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75 Commits

Author SHA1 Message Date
Yuval Tassa 71d1014e70 Add mjENBL_DIAGEXACT for exact constraint diagonal. Fixes #2472 
PiperOrigin-RevId: 916932908
Change-Id: Id23ac39b5cd996afc52990719a4e07c0cc7de600
 2026-05-17 16:47:54 -07:00
Yuval Tassa a4e49f2dff Margin and gap redesign (breaking change) 
PiperOrigin-RevId: 914329812
Change-Id: I905665e4c1965bdb8b90587e5b1277cfbfe5cce0
 2026-05-12 09:43:43 -07:00
Kyle Bayes bc5883e82f Update multiccd documentation. 
PiperOrigin-RevId: 902779253
Change-Id: I767cd0a230b78efe2a71f83e5f2f134268997dcb
 2026-04-20 12:53:17 -07:00
Alessio Quaglino 6c7ed66781 Implement multi-cell finite element method for interpolated flexes. 
This change introduces a `flex_cellcount` field to `mjModel` to specify the number of cells in each dimension for interpolated flexes. The stiffness computation, passive force calculation, and Jacobian derivatives are updated to operate on a per-cell basis, significantly improving performance by localizing computations to the nodes within each cell.

PiperOrigin-RevId: 901216393
Change-Id: Ic23132e609de11e71bb7fef8d1f139daad2ec264
 2026-04-17 04:13:19 -07:00
Yuval Tassa 239aa1f856 Minor updates to documentation across multiple sections. 
PiperOrigin-RevId: 898652783
Change-Id: Idb671910c18ed3406722b8a1307f97ae9a194139
 2026-04-13 10:54:28 -07:00
Yuval Tassa 0c66585e39 Fix typos and minor corrections in MuJoCo documentation and comments. 
PiperOrigin-RevId: 875163889
Change-Id: Ic604d6235bf9cb999058f191e3ee41e47ec1a567
 2026-02-25 07:56:31 -08:00
Yuval Tassa 27dc92b056 Fix typo in modeling.rst. 
PiperOrigin-RevId: 875053694
Change-Id: Idb6d09d2713f2cc2a09d2b0912a227fe9ac9396a
 2026-02-25 02:51:26 -08:00
Yuval Tassa 40e0007849 Restructure numeric constants table in API docs 
Break the monolithic numeric constants table into 6 sub-grouped tables:
Version, Engine constants, Array sizes, Visualization, Rendering, UI constants.

Fix stale values: mjMAXUITEXT (500->300), mjMAXUIMULTI (20->35),
mjMAXUIEDIT (5->7), mjMAXUIRECT (15->25).

Add missing constants: mjMAXLIGHT, mjMAXMATERIAL.

Fix placeholder description for mjMAXFLEXNODES.

PiperOrigin-RevId: 875010581
Change-Id: Id47846de4d98b62cb96087b72ecd28358d5db9c7
 2026-02-25 00:54:35 -08:00
Yuval Tassa 9d6d9089e5 Improve solver parameter documentation, in particular for frictional constraints. 
PiperOrigin-RevId: 873364458
Change-Id: Ie4da21abc2ee54d9eaaefc81b3d2624a520ad96e
 2026-02-21 09:14:56 -08:00
Yuval Tassa 277f469239 Update sensor delay documentation to use "period" instead of "interval". 
PiperOrigin-RevId: 869711956
Change-Id: I981c04aea58b5ce8a1cf8f2cdceba841e7729ccb
 2026-02-13 06:56:15 -08:00
Yuval Tassa 6af0d4c823 Replace margin/gap max with sum. 
PiperOrigin-RevId: 868842521
Change-Id: Ia4a4ca5c6821c5a7b3ba7b0af7f71d981c2866c1
 2026-02-11 14:22:27 -08:00
Yuval Tassa 6419534bad Add actuator and sensor delays. Fixes #1004 
PiperOrigin-RevId: 866478839
Change-Id: Id21a6da0f98454c8fa39ea5af8a5e213d6eae497
 2026-02-06 08:47:36 -08:00
Yuval Tassa 883e69d7b1 Minor improvements to collision sensor documentation. 
PiperOrigin-RevId: 862767431
Change-Id: I53861430e7868b23e37be9694f195a2dd3685db4
 2026-01-29 09:22:23 -08:00
Taylor Howell 96dda6ea75 Add tendon actuator force limits and tendon actuator force sensor. 
PiperOrigin-RevId: 745096883
Change-Id: Ib9acb727fbbfc6b0b0323ee6a889053a7a878056
 2025-04-08 05:16:35 -07:00
Alessio Quaglino b3aa5df68a Improve composite docs and changelog. 
PiperOrigin-RevId: 730394496
Change-Id: Ie993214deb82b526a96510e02f6ecff103c58607
 2025-02-24 04:26:35 -08:00
Alessio Quaglino c52d1b3941 Remove the particle composite (replaced by replicate). 
PiperOrigin-RevId: 730089997
Change-Id: If8d18fb56ae01241e76f84dbf7951e034026d829
 2025-02-23 03:14:11 -08:00
Alessio Quaglino 0fcd20f0da Remove grid from composite types. 
Replaced it with flexcomp in the models.

