54f132f3f0
Resolve discrepancy in RK4 between MJX and MJ.
...
PiperOrigin-RevId: 743185866
Change-Id: I478faca1d8733999cc9a0682e931b19ee05e3843
2025-04-02 10:16:07 -07:00
40393f460a
Fix shadow flickering artefacts on platforms that do not support ARB_clip_control.
...
PiperOrigin-RevId: 743112447
Change-Id: Ibb727685605c0a257547162703f61e5232ff544c
2025-04-02 06:34:27 -07:00
b839fe79e1
Allow to attach an entire mjSpec in mjs_attach.
...
PiperOrigin-RevId: 742737713
Change-Id: Ie172568b8c35232e1f13d75aebee20346e76e95b
2025-04-01 09:51:52 -07:00
e5912c3ce4
Use tolerance to compare quaternion components in UserObjectsTest.Inertial
...
Fixes #2515
PiperOrigin-RevId: 742704324
Change-Id: Ib26891e43128e66d2ac1840ed574285781fb12a5
2025-04-01 08:12:01 -07:00
a02a27d4a4
Combine all mjs_attach functions into one.
...
PiperOrigin-RevId: 742702092
Change-Id: I89e35c59ada017cd061e2031584eeea71776743d
2025-04-01 08:05:58 -07:00
08d22baea1
Fix bug in horizon code in nativeccd where parallel faces are included in horizon.
...
PiperOrigin-RevId: 742687622
Change-Id: I4a180cb9c7451e0a2c22ffd77b7b6f6fd68836a4
2025-04-01 07:21:14 -07:00
305b68ecbf
Add tests for body.find_all() of joints and geoms, fix error message.
...
Fixes #2525
PiperOrigin-RevId: 742685596
Change-Id: I5f0969967f2490d32e5691983e8d0c363d48a6bd
2025-04-01 07:14:59 -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
9ecec6f238
Fix bad contact from passing through polytope2 in nativeccd.
...
PiperOrigin-RevId: 742666700
Change-Id: I76034579b4e663f9abfa265ec3e2bc608f631f59
2025-04-01 06:11:20 -07:00
0f456486a4
Merge pull request #2545 from maxzand:main
...
PiperOrigin-RevId: 742655847
Change-Id: Id2b3daf1be022620e1262a96052791c88e25b3eb
2025-04-01 05:40:00 -07:00
648a03c2cf
Override inertia of body with visual geoms if discardvisual is true.
...
Fixes #2546 .
PiperOrigin-RevId: 742650702
Change-Id: I753c1e1c89da732ece100676644bbecf9d6373bb
2025-04-01 05:21:48 -07:00
86c970bc23
Add error checking in mjs_setFrame.
...
Also raise error if the frame is not found in the mjCBody copy constructor.
Fixes #2543 .
PiperOrigin-RevId: 742624013
Change-Id: I4999b3165c97f8d079412214d027ca7a8dae8cb3
2025-04-01 03:34:48 -07:00
ebd30493c8
Allow nameless bind in MJX.
...
PiperOrigin-RevId: 742592221
Change-Id: I9490aebd64e3a31219c552d5b6eb55236680f10d
2025-04-01 01:45:44 -07:00
05f3e914b0
Improve armature documentation
...
PiperOrigin-RevId: 742583729
Change-Id: I18d1c95a91f4d70b842c680d4a0f4d0b04476894
2025-04-01 01:16:58 -07:00
400a379b70
Update doc requirements.
...
PiperOrigin-RevId: 742324590
Change-Id: I55d6535190a2281aec04ff16bd3f82f6c85870f9
2025-03-31 11:05:10 -07:00
8bcfe07e14
Fix potential division by zero in mj_tendonDot.
...
PiperOrigin-RevId: 742246626
Change-Id: I1f897bd0ca28e0efdffc5a93fadca35221eaeb38
2025-03-31 06:41:26 -07:00
1f590c1275
Fixed contact force legend and added legends for accel and velocity
2025-03-28 19:50:52 -04:00
01d4c46753
Store the mjsCompiler -> appended mjSpec map when appending an mjSpec.
