70d03adc71
Store the status of the scene in the scene itself.
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PiperOrigin-RevId: 813119377
Change-Id: Iebff9e7796ca9809ea22902522982bfd96eeba06
2025-09-30 00:06:00 -07:00
6a7566872a
Functions for printing the contents of mjvScene.
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PiperOrigin-RevId: 812699642
Change-Id: Iafff53c952c952624129ff01a8c1b0aa5d38eec5
2025-09-29 02:47:17 -07:00
8de86c9944
Remove margin name from geomdist sensors.
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PiperOrigin-RevId: 811775910
Change-Id: I4d265d4ad0206ea2d92c6c4b659f509a17f12baa
2025-09-26 05:24:12 -07:00
e51459f949
Break out struct initialization functions into engine_init.c.
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PiperOrigin-RevId: 811598048
Change-Id: Ia832a8268e2209a5a264bbf79aa00dda487206bc
2025-09-25 19:22:27 -07:00
fe8384b6c5
Visualize joint and tendon limits by re-coloring.
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PiperOrigin-RevId: 811590674
Change-Id: I5b65f2294a4bcda3c321fb51ebf29501bd0d416d
2025-09-25 19:02:26 -07:00
0baac58999
Remove redundant ngeoms check.
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PiperOrigin-RevId: 810787607
Change-Id: I5d04b1d7f5f8ad758960a46ff08cc47d2887e851
2025-09-24 02:21:35 -07:00
d9650b68b0
Remove unused private functions
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PiperOrigin-RevId: 810776310
Change-Id: I1c67c5efe07c4ca23b04122548b674719be927f7
2025-09-24 01:48:54 -07:00
d71d42a374
Add private function mju_isZeroByte to check for byte-wise zero.
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PiperOrigin-RevId: 810456282
Change-Id: I877d0f9225e7a783ed7ff12ce54f4ed0a7889793
2025-09-23 08:49:43 -07:00
33b09e0822
Stop using stack allocation for catenary drawing
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PiperOrigin-RevId: 810434095
Change-Id: Iee8c01ff721c2af216c5725fc9eaf6267b2e5284
2025-09-23 07:37:34 -07:00
09e6723dab
Remove unnecessary stack mark/free in engine_vis_visualize.c
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PiperOrigin-RevId: 810391913
Change-Id: Id02f4dadba7ef08f60bb7726470082f45c5761c5
2025-09-23 04:53:50 -07:00
d616f11508
Remove references to deprecated nconmax and njmax.
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PiperOrigin-RevId: 809987304
Change-Id: I4109497fe108234dd77011d61eb3ef833e6ae111
2025-09-22 06:28:41 -07:00
4bbe4e5ebc
Zero actuator_velocity if actuation is disabled.
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PiperOrigin-RevId: 809986353
Change-Id: Ie9fecda80864fef3377074042fd7829af8d03d64
2025-09-22 06:24:43 -07:00
7fc6b29afd
Replace PREPARE_NEXT_GEOM and FINISH_GEOM macros with functions.
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PiperOrigin-RevId: 809940866
Change-Id: I1d45eede9ddf8606e7fd2a8caa2ed0224b0e24a7
2025-09-22 03:21:13 -07:00
d9da8e2570
Replace RETURN_IF_GEOMS_EXHAUSTED macro with inlined code.
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PiperOrigin-RevId: 809919921
Change-Id: Icf2afbd4168ebb18577b5915afa9d457001259d6
2025-09-22 02:03:19 -07:00
d55da23235
Simplify mj_comPos, avoid stack allocation
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PiperOrigin-RevId: 809762290
Change-Id: I87824279ff5f7049b1f06b900d4d3e33f5fafe0f
2025-09-21 14:06:22 -07:00
681f5767b2
Remove -Wno-extra-semi, add workaround for mjSORT confusing some IDEs
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PiperOrigin-RevId: 808689636
Change-Id: Ia091fb597c171a33842e62690d06f32614fbe4eb
2025-09-18 12:28:09 -07:00
eb96dd556c
Reduce ccd_iterations from 50 to 35.
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PiperOrigin-RevId: 808610578
Change-Id: I8755f9ba2902bf0805b7ded07ee6e048e404a31f
2025-09-18 09:16:52 -07:00
4b8454b79c
Add semicolons after mjSORT macro calls.
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PiperOrigin-RevId: 808587320
Change-Id: I9fd290b9a2b615647135f1250e87af8ea9bb81f6
2025-09-18 08:13:46 -07:00
d7500e0dec
Split START macro into two parts: one for control flow and one for assignment.
