700da7c5bd
Add initial documentation for experimental OpenUSD support in MuJoCo.
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PiperOrigin-RevId: 789365870
Change-Id: I19cce03ec2ffc28cdf4252bfd02c8b5163bb5ba2
2025-07-31 09:30:50 -07:00
32c7d3f085
Tag nullable arguments in main header. Fixes #309
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Nullable arguments will be added to the `introspect` datastructures in a future change.
PiperOrigin-RevId: 789350522
Change-Id: I0bfd12fab5121f94b937264570f907593b63cf64
2025-07-31 08:39:16 -07:00
ee63b82e1c
Fix the format string when printing uintptr_t
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PiperOrigin-RevId: 789333383
Change-Id: I32b190ffa6579a93970650df58865083aa0a18ab
2025-07-31 07:50:45 -07:00
23fa7c00d5
Remove usage of size_t types in mjModel, use mjtSize (uint64_t) instead to improve portabilty of MJB files to WASM.
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PiperOrigin-RevId: 789321991
Change-Id: Ic25fab876c347fc75f5ca24cad09e8fd972f035f
2025-07-31 07:08:33 -07:00
4c288c19ac
Remove physics schema authoring toggle from MJCF SdfFileFormat plugin.
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PiperOrigin-RevId: 789321573
Change-Id: Ib29bb426f8598a58f7b34c048b154fa8ada589ef
2025-07-31 07:07:18 -07:00
9f64338b37
Clarify principal point description in documentation.
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PiperOrigin-RevId: 789314970
Change-Id: I2b5beca1599d40acb00406aee7dbcea928da4433
2025-07-31 06:40:54 -07:00
b5368a3385
Add displayColor authoring to site geometry when converting MJCF to USD.
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PiperOrigin-RevId: 789311878
Change-Id: I70027cd5d8d02f4ee26043f3b9fb03311e38984b
2025-07-31 06:28:42 -07:00
82cf27992d
Initialize variables in copyM2Sparse
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PiperOrigin-RevId: 788875024
Change-Id: I87068a3878e0b6bc5227bb61e84c07e75e448eea
2025-07-30 06:16:17 -07:00
51babec9c5
Move tactile sensor to the engine.
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PiperOrigin-RevId: 788863133
Change-Id: I3172ebb7641fa8146469da25cba7db794760e7b1
2025-07-30 05:27:44 -07:00
89f4789085
Add mjs_makeMesh to create a builtin mesh.
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PiperOrigin-RevId: 788538127
Change-Id: I999733399a1a0da07b0f915f34d31364ab8b3b52
2025-07-29 11:31:18 -07:00
46dc67b7eb
Add function mjs_sensorDim to user API.
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Note: change to (unreleased) contact sensor mjSpec API
PiperOrigin-RevId: 788507423
Change-Id: Ie639afb7ed01dc3f7bab43a3e812e8e0b0c67d07
2025-07-29 10:20:27 -07:00
a771fc6c09
Increase mjNSENS to 3
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PiperOrigin-RevId: 788468705
Change-Id: Id22f131bebb6accc9a29c9aa285efa75fa8b2c16
2025-07-29 08:38:13 -07:00
4575089f48
Prevent ray casting from stopping at the SDF bounding box.
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The SDF value of the closest point on the bounding box is added to the distance from the bounding box when the query point is outside of it.
PiperOrigin-RevId: 788377943
Change-Id: Id8e489a1d112918c484f5615223d557f2d14b822
2025-07-29 03:10:02 -07:00
a04e0385e4
Add USD content type support in MJCF.
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PiperOrigin-RevId: 788075561
Change-Id: If37cc254cab0411454de7663e0b3ff9f2b263281
2025-07-28 10:53:49 -07:00
3434f5d9c7
Compute convex hull for collision pairs.
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build / windows-2025 (push) Has been cancelled
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PiperOrigin-RevId: 788074030
Change-Id: I3d4bbe71f824db82e998e374d95a5c49995af806
2025-07-28 10:49:50 -07:00
a116653e5f
Remove unnecessary handling of value attribute.
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PiperOrigin-RevId: 788060431
Change-Id: I56acafb211441bd74dbd6e80ab1d8f82ac808c3a
2025-07-28 10:19:47 -07:00
9e7979e492
Add checks for contact sensor when constructing with mjSpec Python bindings.
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PiperOrigin-RevId: 788008233
Change-Id: I14518b8cce1a7dad4fd24933478e0cc1bb75e350
2025-07-28 07:50:56 -07:00
8db2413c84
Fix a bug in triangle-box filter that caused missing Octree leaves.