...
Previously, we stored the source `mjSpec` during a copy as a hack for having access to the compiler options, but this is not robust since we cannot guarantee that 1) the source `mjSpec` is not destroyed before we need to look up the compiler options nor 2) that the `mjSpec` was appended without a copy.
While 2) could be solved by simply handling an additional case in `mjCModel::FindSpec`, using a map also solves 1) and it is easier to understand.
PiperOrigin-RevId: 741504264
Change-Id: Iab1bfd9e61299a94fa8caf3a244c067b09d54384
2025-03-28 06:27:22 -07:00
6e19035aab
Add delete and detach docs.
...
PiperOrigin-RevId: 741444657
Change-Id: I4207eaf74524e8a3ca46130967c6fb0dd62b4d64
2025-03-28 01:58:54 -07:00
e272e46770
Rename simulate "copy pose" button to "copy state", also save "qvel', ctrl, mpos and mquat if present. SHIFT-click will save values at full precision.
...
Example formatting:
```
# default precision
<key
time="2.99"
qpos="9.4287e-07 3.02972e-07 1.19963 0.999999 -9.3978e-06 0.00102591 8.06948e-06 -0.000337469 -0.000182994 -0.00282448 -0.000358084 -0.00370829 0.0631084 0.0996347 -0.00161963 0.0260658 -2.09992 -0.00459387 0.0474729 -0.0171906 0.0018216 0.72549 0.00133026 0.724951 0.000816735 0.724389 0.000454671 0.724 -0.00146646 -1.12233e-05 -0.0995942 0.00159877 0.0261695 -2.09993 0.00458912 0.0473279 0.0171317 0.00177837 0.725447 0.00131597 0.724941 0.00081406 0.724393 0.000465918 0.72402 -0.00140271 -1.42355e-05 0.0949171 0.0790632 -0.461397 1.02664 -9.42133e-05 -0.55539 -0.0952333 -0.0790705 -0.460978 1.02899 8.38339e-05 -0.671707 0.401772 0.197427 1.00101 0.999979 0.00125793 -0.00100982 -0.00631542"
qvel="0.000132784 3.49155e-05 0.000536692 -0.000560519 -0.0242142 0.00693928 0.00119816 -0.000234844 0.00350923 -0.00036047 0.00137217 0.026605 0.000647559 -0.000813737 0.00151335 0.00158296 -0.000628786 0.0184574 -0.000751955 8.75972e-05 0.00017462 9.47749e-05 0.00018949 7.40435e-05 0.000170318 -2.65743e-05 5.67808e-05 0.000256585 -8.77605e-05 -0.00070146 5.90881e-05 0.00186213 0.00150788 0.000645196 0.0183261 -0.00189709 0.000234144 0.000180699 0.00020344 0.000161977 0.000154203 0.000127231 2.28526e-05 -2.85628e-06 0.000232213 2.32483e-05 -0.000415728 0.000285987 0.00873081 0.00361353 5.70155e-05 0.000316513 -0.00778618 0.00404914 -0.0239508 -0.0375704 -0.000528571 4.92965 3.51479e-15 -4.54231e-16 -9.39907e-15 -7.5733e-14 -1.54433e-14 8.71183e-14"
ctrl="0 0 0 0 0 0 0.106158 0 0 -2.1308 0 0 0 0 0 0 0 0 0 -0.106158 0 0 -2.1308 0 0 0 0 0 0 0 0 0 0.1 0.08 -0.477 1.033 0 -0.556 -0.1 -0.08 -0.477 1.033 0 -0.556"
mpos="0.5 0 0.5 0.5 0 0.5 0.5 0 0.5"
mquat="1 0 0 0 1 0 0 0 1 0 0 0"
/>
# full precision
<key
time="19.78000000000035 "