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PiperOrigin-RevId: 808497167
Change-Id: I4d78426af69d98f57600cb7fd76edaf5b20b0039
2025-09-18 03:23:12 -07:00
8e9eb2fa38
Update MuJoCo's version number following the 3.3.6 release.
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PiperOrigin-RevId: 808180152
Change-Id: I23de64cb0968b94c489b29622e4308d16513793a
2025-09-17 09:13:04 -07:00
7eab0117f7
Don't smooth tracking camera motion
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PiperOrigin-RevId: 808110613
Change-Id: Ib8631e5ace6db7c7bb780f26b79a72e26e72f451
2025-09-17 05:25:17 -07:00
52da7586dc
Clean up includes in src/engine
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PiperOrigin-RevId: 807726978
Change-Id: I02800deb79bfb3c328d941861ded9d817e8f6e32
2025-09-16 09:36:44 -07:00
4fc69fa64d
Ensure that the Octree is balanced.
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This means that two adjacent nodes can only have at most one level of refinement difference.
Note: This is a small breaking change for mjWarp since the order of the children was flipped.
PiperOrigin-RevId: 806299445
Change-Id: Ia326a31c7a8162ae02d70c868d87779198e805be
2025-09-12 08:34:15 -07:00
ad5f07e060
Extract functions from mjv_updateCamera for calculating frames and frustums.
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PiperOrigin-RevId: 805770746
Change-Id: Id2a6022a2ee2e8b1a783debf54b470a9df81051a
2025-09-11 04:10:59 -07:00
017e7d5a73
Add light ids.
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PiperOrigin-RevId: 805755907
Change-Id: I92a1b1ea4ce1495c2746fd518f33ab2d1ad81399
2025-09-11 03:20:44 -07:00
767996ab17
Transform inputs to global before calling rayMesh in SDF collisions.
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PiperOrigin-RevId: 802523399
Change-Id: I889b020e4e721fbf471992f5c87446df601ba766
2025-09-03 06:12:34 -07:00
7a93e22514
Refactor MJMODEL_POINTERS into category-specific macros.
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PiperOrigin-RevId: 802089588
Change-Id: Id3443f88e8243c5167a23b6e42eb32a32f88e8d3
2025-09-02 04:41:50 -07:00
8d884585dd
Add target relative mouse motion actions.
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PiperOrigin-RevId: 802072880
Change-Id: I1ff204594a126f8e50df4c703709f70ec4dd458c
2025-09-02 03:39:49 -07:00
8acd83f317
Add passive collision mode for flexes.
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PiperOrigin-RevId: 801754907
Change-Id: I4147af2ee2596519d42cb9a03cf8d5488f0bc3e8
2025-09-01 04:13:58 -07:00
b9900db00e
Extract memory allocation functions and core utilities
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PiperOrigin-RevId: 801745499
Change-Id: Iaf05c3430769d3115743d8ab020d13148cb2eb59
2025-09-01 03:38:25 -07:00
b092563cab
Remove mjDSBL_PASSIVE, split it into mjDSBL_SPRING and mjDSBL_DAMPING.
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PiperOrigin-RevId: 800870384
Change-Id: I273e0ceec090901e2620febb67e57914928e94bb
2025-08-29 06:06:28 -07:00
b1c94c3761
Add printing of block-diagonalized matrices
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PiperOrigin-RevId: 800345520
Change-Id: I4996c5a7509cb451744d3e428a975cceee845ea5
2025-08-28 00:54:39 -07:00
7443e685ac
Allow contact sensor subtree1/subtree2 to be any body.
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PiperOrigin-RevId: 799632590
Change-Id: If9cd6c5a3a5f83d89ae024a8f64232ab1f1d603a
2025-08-26 11:00:39 -07:00
ec94bb49aa
Make constraint island discovery on by default.
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Also fix latent bug in mjData serialization.
PiperOrigin-RevId: 799505349
Change-Id: I299e7cc8133fa2ec0b339a7ff3d02543e06778b1
2025-08-26 04:27:24 -07:00
a230aa60c5
Improve mj_addM and associated test
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- Updated docs to clarify that only the lower triangle is touched
- The function was unnecessarily adding the upper triangle in the sparse case
- The test used an unnecessarily large model and stepping it leading to timeouts under ASAN
PiperOrigin-RevId: 798528736
Change-Id: I592cc17dfb62379bb0cd6b332a8eb7e8b0ef6355
2025-08-23 03:56:47 -07:00
debbd7c916
Fix cast; should be mjtGeom not mjtMouse.
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PiperOrigin-RevId: 798177495
Change-Id: I5d95446dd7f7f84052b60cb378acdd856c1e4d50
2025-08-22 05:47:49 -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
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
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
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
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
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
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
Haroon Qureshi