96118da08b
Move SDF precomputation to the mujoco compiler.
...
Before:
```
Simulation time : 2.24 s
Steps per second : 4472
Realtime factor : 8.94 x
Time per step : 223.6 µs
Newton iters / step : 2.47
Contacts / step : 3.37
Constraints / step : 13.49
Degrees of freedom : 12
Dynamic memory usage : 0.2% of 14M
```
After:
```
Simulation time : 1.71 s
Steps per second : 5854
Realtime factor : 11.71 x
Time per step : 170.8 µs
Newton iters / step : 2.19
Contacts / step : 3.45
Constraints / step : 13.79
Degrees of freedom : 12
Dynamic memory usage : 0.2% of 14M
```
PiperOrigin-RevId: 781075182
Change-Id: Ie509047ff581ab0df4b10bbd394c27d350ab5a13
2025-07-09 08:57:09 -07:00
a3d251f552
Add mjModel.sensor_intprm, integer parameters of sensors
...
PiperOrigin-RevId: 781053754
Change-Id: I90e5ef1cab3f87b894dbc70dccfc8bf0046ce1b6
2025-07-09 08:00:21 -07:00
b81f1db8af
Replace SdfLib with linear octree interpolation of TriangleMeshDistance.
...
Temporary changes to the octree:
- Changed frame from mesh to geom
Before change (tolerance 1e-3):
```
Simulation time : 2.34 s
Steps per second : 4275
Realtime factor : 8.55 x
Time per step : 233.9 µs
Newton iters / step : 2.26
Contacts / step : 3.69
Constraints / step : 14.76
Degrees of freedom : 12
Dynamic memory usage : 0.7% of 14M
```
After change (6 octree levels):
```
Simulation time : 2.24 s
Steps per second : 4472
Realtime factor : 8.94 x
Time per step : 223.6 µs
Newton iters / step : 2.47
Contacts / step : 3.37
Constraints / step : 13.49
Degrees of freedom : 12
Dynamic memory usage : 0.2% of 14M
```
PiperOrigin-RevId: 781019754
Change-Id: Ib15581244dfe9e571e1c6c2cac4a101cf3d8ba3d
2025-07-09 06:21:41 -07:00
e6c5715903
Add insidesite sensor for detecting when an object is inside the volume of a site.
...
PiperOrigin-RevId: 780993257
Change-Id: I2dcfc840d222680adc3b934344a0819f4d78b6eb
2025-07-09 04:56:42 -07:00
1a4ddca6cf
Make mjs_findElement find meshes by file name.
...
PiperOrigin-RevId: 780150428
Change-Id: Ie500062fa8cca755683b66540e84ede588d7c331
2025-07-07 09:51:33 -07:00
7a09145161
Rename variables to avoid shadowing in user_objects.cc
...
PiperOrigin-RevId: 780137314
Change-Id: Ife5abd0ecc3851837a7aef7048efe80dbdfcf60e
2025-07-07 09:15:03 -07:00
6ccc4f77bc
Defer sensor reference id resolution from sensor compiler to model compiler
...
PiperOrigin-RevId: 780070082
Change-Id: I7166f589f15bb0cd14b92e213d7a9f2a3bbad4e4
2025-07-07 05:37:53 -07:00
af7d20c035
Change mjs_nextChild to be DFS to match XML parsing.
...
PiperOrigin-RevId: 778915232
Change-Id: I5e290f47b7d2530597bb6c85b66ff2ae807e5510
2025-07-03 10:07:13 -07:00
564c51ddb9
Check for duplicated names when setting element names.
...
PiperOrigin-RevId: 778827590
Change-Id: I77a208c1571cf735cae80840ea830aa347681f71
2025-07-03 03:20:55 -07:00
594e17074a
Replace name attribute with setters and getters in the C API of mjSpec.
...
PiperOrigin-RevId: 778816015
Change-Id: Ieffb7a5bce37e887ff009f9a02d2434435e79ca1
2025-07-03 02:30:56 -07:00
5c1f1f9dba
Add octree to meshes of SDF geoms.
...
PiperOrigin-RevId: 777634862
Change-Id: I3210c2f8d73fd30ceecb0a11abd1d82e086b3d5d
2025-06-30 10:50:15 -07:00
c945247e7c
Don't write limited and actuatorfrclimited attributes when "true" is not a valid value.
...
Saved XMLs are filled with
```
<joint type="free" limited="false" actuatorforcelimited="false"/>
```
but since these are hardcoded to "false" at compile time, there is no point in saving them to XML.