qpos="-5.456931939182209e-13 4.210058291674657e-14 1.199596868198444 0.9999997705632744 -1.123107929038176e-05 -0.000677308838908712 -4.574736052563342e-13 4.81467762006399e-06 -0.0001470530836508491 -0.01285126600561344 -0.0003314670141921113 -0.003753266058087929 0.06165064101255623 0.01573179146576803 -3.013291189105153e-05 0.00898818165332332 -0.0005543865919957537 0.001960768693378906 0.003171337599202657 0.05998529721754536 -0.006869809693640725 0.7108455550986151 -2.768022862919269e-05 0.7234287700347743 -2.65358465809282e-05 0.7234305602907817 -2.427451970418236e-05 0.7234340023869628 0.0001444026830625057 0.004779116304496144 -0.01556918200171751 2.367030531882565e-05 0.00887857821391661 -0.0005393749458389281 -0.002002170464405725 0.004065365245773832 -0.059404381452836 -0.006700853036263364 0.7112073591870905 -2.793780628594305e-05 0.7234283783336887 -2.67570932686378e-05 0.7234302250735107 -2.446320244250625e-05 0.7234337167312712 0.0001441442525519209 0.004776981844081063 0.001964241516442131 -0.001279289930183057 0.0009901921906584617 0.005102724602622095 -0.0001969944416873799 0.0006055390861509305 -0.001981889349334628 0.001289775046291938 0.0009924227912350586 0.005084179458414934 0.0001970337430004949 0.0006055492125132441 0.4000059982468001 0.2000006330421453 1.001005166968155 0.9999986986616857 0.001264259603338192 -0.00100188514175821 -2.342548568520312e-05"
qvel="8.028421913635349e-14 -7.933623204015651e-15 -1.766955416585763e-09 -1.242788325114248e-10 1.380680257623891e-08 4.072776622758517e-13 -2.152263214542579e-08 -3.878177040643757e-09 -7.698904695669224e-07 1.032750347898222e-09 -1.203279562630678e-09 -7.551458300921444e-08 2.469496246057255e-06 8.917880101195273e-08 -6.756803792056489e-06 -2.872076666906819e-06 1.785650772865195e-06 -5.01959632083366e-06 -5.599940213931672e-06 8.890181416091634e-07 1.64456042549838e-06 -1.371426840474208e-09 -2.120678515220117e-09 -2.024654983099582e-09 -3.146661587304676e-09 -2.584650818327909e-09 -4.007447393764789e-09 3.46515937628953e-09 1.271775029987075e-08 -2.488928508740539e-06 -8.746797042033161e-08 -6.8499144406484e-06 -2.901446048768352e-06 -1.790798673741401e-06 -5.013863339758384e-06 5.931327072492727e-06 9.379458926032098e-07 1.728266244061688e-06 -1.546731198107214e-09 -2.391411625987869e-09 -2.205072839286403e-09 -3.425520861505272e-09 -2.768770278332858e-09 -4.29204657928239e-09 3.77970711367913e-09 1.210836106515995e-08 2.48779855243758e-07 1.794262457563144e-08 2.425338558609319e-07 -4.490996387632652e-09 1.5470867213074e-10 -1.056275279772894e-10 -2.528203830071622e-07 -1.984360361016969e-08 2.432485190492325e-07 -4.490126811319184e-09 -1.553085076375719e-10 -1.050844929338509e-10 -5.03087850573677e-15 -3.069973955284326e-15 1.263049899085103e-14 -2.132657422360499e-13 1.240631051776082e-14 7.346260313161907e-14 "
ctrl="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 "
mpos="0.5 0 0.5 0.5 0 0.5 0.5 0 0.5 "
mquat="1 0 0 0 1 0 0 0 1 0 0 0 "
/>
```
PiperOrigin-RevId: 741427042
Change-Id: Ib33f3e6215b7933d9267fc4c222d7a0abc75dbb4
2025-03-28 00:38:19 -07:00
0abf184d49
Align comment in mjmodel.h.
...
