3dec35a91e
Do not update qacc_warmstart at the end of the solver call; instead, update it at the same time as all other state variables. This change makes mj_forward idempotent.
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PiperOrigin-RevId: 797826112
Change-Id: Ibc51624adc3ec42c265958bf77696b33231431c1
2025-08-21 10:44:05 -07:00
2f28473bc1
Remove transposed Jacobian fields from mjData
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No longer computed unconditionally, only ad-hoc where required.
PiperOrigin-RevId: 797753297
Change-Id: I2030fc342c98ff33575b0526dd72e2110c4fcb74
2025-08-21 07:21:24 -07:00
5fe4224ae7
Compute sparse Jacobian transpose inside solver.
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PiperOrigin-RevId: 797745776
Change-Id: I2ec429120d0c6eb51bec340619ab178389482e69
2025-08-21 06:55:48 -07:00
f71053243e
Replace std::array with C-style array for error buffer in GJK tests.
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PiperOrigin-RevId: 797730796
Change-Id: I228c58e163c8c6d1426a88c1a6f447c4a56a34e6
2025-08-21 06:03:53 -07:00
174a50442d
Allow transposing of sparse sub-matrices whose first row is > 0
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PiperOrigin-RevId: 797728559
Change-Id: I3c825118dae198333d357d2e4f248d00b0f5d8ce
2025-08-21 05:56:33 -07:00
c7a82c32dc
Do not update qacc_warmstart at the end of the solver call; instead, update it at the same time as all other state variables. This change makes mj_forward idempotent.
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See changelog herein for motivation and discussion.
PiperOrigin-RevId: 797392841
Change-Id: If50e9f09e1d07e8363169d3589c32097aeca2432
2025-08-20 11:30:13 -07:00
bf04103b6f
Import google-deepmind/mujoco_warp from GitHub.
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#MIGRATION_3P_PY_MUJOCO_WARP__DEFAULT
- 19dde09e179dbbaf4d07084185074f6a774b3255 update derivative.py by Taylor Howell <taylorhowell@google.com >
- 04bc115c3766e974ef000cca16d40bacb92c01d2 fix _ray_hfield by Taylor Howell <taylorhowell@google.com >
- 7fcbf8ddba08c9b9d33b0fdd4dd3fe39e40a0bd7 Use sparsity structures in `mjModel` rather than `mjData` by Yuval Tassa <6387526+yuvaltassa@users.noreply.github.com >
- bfd2e4fe3cb5ba5dee97445ddc1d072344f443ec Fix override for enums (#617 ) by Kenny-Vilella <163487060+Kenny-Vilella@users.noreply.github.com >
- f4dbf5345bd5dcae60c415361dd425605b672e5c Add keyframe selection to viewer (#616 ) by Kenny-Vilella <163487060+Kenny-Vilella@users.noreply.github.com >
- 0e7edf9e8fd337502586929b2e4dd3d51201f462 add prunning to multiccd by Kyle Bayes <42924292+kbayes@users.noreply.github.com >
- 791c30237cbdecf876bc53ac0b3dcff8b8b1317d format by Kyle Bayes <42924292+kbayes@users.noreply.github.com >
- 7a7bae6c1390df3f29058e90f25f9ed5caab3fb1 Fix override in viewer and testspeed (#620 ) by Kenny-Vilella <163487060+Kenny-Vilella@users.noreply.github.com >
- 9e230c229c7dd721fbf6fa5fe69fc98717895500 add + 0.0 by Taylor Howell <taylorhowell@google.com >
- 8a70a5e8839b84c11601bf1a98f9e7d1d31603f1 Update the test_cost unit test to test more properties (#... by Kenny-Vilella <163487060+Kenny-Vilella@users.noreply.github.com >
- cf317c60845b24ddba4b6814dbac9eba32b4c8b0 parallel linesearch with log scale for step sizes (#575 ) by Taylor Howell <taylorhowell@google.com >
- b73e4edbc0d331d1e4f15c006d4535cc59595e70 add better reporting (#600 ) by adenzler-nvidia <116633880+adenzler-nvidia@users.noreply.github.com >
- 007ad0b204ed4d48584024cce4676ac25a5695b5 Optimization: Fusing kernels around update_gradient_JTDAJ... by Kenny-Vilella <163487060+Kenny-Vilella@users.noreply.github.com >