PiperOrigin-RevId: 730070619
Change-Id: Icbc69e4c6784c6252743f689a1eafb6482d0c393
 2025-02-23 01:31:41 -08:00
Yuval Tassa f73f0e1d0d Fix aspect ratios of embedded videos in docs. 
Note that small videos, for some reason, need an aspect ratio that is different  from the actual aspect ratio.

PiperOrigin-RevId: 724879307
Change-Id: I681f071baf4eb09cfda41edeca0d1ee16be4181a
 2025-02-09 03:33:10 -08:00
Alessio Quaglino 7cdf180641 Introduce trilinear flex parametrization. 
These flexes use only 24 DOFs (3 per vertex of the bounding box), while colliding with the full high resolution mesh.

On an 8x8x8 cube, the performance using DOFs at all vertices is

```
 Simulation time      : 18.74 s
 Steps per second     : 533
 Realtime factor      : 0.53 x
 Time per step        : 1874.4 µs

 Contacts per step    : 114.88
 Constraints per step : 3322.51
 Degrees of freedom   : 1536
```

With the new implementation, it is the following:

```
 Simulation time      : 1.82 s
 Steps per second     : 5507
 Realtime factor      : 5.51 x
 Time per step        : 181.6 µs

 Contacts per step    : 38.84
 Constraints per step : 155.36
 Degrees of freedom   : 24
```

PiperOrigin-RevId: 721008829
Change-Id: I833df027527db578d86667cc4b24295bcf6f7d22
 2025-01-29 09:38:22 -08:00
Yuval Tassa 8c22181156 Fix documentation typos. 
PiperOrigin-RevId: 720232771
Change-Id: I176db4d4168c37b2819df14b439c4cde838e2025
 2025-01-27 10:58:22 -08:00
Yuxuan Jiang df1d15fa38 Fix typo in modeling.rst 2025-01-08 09:53:36 +08:00
Alessio Quaglino f909d63cdf Enable to attach a spec to a frame. 
PiperOrigin-RevId: 699703988
Change-Id: Idbddcbce1e68286248458eb0bd24d5080451a58a
 2024-11-24 07:35:14 -08:00
Yuval Tassa 298ce31e39 Update docs to highlight nativeccd 
PiperOrigin-RevId: 692918061
Change-Id: I9e44bc3123fe6b8a41b769c7de01b20e3c56d758
 2024-11-04 04:34:53 -08:00
Alessio Quaglino 831d9881d3 Remove box, cylinder and ellipsoid composite types. 
Also, fix a bug with Flex textures that was causing an incorrect allocation of the textures in mjModel. Fixes #2013.

