f6cd0234fd
Change tactile sensor normal component to report penetration depth.
...
The normal component of the tactile sensor now reports the maximum penetration depth at each taxel, instead of a derived normal force. The depth is negated so that positive values indicate penetration.
PiperOrigin-RevId: 921980899
Change-Id: Ide4103c0aff465e25a81cfdda650f6a0e2da9e0b
2026-05-27 02:00:34 -07:00
2810edd27a
Rename mjtnum.h to mjtype.h, move enum types to mjtype.h
...
PiperOrigin-RevId: 919020039
Change-Id: I441295c0baa0b7456f78239fbd5478d32ffc07c1
2026-05-21 06:43:29 -07:00
e1f5534b5f
Fix tactile sensor body validation.
...
PiperOrigin-RevId: 914870657
Change-Id: I57565b4975e0cd7eb1b1ffa199e451a5c5bc0a6e
2026-05-13 08:11:36 -07:00
8287d9d152
Fix insidesite sensor for massless flex parent bodies.
...
mjSENS_INSIDESITE uses xipos to test containment, but for massless flex
parent bodies xipos equals the static body frame origin and does not
track the actual flex position.
Fix: in the INSIDESITE sensor case, when the object is a massless body
with positive subtree mass (i.e., a flex parent), use subtree_com
instead of xipos. This correctly reflects the mass-weighted centroid of
the flex child bodies without changing the global semantics of xipos.
PiperOrigin-RevId: 908745144
Change-Id: I527f0efb7b419345188411c9da883505156ebeea
2026-05-01 08:27:04 -07:00
9fa3f6f77e
Enable float32 testing for most MuJoCo engine and user tests.
...
PiperOrigin-RevId: 886697701
Change-Id: I4a96fae03ea18494c3fcef8eb17b3b6f0863e9b7
2026-03-20 04:05:06 -07:00
efae9157a7
Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y
...
PiperOrigin-RevId: 884607673
Change-Id: If8088dbf37fed1055304778a7eb84dec52cba920
2026-03-16 13:25:25 -07:00
8dc5cc4c70
Skip tangential components in tactile sensor if mesh has only normals.
...
PiperOrigin-RevId: 879036130
Change-Id: Ic4184dd535700c5099768dabf5009ba96b218542
2026-03-05 06:35:41 -08:00
43cde9716c
Fix mj_sensorAcc returning zero after mj_step1 by clearing flg_rnepost in mj_step2.
...
Fixes #3133 .
2026-02-25 14:04:33 -08:00
6419534bad
Add actuator and sensor delays. Fixes #1004
...
PiperOrigin-RevId: 866478839
Change-Id: Id21a6da0f98454c8fa39ea5af8a5e213d6eae497
2026-02-06 08:47:36 -08:00
70bc7be4bc
Add additional data fields that can be reported by rangefinder sensors.
...
PiperOrigin-RevId: 848316991
Change-Id: Idbf7ba81b4da711a22c23302c8782ab2b0b98d82
2025-12-23 15:33:00 -08:00
9d646e6548
Extend rangefinder sensor to support cameras.
...
PiperOrigin-RevId: 848255889
Change-Id: I6e1a9ed13d29d2242558625a47e24e47ad6e87db
2025-12-23 12:04:49 -08:00
5715cebbb9
MSAN: Don't clear mjData.sensordata in mj_resetData
...
This is strictly an out array and should not be read before it is written to. This change improves MSAN coverage of engine code.
PiperOrigin-RevId: 819767673
Change-Id: I57500c8147f4774d326cf87ea3bac5420e4dd54d
2025-10-15 08:31:03 -07:00
7443e685ac
Allow contact sensor subtree1/subtree2 to be any body.
...
PiperOrigin-RevId: 799632590
Change-Id: If9cd6c5a3a5f83d89ae024a8f64232ab1f1d603a
2025-08-26 11:00:39 -07:00
5a24eb2d34
Add error reporting to model loading in engine tests, where missing
...
PiperOrigin-RevId: 795844607
Change-Id: I4163c53c05796c2e3036af28a98f58c15bb1c99c
2025-08-16 08:11:49 -07:00
a771fc6c09
Increase mjNSENS to 3
...
PiperOrigin-RevId: 788468705
Change-Id: Id22f131bebb6accc9a29c9aa285efa75fa8b2c16
2025-07-29 08:38:13 -07:00
576a34bcf2
Add netforce reduction to contact sensor.
...
PiperOrigin-RevId: 783020713
Change-Id: I0d11ccc4e1fd16d07e6f116d64a26485346d9cf1
2025-07-14 13:27:43 -07:00
d0e4771c8c
Add contact sensor.
...
PiperOrigin-RevId: 783011982
Change-Id: Ica56fe9d520fa1d1ee7338e09148b1a55a049912
2025-07-14 13:03:35 -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
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
9accc7ae51
Update mj_energyPos.
...
PiperOrigin-RevId: 757678945
Change-Id: If236b9e8f376a2673abc87e818326e9188f6c15a
2025-05-12 03:14:43 -07:00
240a7afdee
Add sensors for potential and kinetic energy.
...
PiperOrigin-RevId: 716775375
Change-Id: Ic8ab7f1a51df970ab551dabe7c797cde13cd97fd
2025-01-17 13:10:12 -08:00
4d4b0bb2c3
Don't normalize mjData->qpos quaternions in-place.
...
PiperOrigin-RevId: 647927542
Change-Id: I13b0be55498d1da3af2cdc414cfed4c3908a6fe1
2024-06-29 03:07:10 -07:00
02d015458c
Add mj_geomDistance API function and sensors for geometric distance, normal direction and segment between between two geoms. Fixes #51
...
PiperOrigin-RevId: 632458301
Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
2024-05-10 04:52:43 -07:00
b0abafe3bb
Set camera origin at top-left of the first pixel.
...
PiperOrigin-RevId: 564768176
Change-Id: Ieef632f0f6888390acca91b6de01c8951c747fe4
2023-09-12 10:44:51 -07:00
8064ad59c8
Add camera projection sensor.
...
BEGIN_PUBLIC
Add camera projection sensor.
END_PUBLIC
PiperOrigin-RevId: 564726114
Change-Id: I33b8e5562eff29c21538bf8f38ce3116c7dfc5a9
2023-09-12 08:16:20 -07:00
23961e24b7
Refactor user codebase to use LoadResource helper method.
...
* Fix small bug when registering resource providers.
* Add test cases for OS filesystem fallback with VFS.
* Rewrite LoadModelFromString using a resource provider (now can pass custom VFSs).
PiperOrigin-RevId: 526959705
Change-Id: Iee1773e5584535d868aab6b206d1bf362e600c8a
2023-04-25 07:24:45 -07:00
0becf8fd98
Remove unused headers in test files.
...
PiperOrigin-RevId: 520610859
Change-Id: I5ac906b422a7c02737af85f6a2aea46206f0cb28
2023-03-30 05:26:33 -07:00
090fe2db3f
Add a disable flag for sensors.
...
PiperOrigin-RevId: 469473066
Change-Id: I296ed790c6261c4fb15b349540edcb77e53e0567
2022-08-23 09:02:56 -07:00
c14a7ef4a7
Add clock sensor type.
...
PiperOrigin-RevId: 459720950
Change-Id: Ibda48ae7dc4aa7be451a947a1c53d10a7eaf176b
2022-07-08 03:50:08 -07:00
1913a02b40
Initial open sourcing of MuJoCo.
...
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:49 -07:00
Alessio Quaglino