Viscous pause is like pause but the simulation continues with zero gravity, high viscosity and passive springs disabled. It is useful to move things like cabinets with shelves---just move the shelf and the drawers come along as well.
* Updated the simulation control widgets
* Added Ctrl-space shortcut to toggle play/viscous pause
PiperOrigin-RevId: 869810053
Change-Id: Icf649e1f2631c2a64a5d2f25af9537b6a12bdf2c
* Replace various MJOPTION_ macros with a single MJOPTION_FIELDS.
* Use XVEC macro to denote vector members where there is a mixture of
vector and scalar members in a given struct type.
* Split up MJVISUAL_FIELDS into separate macros for each substruct.
* Modify engine_print.c and Python bindings struct.h/cc to use the
new X macros.
PiperOrigin-RevId: 869760513
Change-Id: Idac4fe9aa99f0258e7c79802ca9023a0d4486e2d
Most "classic" objects looked washed out. To "revert" to the old look, you can add the following to your XML files:
```
<custom>
<numeric name="filament.phong.specular_multiplier" data="0.1"/>
<numeric name="filament.fallback.scene_light_intensity" data="100000.0"/>
<numeric name="filament.fallback.environment_light_intensity" data="10000.0"/>
</custom>
```
PiperOrigin-RevId: 869725829
Change-Id: Icab0cedaa27915400497745db886c393709c14b1
The derivatives of actuator velocity with respect to generalized velocities were incorrectly computed when the actuator force was limited by `forcerange`. This CL adds a check to zero out these derivatives when the actuator force is at its upper or lower limit, as the force is no longer a function of velocity in this clamped state.
PiperOrigin-RevId: 868818281
Change-Id: I89742a3f04989dd11f9cfada107200015b1472a7
Replace dynamically-sized edge list with a dense ntree×ntree adjacency matrix for deduplication and a flat CSR representation.
PiperOrigin-RevId: 868728432
Change-Id: Iebe97a0870740e5465549b967bbde0c81e658269
On Windows, _aligned_malloc(0) returns NULL, which MuJoCo interprets as a fatal out-of-memory error. This causes crashes on models with empty arrays.
Ensure a minimum allocation of 64 bytes for any 0-sized request.
Fixes#2992
The derivative calculation for actuator velocity in implicit integrators now correctly accounts for the `actearly` flag, using the next activation value when `actearly` is true.
PiperOrigin-RevId: 868598722
Change-Id: Ia180afb15b31a718170aeaf9d4ac514bb9e6073b
The implicit integrator was not correctly accounting for the off-diagonal coupling terms between flex and non-flex (parent) degrees of freedom in the mass matrix. This change extracts these coupling terms during the factorization step and applies a correction to the flex forces before solving for the flex accelerations, ensuring that the parent accelerations influence the flex dynamics. A new test verifies that the implicit integrator now matches Euler for small timesteps in a model with flex-parent coupling.
PiperOrigin-RevId: 868098126
Change-Id: Ia8cccd7dd428cd0c0898e1663a7e41017a2311b2
FuseStatic deletes static (joint-less) bodies and reassigns their
children to the parent body. Geoms and sites were reassigned, but
cameras and lights were not, leaving dangling body pointers that
crash in mjCCamera::Compile() / mjCLight::Compile().
Add camera and light reassignment in FuseStatic and FuseReindex.
File resolution only checks local file system. Resource providers may still
be able to load from a path even if it is not resolved.
PiperOrigin-RevId: 867534134
Change-Id: I802566136b965ad839393f56a4d4924dda2e1973
The functions and associated tests related to managing time-stamped data buffers have been renamed from `mju_delay*` to `mju_history*` to better reflect their general purpose beyond just handling delays.
PiperOrigin-RevId: 866978339
Change-Id: I8655e91bce783287ad2adc412d13a1c39aa2c322
Use stat() instead of d_type to check if a file is a regular file
when scanning for plugin libraries. This allows symlinked plugins
to be loaded, which is common in ROS 2 workspaces built with
colcon build --symlink-install.
The stat() approach also handles filesystems that report DT_UNKNOWN
for d_type (e.g., NFS, XFS), making the code more robust.
Fixes#3072
The single array attribute `mjc:polycoef` has been replaced by five individual double attributes: `mjc:coef0`, `mjc:coef1`, `mjc:coef2`, `mjc:coef3`, and `mjc:coef4`.
PiperOrigin-RevId: 865947359
Change-Id: If9d14a77b0a06e5dc712eeadd6e9402411570706
Fix a crash and dimension mismatch issue in user_flexcomp when dealing with interpolated="true" meshes that contain unused vertices. Previously, vertbody would correspond only to used vertices while vert included all vertices, leading to assertions or out-of-bounds access. Also enable node pinning for interpolated meshes.
PiperOrigin-RevId: 865881995
Change-Id: Id150f00f22b5f48896ffbffddf03c57b252de8c0
Otherwise, if you try to open a random file in studio, it will crash.
PiperOrigin-RevId: 865372002
Change-Id: I96d3121b6de792daaff53155ea2436ac3f6668db
Copybara-Service