a501731089
Update multiccd default in mjcPhysics.
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PiperOrigin-RevId: 911410939
Change-Id: Ia20b5be87f85c4662b71994dd824d90c6b98b3ed
2026-05-06 10:21:48 -07:00
6cb6e5a93f
Enable multiccd by default.
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PiperOrigin-RevId: 902752921
Change-Id: I8e2085ff17db0ac0db1641b8837415c458e5eca4
2026-04-20 12:00:10 -07:00
a5dc57c0c3
Move OpenUSD parsing to usd_decoder
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Add usd_decoder to mujoco/plugin.
- Previously was src/experimental/usd/usd_to_mjspec.cc, now that same spec is returned by the plugin.
PiperOrigin-RevId: 854350962
Change-Id: Ia980190a557c50ce8197980922a2594b613859b4
2026-01-09 14:48:29 -08:00
431f96572e
Remove unused mjOption.apirate.
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PiperOrigin-RevId: 815633571
Change-Id: Ib98f3eb2df47f96fa1fe6e987a3a0cd23a9479f6
2025-10-06 02:51:17 -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
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
9089059517
Move headers from src/experimental/usd to include/experimental/usd
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PiperOrigin-RevId: 775269423
Change-Id: Ifca6c3ead32b9fb3f02784ed38a9efae300be410
2025-06-24 09:33:26 -07:00
62a9d5b98d
Add MjcPhysicsSceneAPI support.
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Still missing compiler settings but will follow up in a future CL. Tried to add full coverage for testing setting of attributes to non-default values.
PiperOrigin-RevId: 761636862
Change-Id: Id4b9486645b2600931556cdcb8dc71f28ec309cd
2025-05-21 13:03:46 -07:00
81442e06a0
Add MjcPhysicsSiteAPI support and testing.
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PiperOrigin-RevId: 759124593
Change-Id: Ic2fa2a00f8384f432ee2eef95c80f5c180aa4ca9
2025-05-15 06:38:03 -07:00
Sam Haves