PiperOrigin-RevId: 776606516
Change-Id: Iac61c5126231f776077a8c265be732f9215fbfbb
2025-06-27 09:07:30 -07:00
21bae3a388
Report which body has too-small mass/inertia in compilation error.
...
PiperOrigin-RevId: 776196017
Change-Id: Ib81efb170347a57cdc4b446c14cd7b8f5357958c
2025-06-26 10:40:40 -07:00
18d5d5d03f
Improve documentation related to mjSpec element deletion.
...
PiperOrigin-RevId: 775677830
Change-Id: I02e51b57956b0b6a20c654326b54e001b498dd96
2025-06-25 07:23:51 -07:00
a00bfa819c
Raise error when binding to a removed element.
...
PiperOrigin-RevId: 774462737
Change-Id: I820c0e1c010ae9fbf6d9667c3364d4b65bf21002
2025-06-22 10:15:31 -07:00
7dc7a349c5
Move detach from mjs_delete to mjs_detach.
...
PiperOrigin-RevId: 773686024
Change-Id: Ida2c032a6329104df80ed134cf904dde7259bd1e
2025-06-20 07:04:12 -07:00
0488d9f4eb
Replace mjs_detachBody and mjs_detachDefault with mjs_detach.
...
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
92bc486558
Make mjs_findElement find textures by file name.
...
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&).
...
PiperOrigin-RevId: 772871198
Change-Id: I4c840389b38e2d8d6bcf92311fad3242324fa3af
2025-06-18 05:00:46 -07:00
d9aae1521a
Remove confusing operator overload in user_api.cc
...
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
e2e2932fe6
Mark all single-argument constructors in user_objects.h as explicit.
...
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
b8768aa1cd
Allow to fusestatic a body if it doesn't generate a referencing error.
...
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.
...
PiperOrigin-RevId: 769049331
Change-Id: If5bb04966bd29a57569a2c17d712b9ae3d33324d
2025-06-09 02:17:02 -07:00
dd18dd2024
Apply metallic and roughness scaling factors.
...
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.
...
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
7932b4b202
Accumulate inertial in mjs_bodyToFrame.
...
PiperOrigin-RevId: 765129145
Change-Id: Ib7caca42ef4272ebe762655eee9380dae471be7f
2025-05-30 04:10:38 -07:00
9b2b7cf92a
Set light intensity to 0 by default (not 1000).
...
PiperOrigin-RevId: 764257692
Change-Id: If656095e3f8d4b4d9c97fa67bdad508a49095eb3
2025-05-28 07:47:28 -07:00
568620dd2f
Add texture attribute to lights.
...
PiperOrigin-RevId: 763739805
Change-Id: I333ed2ac68f30f79f688ca01d7b5fd6bf2d836c9
2025-05-27 05:04:01 -07:00
74cc904edc
Convert light directional boolean into a type enum.
...
PiperOrigin-RevId: 761983728
Change-Id: Id5bf93c103e5358d9c5cd9f1176532a978e0b3a8
2025-05-22 08:51:18 -07:00
373b4c0437
Support image/ktx format for textures.
...
PiperOrigin-RevId: 761926074
Change-Id: I6a312634b5bdc706ea5166bc3b2be273e14c1c8a
2025-05-22 05:47:55 -07:00
3e9bc79b54
Adds color space to textures.
...
PiperOrigin-RevId: 761907261
Change-Id: Iec546d1d5907a15e57ef809ec31850640fc52915
2025-05-22 04:33:40 -07:00
7edbdd0ad6
Remove the Shell plugin and integrate it into the engine.
...
PiperOrigin-RevId: 760688502
Change-Id: Ia70988d42b7edf571d7cb4a4f48f8fc50b51667d
2025-05-19 10:51:25 -07:00
71bdd915f7
Move bending stiffness from plugin to the compiler.
...
PiperOrigin-RevId: 758677644
Change-Id: I7d5c5140ba6948002bfa4ae9d6b4bf0f6de0e39b
2025-05-14 07:39:24 -07:00
fa95fe0c59
Add intensity and range parameters to lights.
...
PiperOrigin-RevId: 758603199
Change-Id: I74e88bdfeedd9224e84d953f237d68eca79e6cb7
2025-05-14 03:28:03 -07:00
34e8ff1aad
Add flex edge flap connectivity to mjModel.
...