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PiperOrigin-RevId: 787955811
Change-Id: I40ad0f9219cbe5d5757b9345b1de495cba50d306
2025-07-28 04:41:02 -07:00
e4eb654573
Updates joint/ref attribute documentation to clarify that the initial model configuration is unmodified.
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PiperOrigin-RevId: 787679025
Change-Id: I4eab9d2ea1b411d40c780c087fa44ccff0b10094
2025-07-27 04:55:03 -07:00
83435361fa
Increase max points in 2D plot from 1000 to 1001.
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PiperOrigin-RevId: 787513580
Change-Id: I573c779932fa7411b132020213637a25fa859844
2025-07-26 12:46:31 -07:00
ddb7eb07c7
Initial implementation of contact sensor for MJX JAX backend.
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PiperOrigin-RevId: 786742643
Change-Id: Idabd98320a4716c597bb596e32a8a90f3cd5f356
2025-07-24 09:59:40 -07:00
5eab59d026
Add plugin_state support to MJX API.
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Move fr3 controllers states to plugin_state.
Reset plugin_state during device.reset().
PiperOrigin-RevId: 786433231
Change-Id: I7c95cc884acab23fb8c59419b573ee0a6b4cf803
2025-07-23 14:49:41 -07:00
541c56b46f
Create mjcPhysics ImageableAPI for visual, non physical visual entities.
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PiperOrigin-RevId: 786366034
Change-Id: Ifb72d2daf8f5963bb7007dda1685da94b456ff41
2025-07-23 11:48:17 -07:00
7da32d186f
Add basic visual material parsing support to USD interop.
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For this first iteration we only support simple UsdPreviewSurface spec node graphs.
PiperOrigin-RevId: 786309455
Change-Id: I2e5501a65b22aca6da570bc94394514c67bd100a
2025-07-23 09:21:56 -07:00
4bbd0fb9c7
Do not store grid edges in tactile sensor.
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This is in preparation for extending support to store the grid as a mesh.
PiperOrigin-RevId: 786281232
Change-Id: Ic718c2d2e1891cf0b66113270fd3c98acc1e74a5
2025-07-23 08:00:51 -07:00
8383bd439c
Add support for parsing 'st' primvar from USD.
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PiperOrigin-RevId: 786277487
Change-Id: Id99e6bf6a656b623950c363597da3930ee4c00e3
2025-07-23 07:47:50 -07:00
4f43a7d08e
fix typo in bindings_test.py
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PiperOrigin-RevId: 785536018
Change-Id: I06dd65c65c12e92d354d900a8046b38c0c5de8d3
2025-07-21 12:37:23 -07:00
6416e548aa
Merge pull request #2348 from jjyyxx:patch-3
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PiperOrigin-RevId: 785518837
Change-Id: I2bbdcb6aea0ff3edfa354389ef758c2d34b93f68
2025-07-21 11:49:39 -07:00
3901dcde96
Move changelog item into breaking changes section in 3.3.4
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PiperOrigin-RevId: 785479748
Change-Id: Ic0e779a9fddfa945e94fc6870a1a3fe826980f4b
2025-07-21 10:09:08 -07:00
a2a27c113f
Do not raise an error in MJX if MultiCCD is enabled.
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PiperOrigin-RevId: 785473405
Change-Id: I91165ac83fa000ff51467295820330703bfb20ed
2025-07-21 09:52:09 -07:00
921bca5105
#mjx don't specify JAX default backend
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PiperOrigin-RevId: 785472058
Change-Id: Iba2d3e87dd2d78e6eee8fb579a760250a91b5d23
2025-07-21 09:48:09 -07:00
fc13995dd4
Yield ownership of vector<double>, vector<float>, and vector<int> to mjSpec in Python bindings.
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Fixes #2756
PiperOrigin-RevId: 785417251
Change-Id: Ib399c46ee59585258ace7d9583c68b7d06d0a9e4
2025-07-21 06:44:17 -07:00
60f9b34a77
Validate the MjModel pointer passed to MjData constructor.
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Fixes #2426 .
PiperOrigin-RevId: 785411895
Change-Id: If698120b5a4ab4ac457d35760380c140b1b5a208
2025-07-21 06:23:52 -07:00
8b94bd0ef6
Update MJX feature parity documentation.
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PiperOrigin-RevId: 785411252
Change-Id: I2bf6619c8114f2e9d9eedceed26177a5a8c3b073
2025-07-21 06:20:51 -07:00
3283fb8655
Fix sign in cylinder support function.