PiperOrigin-RevId: 692510858
Change-Id: If781716216974e085244da27bc3aa57d91c3458c
 2024-11-02 11:14:13 -07:00
Yuval Tassa b6037d1759 Improve mjSpec documentation. Fixes #2074. 
PiperOrigin-RevId: 692251710
Change-Id: Ia46bbbe5b7eaa890433b38fed66824f716cc9ea0
 2024-11-01 12:06:14 -07:00
Yuval Tassa be00fafc43 Various documentation improvements. 
- Replace two "below" instances in `XMLreference.rst` with proper links (there are many more that need fixing).
- Discuss friction cones and 32-bit floats in Performance Tuning.
- Delete Damping subsection in Tips and Tricks, no longer relevant after the introduction of the implicit/fast integrators.
- Simplify discussion of free bodies, mention free joint alignment.
- Clarify frame used by kinematic Jacobians.

PiperOrigin-RevId: 672615057
Change-Id: Ib59b71e3c09cdd13415519fc4a964131b155718f
 2024-09-09 11:36:07 -07:00
Yuval Tassa 2cb601c98d Improve documentation w.r.t smoothness, differentiability and finite-differencing. 
PiperOrigin-RevId: 662848709
Change-Id: Icb7dc03a2c53d43d0d3a9e4ac95d963e5bc6853c
 2024-08-14 03:11:38 -07:00
Google DeepMind 70d70bc3b7 Fix typos in MuJoCo documentation. 
PiperOrigin-RevId: 656068822
Change-Id: I5ebbb3701148ea4d978a6a1ad3f762ffcc7e57cb
 2024-07-25 13:31:13 -07:00
Yuval Tassa b483ce608e Use std::thread in compiler on all platforms. 
PiperOrigin-RevId: 651005412
Change-Id: I8dfb142dc2d87ab0af79583f2df168c105b50138
 2024-07-10 07:10:45 -07:00
Alessio Quaglino 7a06bcfdaf Make model editing API public, fixes #364 
Still missing:

- Detailed documentation.
- Python bindings.

PiperOrigin-RevId: 641445626
Change-Id: I20e67b707cf1bebae7e0cc94d17f7b76a89171f0
 2024-06-07 22:28:01 -07:00
Yuval Tassa b8a8d811e1 Update documentation for URDF parsing, noting different default values for compiler attributes. 
PiperOrigin-RevId: 633556582
Change-Id: Ibf99b034706afc14f54bfc34e082465d025719d2
 2024-05-14 06:01:38 -07:00
Yuval Tassa 3e35eebbb9 Documentation updates: 
- Added a section on preventing slip in the modeling chapter.
- Added more intuitive descriptions of friction coefficients in the Computation chapter.
- Fixed some en-dashes and em-dashes.

PiperOrigin-RevId: 630856003
Change-Id: I8e767e6c5a95affdeb72ef9bc424bdd18f58e4df
 2024-05-05 12:10:06 -07:00
Nimrod Gileadi 827b7a2792 Solver parameter docs improvements. 
- Correct the equation for penetration depth. The equation is tested in engine_core_constraint_test.cc.
- Add a tip on scaling damping with stiffness.

PiperOrigin-RevId: 621111712
Change-Id: I8fcc133cbc638ffef2d0ddf4e298ae402dda7b6a
 2024-04-02 03:03:02 -07:00
Yuval Tassa 5d26b50fce Remove native sensor noise sampling. 
PiperOrigin-RevId: 620075316
Change-Id: I6a0a1d63834e7c8bfd290f89d86fea791d794739
 2024-03-28 15:33:03 -07:00
Yuval Tassa b97110967f Add Performance Tuning section. 
Fixes #1471.