- 640a89fcf452b9564508cacdeb30ecef3a83aede Adding static to broadphase filter (#621 ) by Kenny-Vilella <163487060+Kenny-Vilella@users.noreply.github.com >
- daca09ff3261db2713abc912191d6cf76437b8b7 Add reporting of converged worlds in testspeed (#619 ) by Kenny-Vilella <163487060+Kenny-Vilella@users.noreply.github.com >
- 33830bddd95a7f0d3febe1b090398ddadeb86ee2 Fix call to benchmark from asv (#627 ) by Kenny-Vilella <163487060+Kenny-Vilella@users.noreply.github.com >
- 382eb65f7bb45798698f4025a980287ab1ec84c7 Update flex_bending dimensions (#628 ) by Alessio Quaglino <102665781+quagla@users.noreply.github.com >
- c56b8875439cfaa93c1393f0a6e2ad057e029064 contact sensor maxforce reduction (#602 ) by Taylor Howell <taylorhowell@google.com >
- 4f731941cb9dea397d4f71cf8151100b83eae576 A few airspeed velocity improvements. (#626 ) by Erik Frey <misc@fawx.com >
PiperOrigin-RevId: 797054114
Change-Id: I380e0b9446f94202b2389e2a760d6de5f0ec5af7
2025-08-19 16:01:28 -07:00
fd96de330e
Updates to Playground for warp.
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PiperOrigin-RevId: 797037846
Change-Id: I3828b48aead8a7534a4e8cd735c96017353daa3b
2025-08-19 15:12:31 -07:00
4bad134ba2
Add proper handling of MJCF asset/mesh/texturedir compiler attributes to USD plugin.
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This allows the MJCF SdfFileFormat plugin to load MJCF files that specify assetdir, meshdir, or texturedir attributes. This is specifically important for resolver implementations that fetch assets into a local cache.
PiperOrigin-RevId: 796509754
Change-Id: Ib2b0c9cf9d6a3351ceea49d90c882edf94d0b880
2025-08-18 11:38:32 -07:00
424226b640
Refactor mj_mulM to use CSR structure
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PiperOrigin-RevId: 796450207
Change-Id: I2a9d567732614674547c7ae02ff0d3d4bbf1b654
2025-08-18 09:09:29 -07:00
c2ff60e630
Decrease time step in shell examples.
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Also add bending damping.
PiperOrigin-RevId: 796446515
Change-Id: I4744003caf6146e5e00614a6016d1a6dfc42cca7
2025-08-18 09:00:10 -07:00
eed43f6982
Add section to OpenUSD/Exporting docs linking to mujoco-usd-converter.
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PiperOrigin-RevId: 796420566
Change-Id: I47728e3900720d732162c06f96a231a75d8bc931
2025-08-18 07:44:40 -07:00
7c10a62f21
Improve island visualization colors and logic.
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- Make island visualization off by default
- Give it the keyboard shortcut 'N'
- Use HSV island coloring
PiperOrigin-RevId: 796375514
Change-Id: I3cc8d6f8142412c771b2b8e57e82e70000727770
2025-08-18 05:03:41 -07:00
b66175eba6
Bending stiffness for curved shells in flex.
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PiperOrigin-RevId: 796361841
Change-Id: I105ea235fe2a8e1bcbde67276d77fa92eed214a1
2025-08-18 04:13:18 -07:00
972ffd7b90
Improve mj_fullM documentation, add clarifying test.
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PiperOrigin-RevId: 796134559
Change-Id: I85ab3680d3545ccf83d0d3af8a7c21cb36e96d4e
2025-08-17 11:02:14 -07:00
6b41fbe72a
Use CSR matrices for dof-dof index mappings
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PiperOrigin-RevId: 795895311
Change-Id: I1000e0ee98906ef35990e73236e85d6354487b82
2025-08-16 13:06:32 -07:00
c0096b51a4
Move ntree to mjModel allocator sizes
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PiperOrigin-RevId: 795855203
Change-Id: Idab185294d53dced9ebf073b782969dc5643b95a
2025-08-16 09:16:41 -07:00
1447711037
Rename spec to sig in state-related API functions.