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PiperOrigin-RevId: 785394029
Change-Id: I010edab0ba8734a9b91626669fa309a0ddb346e5
2025-07-21 05:12:16 -07:00
db72d0d53c
Clamp dist in mj_geomDistanceCCD. Closes #2710
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PiperOrigin-RevId: 785393424
Change-Id: I508cd2ad6f47ca022cc54f228247ca498fda691f
2025-07-21 05:09:38 -07:00
c2f5d0f266
Add sensor_intprm to types.py
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PiperOrigin-RevId: 785388933
Change-Id: I050410f0437e38e1559b2e1e4138c527daa84cb9
2025-07-21 04:51:50 -07:00
0eb2f9f118
Use meshid in touch sensor for mesh geoms.
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PiperOrigin-RevId: 784575734
Change-Id: Ibca753273c67128c6c1421dad8413814dce31182
2025-07-18 07:23:04 -07:00
c2820941aa
Convert UsdPhysicsRevoluteJoint from degres to radians if compiler option is set.
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PiperOrigin-RevId: 784574716
Change-Id: I58f65816edb782fcb41bbc721f7bed5a27741639
2025-07-18 07:18:17 -07:00
46b713ef2d
Remove pedantic designated initializers in USD parsing.
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PiperOrigin-RevId: 784544836
Change-Id: Ie36136b2a0b8105ccb4a4679883120638ec80699
2025-07-18 05:10:12 -07:00
e92ce30732
Account for scale authored on UsdMesh prims.
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PiperOrigin-RevId: 784231423
Change-Id: I82b363c6c40940982ebeb0b1949e0e1e8f92199d
2025-07-17 10:29:31 -07:00
c597434fc9
When UsdCollisionAPI is applied but collisionEnabled is false, treat it as a visual gprim.
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PiperOrigin-RevId: 784219782
Change-Id: If87e1cd7e1cc10b27a3d432585466e3aece71d26
2025-07-17 09:59:37 -07:00
f5df466ee5
Add support for visual gprims to USD parsing.
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PiperOrigin-RevId: 784197335
Change-Id: I8eb155b7942209f372487f8268ad76310cf510ac
2025-07-17 08:51:50 -07:00
2e13c64308
Simplify parsing from USD stage to kinematic tree for mjSpec population.
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Summary of changes:
- Move stage parsing from usd_to_mjspec to kinematic_tree
- A Node now has lists of paths for prims that we support parsing.
- When parsing the stage, we create a list of all the Nodes that we will place in our tree.
- Removed the need for expensive SdfPath maps and sorting of bodies in favor of indexed integer arrays.
- Simplifies usd_to_mjspec parsing as we can process each node and it's owned prims one at a time.
PiperOrigin-RevId: 784187799
Change-Id: I4907cfa1137014af21c45b10fa29ac53a49b6dac
2025-07-17 08:20:10 -07:00
e23226509c
Tidy up of touch stress plugin.
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PiperOrigin-RevId: 784186240
Change-Id: I47298ff2b7676a540781561817670c5f00c1b63a
2025-07-17 08:14:49 -07:00
bca5d0c671
Update all references after attaching a plugin with multiple references.
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PiperOrigin-RevId: 783784916
Change-Id: I11da14f11f9206b466bce424979264659bf9a819
2025-07-16 09:22:55 -07:00
3cc8d7f58a
Fix typo in mjcPhysics MjcMaterialAPI
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PiperOrigin-RevId: 783750052
Change-Id: Ib829ae7ead7a33572e94ee0fe221da778b623f10
2025-07-16 07:31:09 -07:00
549a21c9c2
Add box-triangle projection tests to octree construction.
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Number of octree nodes for cow example:
Before change 45217
After change 28921
PiperOrigin-RevId: 783748606
Change-Id: I278ac7bc969dc1463d6dd0f7cdc8b267b7ce6c92
2025-07-16 07:24:59 -07:00
6144a508b5
In Mujoco USD interop, only consider dynamic friction when writing to and parsing from USD.
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PiperOrigin-RevId: 783741987
Change-Id: I23c47a6e95c160c5c7d5c513e268c79e4236e2e4
2025-07-16 07:00:18 -07:00
b99d9e8f12
Fix inherit range pulling from act early attribute when parsing USD to MjSpec.
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PiperOrigin-RevId: 783735573
Change-Id: I988f16cd16e47caa84a30009c36a932ec3672429
2025-07-16 06:35:10 -07:00
Sam Haves