862300def5
Fix comment typo in _resetData.
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PiperOrigin-RevId: 774705647
Change-Id: Id933cae9a219798eae266b36bd3efba2a3b88163
2025-06-23 03:49:55 -07:00
a00bfa819c
Raise error when binding to a removed element.
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PiperOrigin-RevId: 774462737
Change-Id: I820c0e1c010ae9fbf6d9667c3364d4b65bf21002
2025-06-22 10:15:31 -07:00
2707eadc00
Refactor mj_crb and mj_tendonArmature to use CSR M.
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PiperOrigin-RevId: 774077388
Change-Id: Id57118a5d66c074766f5c69fd3b889ebc625cbf7
2025-06-21 04:49:06 -07:00
14dc7c2a60
Add "cameraid" attribute to visual/global specifying the default camera to use at model load.
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PiperOrigin-RevId: 773783069
Change-Id: I2fff2abdceedc982d89cee8d14b95abceea1c113
2025-06-20 11:41:27 -07:00
7dc7a349c5
Move detach from mjs_delete to mjs_detach.
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PiperOrigin-RevId: 773686024
Change-Id: Ida2c032a6329104df80ed134cf904dde7259bd1e
2025-06-20 07:04:12 -07:00
0488d9f4eb
Replace mjs_detachBody and mjs_detachDefault with mjs_detach.
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In a follow-up, mjs_detach will be changed to only remove without deleting an element.
PiperOrigin-RevId: 773637351
Change-Id: I9ee4d3584ba88ccc225591337cf036bab806e25c
2025-06-20 04:12:27 -07:00
4ce6293217
Fix bug in inverse dynamics when tendon armature is present.
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PiperOrigin-RevId: 773604419
Change-Id: Iaffe3d831c6a5aba8a0a99c05aa76cbd862745f5
2025-06-20 02:25:04 -07:00
2ca9602d3c
Remove crank site from ActuatorAPI generated code.
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The generated code was stale and no longer reflected the current schema.
PiperOrigin-RevId: 773369007
Change-Id: Ife3fa373309e668430453351f6fd10998edfdd8a
2025-06-19 09:31:10 -07:00
86e6a0415b
Add missing PLUG_INFO_LIBRARY_PATH to mjcPhysics plugInfo.json
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This gets replaced during build installation time to have the actual path to the plugin shared lib.
PiperOrigin-RevId: 773354944
Change-Id: Ib4a78d6308f97654fdd995460ac05c1c4cfbd70f
2025-06-19 08:31:05 -07:00
335a9ce0c2
Use early-exit to improve readability of mj_instantiateEquality.
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PiperOrigin-RevId: 772917213
Change-Id: I106402d063a8fd0e95154bd8608eb4359d4dfdab
2025-06-18 07:45:23 -07:00
92bc486558
Make mjs_findElement find textures by file name.
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This is done if the model is uncompiled and their name is empty.
PiperOrigin-RevId: 772885774
Change-Id: I827d5b679637fa0571cfb0a69833ed688df16304
2025-06-18 05:54:12 -07:00
9e2c21a17d
Return stricter type from mjCModel::operator+=(mjDef&).
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PiperOrigin-RevId: 772871198
Change-Id: I4c840389b38e2d8d6bcf92311fad3242324fa3af
2025-06-18 05:00:46 -07:00
d9aae1521a
Remove confusing operator overload in user_api.cc
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Explicitly add const_cast. This doesn't change the previous behaviour, just makes it explicit.
PiperOrigin-RevId: 772486471
Change-Id: I942bd4effed93a366089411ca18461cad52bff88
2025-06-17 08:34:33 -07:00
998769a995
Return the total non-zeros from mju_sqrMatTDSparseCount.
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PiperOrigin-RevId: 772414653
Change-Id: Ic1cac868af0034196f33d08b2456be77c72cbd50
2025-06-17 04:27:15 -07:00
ea949f1cee
Add support for ORM maps in mujoco file format plugin
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The ORM texture is a packed-channel map, with ambient occlusion in Red, roughness in Green, and metallic in Blue channel.
PiperOrigin-RevId: 772367369
Change-Id: I88a4dee2477daa1e3c0b00197bfbe2b276ba9937
2025-06-17 01:45:10 -07:00
e2e2932fe6
Mark all single-argument constructors in user_objects.h as explicit.
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This avoids accidental implicit conversions.