PiperOrigin-RevId: 613867065
Change-Id: I947284300709e0fd6633068d9690a4b19812141f
 2024-03-08 02:31:07 -08:00
Yuval Tassa 8247ddea0b Recommend fTetWild for tetrahedral meshing in the docs. 
PiperOrigin-RevId: 596918194
Change-Id: I0357739c8741a7b9fc4614c5ed7ea7fefc0fb42c
 2024-01-09 06:50:10 -08:00
Yuval Tassa c79e1e5d01 Add documentation image variants compatible with dark mode. Fixes #587 
PiperOrigin-RevId: 596265596
Change-Id: Iedd076fbb7a6dca77a91e52e538be1c764d1f8fb
 2024-01-06 14:02:34 -08:00
Yuval Tassa 7ce05f4957 Improve documentation of solver parameters. 
PiperOrigin-RevId: 595723619
Change-Id: I00b67eaec02d2e85ce60fb44eb3e582ce036be3a
 2024-01-04 09:17:31 -08:00
Yuval Tassa 64c33cefcf Correct formula for solref direct stiffness. Fixes #732. 
PiperOrigin-RevId: 590144795
Change-Id: I94def777c7456243509374caecea2a335859f1f2
 2023-12-12 03:56:18 -08:00
Alessio Quaglino eb9568a48b Add frame element to MJCF. 
PiperOrigin-RevId: 585598244
Change-Id: I4c06be3dd586dab5a4458f05faaf1e7f2b615458
 2023-11-27 03:32:18 -08:00
Alessio Quaglino 7a7cfc0f60 Improve flex docs. 
Fixes #1141 and #1152.

PiperOrigin-RevId: 578855375
Change-Id: I44746c3ae331edcb22b7e16744fb38369039e888
 2023-11-02 08:05:12 -07:00
Yuval Tassa e82cb9f420 Delete mentions of MuJoCo 2.0 in the docs. 
PiperOrigin-RevId: 578501679
Change-Id: Ie1fdd1d11d2e1e12b3f9f1e59bd4da705b3a7c7e
 2023-11-01 06:44:20 -07:00
Yuval Tassa 893c404230 Runtime disabling of actuators according to group. 
Added `option-actuatorgroupdisable` attribute and associated `mjOption.disableactuator` integer bitfield, used to disable sets of actuators at runtime according to their group.

- The first 6 actuator groups are toggleable in the `simulate` viewer.
- Minor refactor and cleanup of actuator documentation.

https://youtu.be/H9qG9Zf2W44

Fixes #1092.

PiperOrigin-RevId: 578335600
Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
 2023-10-31 16:24:38 -07:00
Yuval Tassa 0f94b4a5ad Documentation improvements. 
PiperOrigin-RevId: 577620389
Change-Id: Ib104a57a2b2b35c334855782d548ff064e74e9d2
 2023-10-29 06:56:59 -07:00
Yuval Tassa 190bfac2d6 Rephrase documentation in places where "parent body" creates ambiguity between "the body which contains the element" and "the parent body of the body which contains the element". 
Fixes #1127

PiperOrigin-RevId: 576486971
Change-Id: I54d0c351e95101c5f7907a3c5bb6be18904c03ad
 2023-10-25 04:32:09 -07:00
Alessio Quaglino 139a8ae298 Add flex and elasticity documentation. Fixes #873. 
PiperOrigin-RevId: 574179040
Change-Id: Iaf90bbf2b2c3fe075c940c2b66b7b841f256e653
 2023-10-17 09:46:07 -07:00
Alessio Quaglino 36d2ffe4f2 Specify camera parameters using standard robotics conventions. 
PiperOrigin-RevId: 569147555
Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
 2023-09-28 05:19:19 -07:00
Saran Tunyasuvunakool 7e5a7b76fc Change GitHub org name to google-deepmind. 
PiperOrigin-RevId: 563512242
Change-Id: Ife98501e95bb3459d96c7c73e5fb53be5513dd4b
 2023-09-07 12:34:20 -07:00
Yuval Tassa a276c49c30 Rename `actuatorforcerange and actuatorforcelimited, to actuatorfrcrange and actuatorfrclimited`, respectively. 
PiperOrigin-RevId: 556780590
Change-Id: Ide12cf390920f9efe6f79cc9f864a480ce5f256d
 2023-08-14 07:18:57 -07:00
Yuval Tassa bbbf30ee47 Fix typo in docs. 
PiperOrigin-RevId: 549594904
Change-Id: I96c3964367081a8da0324c9989c9eb5414fa411f
 2023-07-20 04:46:23 -07:00