705ec6d7fb
Adds built-in superellipsoid mesh.
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PiperOrigin-RevId: 791196831
Change-Id: I1d864f6e620870f016377a4d9e2e26d1a23fd77e
2025-08-05 07:02:52 -07:00
e74cee652f
Add README to mjcPhysics.
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PiperOrigin-RevId: 791183563
Change-Id: I4383dcab12128a745e435ac7f2cea52cccc4ce60
2025-08-05 06:18:37 -07:00
a5d4d1000e
Add built-in supertoroid mesh.
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PiperOrigin-RevId: 791180080
Change-Id: I3a70f50ff4a52a1bd4b88fc30334a574895145b4
2025-08-05 06:06:43 -07:00
e543ba95c5
Fix comments in meshNormals.
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PiperOrigin-RevId: 791169316
Change-Id: I540f06a56862774ae0feb666ab38762853cb1c36
2025-08-05 05:27:41 -07:00
996f0040fd
Add built-in sphere mesh.
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PiperOrigin-RevId: 791162850
Change-Id: I573a414727e79f1a495e0f2282b2faff48ab3443
2025-08-05 05:05:05 -07:00
5220767457
Add built-in hemisphere mesh.
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PiperOrigin-RevId: 791148546
Change-Id: Ic9ff0c9b0f5fa4fd22d5f7f848f150cf74d378ba
2025-08-05 04:16:24 -07:00
a5a6379f83
Add built-in cone mesh type.
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Also delete `prism` type since it is subsumed by cone.
PiperOrigin-RevId: 790992343
Change-Id: I7a9c6f2a4377489173acd64b23086c748d2cee8e
2025-08-04 19:35:32 -07:00
4a91c34239
Modify warp-lang deps.
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PiperOrigin-RevId: 790925317
Change-Id: I1db6c1820270722afa6a3475a1088d1553571295
2025-08-04 16:00:24 -07:00
5e6bde07ab
Patch fix to pyproject.toml for internal CI.
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PiperOrigin-RevId: 790786985
Change-Id: I3f70896857296519ff6984c1b85056e671794808
2025-08-04 09:47:22 -07:00
7b9f5bdae7
Fix bug in raycast to hfield. Fixes #2765
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PiperOrigin-RevId: 790784429
Change-Id: Ib2319722796ed510afed960bbf5cebc86cf185a9
2025-08-04 09:40:59 -07:00
f2a2afeb03
Fix address bug in meshEdgeNormals in doing edge multiccd with meshes.
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PiperOrigin-RevId: 790731924
Change-Id: Ia475b1f01731518166f229c25ebffd1fbf7c7939
2025-08-04 07:03:14 -07:00
7baaa39846
Add SDF geom to test/testdata/model.xml.
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Also, when a mesh has both an octree and a bvh, render only the octree.
PiperOrigin-RevId: 790680831
Change-Id: Iaf3896933f6728af4db1eaa83ff5b06558ab0d19
2025-08-04 03:53:51 -07:00
100b1a06fd
Decrease opacity of taxels with zero value.
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This prevents the taxels from being occluded by the convex hull for meshes that do not provide face connectivity.
PiperOrigin-RevId: 790420616
Change-Id: I543fd7b52e4625d921b6b5b5b77b4720020df42a
2025-08-03 08:36:39 -07:00
80befd64ae
Do not cull mjGEOM_TRIANGLE.
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PiperOrigin-RevId: 789723631
Change-Id: I8a5aaa78a9fe63458c07b823c7550846c14413b1
2025-08-01 05:28:30 -07:00
3d537c85ef
Fix mjcPhysics typo in USD docs.
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PiperOrigin-RevId: 789385654
Change-Id: Ib15450e81258e3d202d8123c0c43f8421ebefed6
2025-07-31 10:23:53 -07:00
7ea92c65ec
Fix to github CI.
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PiperOrigin-RevId: 789380763
Change-Id: I8e2679a70e8bf443e373f57a0a78ed68b70e60a6
2025-07-31 10:10:26 -07:00
47bc16a37c
Add mujoco_warp as an implementation in mjx.
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PiperOrigin-RevId: 789366860
Change-Id: I84b49e744552092434df49d855f1052b04291b87
2025-07-31 09:33:35 -07:00
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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build / macos-15-arm64 (push) Has been cancelled
build / macos-15-x86_64 (push) Has been cancelled
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
Yuval Tassa