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(to avoid confusion with mjSpec)
PiperOrigin-RevId: 795848898
Change-Id: I0b64eb85f5c7a3ee889a746c751d9f5561650277
2025-08-16 08:38:25 -07:00
5a24eb2d34
Add error reporting to model loading in engine tests, where missing
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PiperOrigin-RevId: 795844607
Change-Id: I4163c53c05796c2e3036af28a98f58c15bb1c99c
2025-08-16 08:11:49 -07:00
bbb70d98a4
Add utility functions for mapping between sparse matrix patterns.
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PiperOrigin-RevId: 795543910
Change-Id: I92be3afc3cd90020027737fffdba18c45e25f825
2025-08-15 11:22:35 -07:00
931036adda
Always try to find the skybox texture, even if there are no materials in the MJCF. Fixes #2412
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Before the fix this only occured if the MJCF contained 0 materials.
PiperOrigin-RevId: 795510952
Change-Id: I0a36c275e6006f80dc9a5ba6b9c6040ce21187c9
2025-08-15 09:53:37 -07:00
b566ef2883
Ignore geoms with tiny mass in inertiafromgeom computation. Fixes #2754
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PiperOrigin-RevId: 795475978
Change-Id: I02b5db9e2ac7ec556cb0a0ec6dbe4214ba9128d7
2025-08-15 07:57:02 -07:00
977f94e9df
Delete sparsity structures from mjData, use the ones in mjModel
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PiperOrigin-RevId: 795067950
Change-Id: If4f52e40ac49f7c6986b33ef9c8b534199dfd21a
2025-08-14 09:13:02 -07:00
7eb13777f8
Put sparsity structures in mjModel, don't use them yet.
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PiperOrigin-RevId: 795032051
Change-Id: I75c69e881980ff9c308acf00bb3a65f4b2ef12f5
2025-08-14 07:37:42 -07:00
f077fd00a9
Compute sparse matrix sizes before making the mjModel in the compiler.
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PiperOrigin-RevId: 794998215
Change-Id: Ib7d0a2479b18cc8b3168c0656d3c4be0eff43a0f
2025-08-14 05:51:17 -07:00
0ba31e2c1f
MJX safe division. Fixes #2776 , #2568 , #2657 .
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PiperOrigin-RevId: 794997676
Change-Id: I3100af7c1987a8435b29cc68c4e5c624dc573986
2025-08-14 05:49:12 -07:00
07e7417d26
Add prefix to asset paths when appending specs.
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PiperOrigin-RevId: 794966246
Change-Id: I4825a11cc3234e6f403340dd997742cea0e2183b
2025-08-14 03:48:56 -07:00
1763fa537a
Add ten_length as MJX public field and warp tendon function call to MJX.
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PiperOrigin-RevId: 794869371
Change-Id: I733da169b0092e3165478324697d7aa3569eca8b
2025-08-13 21:54:18 -07:00
d3ff929bc6
Add ten_length as MJX public field and warp tendon function call to MJX.
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PiperOrigin-RevId: 794813523
Change-Id: Ic5684788eca5a3f4fd86193ec5d035d40b3aad35
2025-08-13 18:09:22 -07:00
d7e925bd8a
Add ten_length as MJX public field and warp tendon function call to MJX.
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PiperOrigin-RevId: 794801198
Change-Id: I970ce665339c75910a767a1b24d8ac9c2bd68b1d
2025-08-13 17:27:16 -07:00
1a7ec97b07
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 794774483
Change-Id: I2d8d623bbdfe9f28d4ab96bfc3c9128caa9fe86c
2025-08-13 16:08:03 -07:00
eff4dda189
Suffix asset names when attaching specs.
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PiperOrigin-RevId: 794717786
Change-Id: I02abe06ca3c43138e91e61f4acf87a26b3faf7fc
2025-08-13 13:43:16 -07:00
dcdf0a9c5c
Use mj_rayMesh for computing an inexact SDF for mesh-SDF collisions.
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PiperOrigin-RevId: 794576123
Change-Id: I3c688056a5ed617a0787ccf1f4aa683f9409040f
2025-08-13 07:50:06 -07:00
cc52d0242b
Do not strip the path when compiling an mjSpec.
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The path has already been stripped while parsing. This will enable prefixes that contain a `/` while attaching.