PiperOrigin-RevId: 741214316
Change-Id: I449c4a6e1c70b30d60636e11f26fb0bc8653f2a5
2025-03-27 11:05:46 -07:00
e8c67ca586
Allow orientation for user composite.
...
PiperOrigin-RevId: 740909723
Change-Id: Id38a55114d4257a461bbced57d35d6bb42a2597d
2025-03-26 14:44:51 -07:00
644b42bee3
Add mujoco/experimental and move USD work there.
...
PiperOrigin-RevId: 740730698
Change-Id: If9c68798cda502d6d7632906a034437e2557802e
2025-03-26 05:37:45 -07:00
5c955b8fe2
Add frame support to the cable composite.
...
Also cleanup user_composite.cc includes.
PiperOrigin-RevId: 740730596
Change-Id: I05df59926d8e61de45fd6b2a3a63121b7a390448
2025-03-26 05:36:36 -07:00
d6943731b2
Fix bug in nativeccd multiccd.
...
PiperOrigin-RevId: 740495321
Change-Id: I7eaa0da8514e27c233d49567c276d1d238808d1f
2025-03-25 14:56:21 -07:00
69f8349203
Add signature error checking at the end of compilation.
...
Fixed some edge cases that caused the new error to be triggered.
PiperOrigin-RevId: 740483759
Change-Id: I6ced3ba55476d5c18103e205151ecace94f2b29b
2025-03-25 14:22:58 -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
c931565fdc
Add internal functionmj_tendonDot: time derivative of tendon Jacobian for one tendon.
...
Notes:
- Currently always uses dense math, even for sparse models. This should be easy to change in the future.
- Does not support geom wrapping. This is possible but harder, requires derivatives of mju_wrap.
PiperOrigin-RevId: 740378741
Change-Id: Id39ef2c4bfbb7ee11ec33c97d7d83140441cdab2
2025-03-25 09:36:30 -07:00
4e206c29c1
Keep tree lists updated at all times.
...
This simplifies the compiler logic since an updated tree list was necessary at many stages (e.g. attach and keyframes resizing) and it will be anyway required when computing the mjSpec signature.
PiperOrigin-RevId: 740356447
Change-Id: I7f2ec25b27b8d4ca4364801c9a401c40c6d84569
2025-03-25 08:21:22 -07:00
12b40b948e
Remove MuJoCo stack calls in nativeccd.
...
1. There is now thread local static memory for use with a conservative max number of iterations needed for contact.
2. For possible needs of high precision contact recovery with large iteration numbers (i.e. ellipsoid-ellipsoid collisions), there are callbacks to allocate memory when needed.
PiperOrigin-RevId: 739187134
Change-Id: I3d210f75218922d969c78465da3fe50da4fe3080
2025-03-21 08:20:51 -07:00
dc96ed6bdb
Remove plugins that are not referenced after detaching a body.
...
Fixes #2497 .
Also, use `Release()` instead of `delete` for removing elements when detaching a body in order to preserve correct reference count.
PiperOrigin-RevId: 739133888
Change-Id: I7ccfad84446fb15259bad30c4ba1e6f7fa601518
2025-03-21 04:34:05 -07:00
8d92a0fbe6
Clear body subtreedofs when compiling. Fixes issue when attaching previously compiled model.
...
PiperOrigin-RevId: 738906593
Change-Id: I74875b4d07c422e397358dff5daf6682ec1bd655
2025-03-20 12:52:36 -07:00
2e11afa2de
Fix a bug in the handling of efc_J in put_data.
...
PiperOrigin-RevId: 738877177
Change-Id: Ie469af0e1c31843e8c59cd2cf6fc0befb1ed4956
2025-03-20 11:26:14 -07:00
467a63d203
Add BoxBox to ccd benchmarks.
...
PiperOrigin-RevId: 738761460
Change-Id: If59d306748d64e9e30abe65daa746a4f8e9ec78c
2025-03-20 05:16:33 -07:00
1f1d5287fb
Fix bind.set when using a single joint instead of a list.