Also included some constructors with multiple arguments, where default values mean that the single-argument constructor is valid.
PiperOrigin-RevId: 772117936
Change-Id: I57e54a373593080e9d68961b00488c7a70f1aff8
2025-06-16 12:00:51 -07:00
1f0e4891c2
Add some autoformatting changes to mujoco_to_usd.cc
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PiperOrigin-RevId: 772032458
Change-Id: I94a80e7f7928b2956e76268c0d89fb862a228c41
2025-06-16 08:15:00 -07:00
bb1b2db3a9
Add support for normal maps in mujoco file format plugin
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PiperOrigin-RevId: 771992722
Change-Id: Ifeae9e12f1071018112e697402361caa84095ff2
2025-06-16 06:01:18 -07:00
3969cac614
Fix tinyxml include
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This came up as a code suggestion, presumably for consistency.
PiperOrigin-RevId: 771966921
Change-Id: Ic29afc9a9eb1e0b87dd7d9ac04a5ad9790f86f0d
2025-06-16 04:26:41 -07:00
a4ab35c194
update scrubs and set next version
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PiperOrigin-RevId: 770740070
Change-Id: I6b2f1356706b1849872df2583adbbb3f72057884
2025-06-12 11:39:45 -07:00
5f42078dc1
Do not write nameless frames whose class is "main".
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PiperOrigin-RevId: 769685151
Change-Id: I3d993d7521db2b2adbf611c3e4eb5b4b293bdc30
2025-06-10 10:15:43 -07:00
b8768aa1cd
Allow to fusestatic a body if it doesn't generate a referencing error.
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PiperOrigin-RevId: 769189929
Change-Id: I62f512813ea330da088b28d39373df39be10a602
2025-06-09 10:05:57 -07:00
f75772587a
Add functions for setting an mjsActuator to a specific shortcut type.
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PiperOrigin-RevId: 769049331
Change-Id: If5bb04966bd29a57569a2c17d712b9ae3d33324d
2025-06-09 02:17:02 -07:00
dd18dd2024
Apply metallic and roughness scaling factors.
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PiperOrigin-RevId: 767518801
Change-Id: I7eff7b7a56cfbb9c6e46ac22011559eabf401c07
2025-06-05 03:03:16 -07:00
84ad22a590
Add mj_copyBack for copying real-valued arrays from mjModel back to mjSpec.
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Also add `SaveAndReadXML` function to test fixture using `mjSpec` as input.
PiperOrigin-RevId: 765393821
Change-Id: Ic257addd2fc89678fc11b226c168c077626cc51e
2025-05-30 17:17:14 -07:00
072c872deb
Add helper methods for storing USD prim paths into mjsElements.
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This way we fix a previously uncaught casting error due to using different types.
PiperOrigin-RevId: 765177079
Change-Id: I4f817f12c92fe578b25e8c53a94b3c91e22a3db0
2025-05-30 07:10:35 -07:00
7932b4b202
Accumulate inertial in mjs_bodyToFrame.
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PiperOrigin-RevId: 765129145
Change-Id: Ib7caca42ef4272ebe762655eee9380dae471be7f
2025-05-30 04:10:38 -07:00
b2e8589e7a
Add support for actuators to Mujoco USD interop.
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PiperOrigin-RevId: 764740692
Change-Id: Ib045653fee840087bc3891ee7e770bdaac08548c
2025-05-29 08:29:46 -07:00
6b919162d1
Add write_physics_ as a state variable on ModelWriter.
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This way we don't have to worry about passing the write_physics param everywhere.
PiperOrigin-RevId: 764394280
Change-Id: I2c879ae57bdc30f50189960864097c932f967330
2025-05-28 13:33:01 -07:00
fc69ef1084
Fix authoring type mismatch for geoms sizes attributes.
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Fixes wrong sizes being displayed in usdview.
Also introduce a new test to ensure we catch as many of those kinds of errors as possible in the future.
PiperOrigin-RevId: 764388588
Change-Id: Id3c878edd054fe5272c42c9f960c65c850655559
2025-05-28 13:21:19 -07:00
9b2b7cf92a
Set light intensity to 0 by default (not 1000).
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PiperOrigin-RevId: 764257692
Change-Id: If656095e3f8d4b4d9c97fa67bdad508a49095eb3
2025-05-28 07:47:28 -07:00
56b88b59f0
Support 0-simplex in GJK code, and refactor code for efficiency and readability.