Also use `spec.meshdir` for asset paths in `spec.to_zip()`.
PiperOrigin-RevId: 794573523
Change-Id: Ic36bb641c3d72848399006cf718afd8542e91ed4
2025-08-13 07:43:25 -07:00
6a9e68a542
Update MJX-W testspeed.
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PiperOrigin-RevId: 794549657
Change-Id: I0ea12274da77704be30301d33228066bb8952fef
2025-08-13 06:24:19 -07:00
da9037e2b0
Fix bug in MJX contact sensor.
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PiperOrigin-RevId: 794011199
Change-Id: I709a8bd9d07bec980aa60abd0346d946b037cbbd
2025-08-12 02:24:14 -07:00
0a02e7b722
Fix MJX test_sensor_contact.
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PiperOrigin-RevId: 793598137
Change-Id: I543e93d3f998e5932342de80d816c30d74a0deaa
2025-08-11 05:04:13 -07:00
84ba12e7b3
Clean up and standardize mj_printFormattedData
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PiperOrigin-RevId: 793087071
Change-Id: I99d45ccf6591af02ee26e7f800bfbcc872336eb1
2025-08-09 14:03:13 -07:00
ca4ca173ab
Fix oct_distance return value.
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PiperOrigin-RevId: 792924045
Change-Id: I42b8d0adaae7282d5c4e787fd1c85162720e977b
2025-08-09 00:33:38 -07:00
ed3ff15870
Update MuJoCo's version number following the 3.3.5 release.
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PiperOrigin-RevId: 792806341
Change-Id: Ic68ecceacc48ddbd6b0c741ae8f0791551e1b4dd
2025-08-08 16:45:12 -07:00
3152458a6b
Update Mujoco Deps in preperation for the 3.3.5 release
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PiperOrigin-RevId: 792755404
Change-Id: I9776bb5e5bf2a891e0fa0fbf486875727e1d13b4
2025-08-08 14:07:00 -07:00
249b0cd87d
Improve field order and comments in mjdata.h
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PiperOrigin-RevId: 792642328
Change-Id: I59330e228a111edec9e86d93d5cdf646b0fab00e
2025-08-08 08:52:35 -07:00
50fa598d93
Update x_norm in tetrahedron case in GJK.
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This check is never called due to the fallback to gjkIntersection, however it's needed for debugging when disabling the fallback.
PiperOrigin-RevId: 792623394
Change-Id: I7178d9afae697bd22984688e89fd1865d3c6a37f
2025-08-08 07:52:00 -07:00
19781b60a1
Fix a gcc-related compilation error.
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PiperOrigin-RevId: 792592986
Change-Id: I6bd49d3c739a58f9b611fe24594bd3f11e757c5b
2025-08-08 06:00:17 -07:00
8b5213c557
Cleanup: extract local functions in compiler for setting datatype and needstage
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PiperOrigin-RevId: 792566070
Change-Id: I22d397758f5e8b35899c9461543989e352bd2b96
2025-08-08 04:11:14 -07:00
3c6e4f1ece
Clean up engine_core_smooth.c
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PiperOrigin-RevId: 792564094
Change-Id: I47b3f1953db5402acc49dac373a039c9c0bf1ad9
2025-08-08 04:05:13 -07:00
92d77819fd
Note the mjs parsing error in the changelog.
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PiperOrigin-RevId: 792336077
Change-Id: I09cd2eb310c6e2bc74051419f6d69f5db1081cec
2025-08-07 15:40:23 -07:00
45476483f6
Fix race condition in warp tests.
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PiperOrigin-RevId: 792285453
Change-Id: Ic7616054025ca5c1211ef49e408ee283d8082796
2025-08-07 13:28:32 -07:00
9b9b7030e7
Copy mjwarp viewer s.t. MJX users can debug models effectively.
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PiperOrigin-RevId: 792258628
Change-Id: I3b2b5d10414934866d5c647f30fe88e9cd1a8756
2025-08-07 12:15:32 -07:00
9e5fdd6983
Add warp graph capture and allow graph conditional.
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PiperOrigin-RevId: 792208987
Change-Id: I139ff1db734b66734d588c3e7fe73426659cb484
2025-08-07 10:10:56 -07:00
Baruch Tabanpour