam_xxx` elements in `mjModel`.
* Make camera visualization translucent only when the frustum is visualized.
* Added a button to `simulate` to toggle between perspective and orthographic free cameras.
https://youtu.be/ZXBTEIDWHhs
PiperOrigin-RevId: 642293435
Change-Id: Id090a421ad88ab404b5b27ddbbd6bfc81ad49bc5
2024-06-11 09:23:18 -07:00
02d015458c
Add mj_geomDistance API function and sensors for geometric distance, normal direction and segment between between two geoms. Fixes #51
...
PiperOrigin-RevId: 632458301
Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
2024-05-10 04:52:43 -07:00
8ebc9ed2c8
Add mjModel.ngravcomp, number of bodies with nonzero gravcomp attribute.
...
PiperOrigin-RevId: 627087335
Change-Id: Ie85ae4150962463b8a8c8435fec068c44877aa16
2024-04-22 10:45:43 -07:00
caf215e342
Add metallic and roughness scalar attributes to materials.
...
Rename `light_radius` -> `light_bulbradius`, make the default value 0.02.
PiperOrigin-RevId: 627032170
Change-Id: I1e01e2eca028c0aefc2e7dc384e8b34abac184aa
2024-04-22 07:39:06 -07:00
0cd28d2423
Add light radius attribute.
...
Also fix bug: light defaults were not being saved.
PiperOrigin-RevId: 625142278
Change-Id: I8ec3a5a06e9f314e98b7c34346db3c24b34d7e0b
2024-04-15 17:55:15 -07:00
7b3f1a0261
Add mjModel.mesh_scale: scaling applied to asset vertices.
...
PiperOrigin-RevId: 625083195
Change-Id: I36290282379e57ad23ec771d65d1bd6bf2a75b07
2024-04-15 14:26:06 -07:00
5d26b50fce
Remove native sensor noise sampling.
...
PiperOrigin-RevId: 620075316
Change-Id: I6a0a1d63834e7c8bfd290f89d86fea791d794739
2024-03-28 15:33:03 -07:00
Alessio Quaglino