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PiperOrigin-RevId: 764197889
Change-Id: Ie0d57474060a34a6b908be0386094f442cda448a
2025-05-28 04:19:13 -07:00
568620dd2f
Add texture attribute to lights.
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PiperOrigin-RevId: 763739805
Change-Id: I333ed2ac68f30f79f688ca01d7b5fd6bf2d836c9
2025-05-27 05:04:01 -07:00
441ca838a1
Add support for inertia and mass to Mujoco USD interop.
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PiperOrigin-RevId: 763737956
Change-Id: I6cdf267d76536a26aeb6327ce90165842e32bd8a
2025-05-27 04:58:09 -07:00
89e39dc0a7
Expose mj_makeM as a sub-component.
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PiperOrigin-RevId: 763662068
Change-Id: I55ced456dca751c1de09fb35e2f73c60ffc0d626
2025-05-27 00:35:55 -07:00
eb6f7dc6b7
Gate some calls with __EMSCRIPTEN__
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PiperOrigin-RevId: 762520516
Change-Id: If9f7729721bab8c947861a968cf96eecc6591228
2025-05-23 12:10:52 -07:00
9e4931b79d
Add CollisionAPI and MeshCollisionAPI schemas to mjcPhysics.
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PiperOrigin-RevId: 762478906
Change-Id: I9103e8d3cf99492e2df1c6b4af7937b12993f225
2025-05-23 10:26:31 -07:00
76ddc30072
Make MJCF SdfFileFormat plugin create hierarchy reflecting MJCF instead of sibling rigidbodies.
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PiperOrigin-RevId: 762117447
Change-Id: Id13f7a4f4e383a0c9e670e5272836f2fb1099830
2025-05-22 14:04:58 -07:00
74cc904edc
Convert light directional boolean into a type enum.
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PiperOrigin-RevId: 761983728
Change-Id: Id5bf93c103e5358d9c5cd9f1176532a978e0b3a8
2025-05-22 08:51:18 -07:00
373b4c0437
Support image/ktx format for textures.
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PiperOrigin-RevId: 761926074
Change-Id: I6a312634b5bdc706ea5166bc3b2be273e14c1c8a
2025-05-22 05:47:55 -07:00
3e9bc79b54
Adds color space to textures.
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PiperOrigin-RevId: 761907261
Change-Id: Iec546d1d5907a15e57ef809ec31850640fc52915
2025-05-22 04:33:40 -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
1663867cba
Add GL_EXT_texture_sRGB to MuJoCo's GLAD stubs.
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PiperOrigin-RevId: 761025068
Change-Id: I9197f206666adf547aa5fcd0e06b54d7d4c415fa
2025-05-20 04:38:20 -07:00
94803d772c
Enable multithreading of Newton solver.
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PiperOrigin-RevId: 760723081
Change-Id: Ib7d3c9cec2fdf7dd0e46a570f37c0a6fc5424c7b
2025-05-19 12:18:22 -07:00
7edbdd0ad6
Remove the Shell plugin and integrate it into the engine.
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PiperOrigin-RevId: 760688502
Change-Id: Ia70988d42b7edf571d7cb4a4f48f8fc50b51667d
2025-05-19 10:51:25 -07:00
45fc15b844
Speed up sparse supernode detection by combining it with transposition.
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PiperOrigin-RevId: 760673008
Change-Id: I6d66580e675fd86e5b974859383f93f87482ca16
2025-05-19 10:14:15 -07:00
ced630181d
Replace mjv_sceneState and related code with mjv_copy{Model,Data}
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PiperOrigin-RevId: 760662776
Change-Id: I512bda9187fbc19ade6924b91d5cb2275078de42
2025-05-19 09:51:58 -07:00
8268c6d1ff
Add mjv_copyData
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PiperOrigin-RevId: 760642972
Change-Id: I16227fd91bf42618fda684b15b3650758ae29b13
2025-05-19 08:59:43 -07:00
84d658a5ad
Remove redundant variable in mj_factorI
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PiperOrigin-RevId: 760604094
Change-Id: I664b4cc9d717bc12a4711feb3fa585777fb7a1aa
2025-05-19 06:42:11 -07:00
178fb49c2b
Fix namespacing in USD schema.
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PiperOrigin-RevId: 759632714
Change-Id: I666ca0e5b7f264f63eae0bbb39f0403654fb1c56
2025-05-16 08:54:24 -07:00
Taylor Howell