PiperOrigin-RevId: 758593152
Change-Id: I79836df961972c9eae8037e5fcbfc3d0122645de
2025-05-14 02:50:37 -07:00
d77126dc58
Add vertcollide option for adding spheres at flex vertices.
...
PiperOrigin-RevId: 757789990
Change-Id: I8ccba52b13e8c02a7be78f992297d6f414d98f8e
2025-05-12 09:13:48 -07:00
924ee3070a
Modify user values in mujoco to allow users to provide cleanup functions to avoid memory leaks.
...
For the MJCF -> USD plugin, and I suspect other usecases for user values, it's necessary to give ownership of the object to Mujoco. However since they get type erased, we can't clean up the data automatically for the user. Instead this allows c++ clients to provide a cleanup function with their data.
PiperOrigin-RevId: 756832010
Change-Id: I80b8e7822e1a0e399a0d19dcaa57ee69b3ccc16a
2025-05-09 11:03:06 -07:00
ad80a4625b
Always generate a BVH in flex.
...
The BVH is used also for computing normalized vertex coordinates in the trilinear interpolation, so we need to compute it also when the flex cannot collide.
PiperOrigin-RevId: 756349244
Change-Id: Ib397c472e31251df5a7ea85850d83a62f3b2c949
2025-05-08 09:46:47 -07:00
f4774a5449
Fix bug in cached meshes where convex hull was missing. Previously if a mesh was copied from the cache it would not have its convex hull if the original mesh that was cached didn't previously compute it.
...
Fixes #2609
PiperOrigin-RevId: 756223337
Change-Id: I54705456636c270607a17340b249047e0df75d0b
2025-05-08 02:42:15 -07:00
3e9d130092
Add mjs_getPluginAttributes.
...
PiperOrigin-RevId: 752691116
Change-Id: Ib503a99f8d10661b8bf92410ccf471420f924986
2025-04-29 05:19:09 -07:00
75f196c7ef
Add missing PointToLocal call in mjCPlugin copy constructor.
...
PiperOrigin-RevId: 752486555
Change-Id: I08b14476b9098e6473a4c00918ef3f9a287f35f6
2025-04-28 16:23:45 -07:00
3429a4881a
Detect mismatch between maxNodes and Nodes in a gmsh block. Fixes #2342
...
PiperOrigin-RevId: 745967745
Change-Id: If1b5fcd71079a0e6a6def9b442758678e31a5828
2025-04-10 04:15:21 -07:00
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
d7027fb1c0
Do not skip mjSpec's with repeated model names when attaching a new mjSpec.
...
PiperOrigin-RevId: 744705838
Change-Id: Ie47a3c029f443910629619b7f9ff43ab07646725
2025-04-07 06:52:12 -07:00
cc2f57d820
Change mjSpec and mjModel signature mechanism.
...
The signature now contains the necessary information to safely perform `bind`. The private UIDs are now removed.
Fixes an issue of changing signature when compiling a copy of an mjSpec.
PiperOrigin-RevId: 744670626
Change-Id: Id3c66419cf2afbe78e91bc4b37d2299f5ec00ab1
2025-04-07 04:21:27 -07:00
d05251af2a
Add tendon armature
...
PiperOrigin-RevId: 743939992
Change-Id: I587214f5d6fabbc0cc273c33d82decbe9ad8f919
2025-04-04 07:44:04 -07:00
e1f5ceb65a
Add mjModel.tendon_armature (in preparation, not yet implemented)
...
PiperOrigin-RevId: 743649968
Change-Id: I1d893e3e06afc48b652575bc7837750ab3573670
2025-04-03 12:06:27 -07:00
f96f3e1c22
Add XML compiler/saveinertial flag. Fixes #2405
...
PiperOrigin-RevId: 743607654
Change-Id: I1f2e61be89b79c1995e079f36aa285096f9fb441
2025-04-03 10:12:42 -07:00
8941f56e86
Copy UIDs during mj_copySpec.
...
This will produce the same mjSpec signature after a deep copy.
PiperOrigin-RevId: 743538018
Change-Id: Ic0f5b06a00e8883cb92dc98159db3bea02cb7a36
2025-04-03 06:29:07 -07:00
b839fe79e1
Allow to attach an entire mjSpec in mjs_attach.
...
PiperOrigin-RevId: 742737713
Change-Id: Ie172568b8c35232e1f13d75aebee20346e76e95b
2025-04-01 09:51:52 -07:00
Alessio Quaglino