...
PiperOrigin-RevId: 738546056
Change-Id: I26ae045be9e983cb0760132b9d47eac018ca33cd
2025-03-19 14:44:22 -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
a1b9ffd124
Fix memory over-allocation in nativeccd.
...
PiperOrigin-RevId: 738383181
Change-Id: Ibf9e2b146da671e8d3a48339c8f4c6813f537456
2025-03-19 07:08:21 -07:00
209d2bd2c5
Added functionality for user payload data in mjSpec.
...
PiperOrigin-RevId: 738343134
Change-Id: I6217362ced9993afcd5a2914c78718ffe3bf753a
2025-03-19 04:36:00 -07:00
dc50fbbb9b
Add safeguard if n is invalid in GJK.
...
PiperOrigin-RevId: 738340065
Change-Id: I2288eb731621e5b84dcc0f078d8dbd84dca94cd4
2025-03-19 04:21:11 -07:00
efe213a7b3
Cosmetic improvements to src/xml/ source files.
...
PiperOrigin-RevId: 738010419
Change-Id: Idb90a42a374682450737684e67388329c184c777
2025-03-18 08:12:29 -07:00
205599ac1a
Cosmetic improvements to src/user/ source files.
...
PiperOrigin-RevId: 737930914
Change-Id: I1cc254d420fcdf0c42ec3d2f601e5a02d925d958
2025-03-18 02:59:12 -07:00
bae5175cf2
Accumulate rotation after updating pos and quat in replicate.
...
Fixes #2501 .
PiperOrigin-RevId: 737929158
Change-Id: I0cad2de37190f1d30d427ae646acbde335b5be56
2025-03-18 02:51:05 -07:00
1bf24e9f67
Do not overwrite existing parent frames for worldbody elements when attaching an mjSpec to a frame or a site.
...
PiperOrigin-RevId: 737662046
Change-Id: I7028c21c803c01845ae1d53cb476f7b3df172313
2025-03-17 10:21:38 -07:00
da04688071
Automatically compile mjSpec in to_xml().
...
Also, move mj_compile from MjModelWrapper to MjSpec.
PiperOrigin-RevId: 737640210
Change-Id: I93d2a31c33eb359452b0d966a29939183b4c5198
2025-03-17 09:21:10 -07:00
35774706ee
Set parent frame of new frames after copying all frames.
...
PiperOrigin-RevId: 737620918
Change-Id: I8f49570cab39bd84b2da908d3683dddc3b29cb3c
2025-03-17 08:19:04 -07:00
b10b0b7055
Cache all processed mesh data.
...
PiperOrigin-RevId: 737576455
Change-Id: I87628ce7842d0d7d0e7fe02eb9afb2ddefa68ff8
2025-03-17 05:20:41 -07:00
fa1b01360a
Delete reference to nonexistent flag in docs.
...
PiperOrigin-RevId: 737434746
Change-Id: I277b9d910f050315b4f5c855d1955989e668c46f
2025-03-16 17:34:29 -07:00
f480a9e985
Add MjSpec.from_zip() constructor.
...
PiperOrigin-RevId: 736871864
Change-Id: Ib6cc189d5912a57e5c505c744a4a1d6ad61d1c84
2025-03-14 08:31:14 -07:00
1a67aaf1b7
Remove pointers from BVH for caching in mjCMesh.
...
PiperOrigin-RevId: 736849392
Change-Id: I684cca918c65718b29a1bcb41ecd6bad8d88f8f9
2025-03-14 07:01:18 -07:00
f25fc63f0f
Default flex internal contacts to "false".
...
This function is unusual in the context of soft body simulations and has been a common gotcha for users, see e.g. #2500 , #2079 , #1900 , and #1433 . It should be used only if element inversion cannot be prevented otherwise.
PiperOrigin-RevId: 736822983
Change-Id: I76b0965c91c94dd88123826d218d7544ec37a88c
2025-03-14 04:55:09 -07:00
Baruch Tabanpour