9d5063799f
Resize keyframes also at the start of compilation.
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Previously, it was assumed that attaching was the last operation performed on the mjSpec, so keyframes resulted in the incorrect size. In order to prevent information loss, we now only allow the resize function to expand the keyframe array, since attach should never remove a degree of freedom.
PiperOrigin-RevId: 804917828
Change-Id: Icfacd207ced1c6aac600d514f8d9065ceff2d347
2025-09-09 08:16:32 -07:00
8acd83f317
Add passive collision mode for flexes.
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PiperOrigin-RevId: 801754907
Change-Id: I4147af2ee2596519d42cb9a03cf8d5488f0bc3e8
2025-09-01 04:13:58 -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
1fb1810b07
Add ability to specify a material assignment to a mesh asset.
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This extends both the spec and the XML definition to allow specification of a material name on a mesh. This material acts as a fallback in the case that the referencing geom element does not specify a material of it's own.
PiperOrigin-RevId: 798232378
Change-Id: Iaf300c727732744ea1b613e64334ee505ac6e209
2025-08-22 09:11:31 -07:00
b66175eba6
Bending stiffness for curved shells in flex.
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PiperOrigin-RevId: 796361841
Change-Id: I105ea235fe2a8e1bcbde67276d77fa92eed214a1
2025-08-18 04:13:18 -07:00
6b41fbe72a
Use CSR matrices for dof-dof index mappings
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PiperOrigin-RevId: 795895311
Change-Id: I1000e0ee98906ef35990e73236e85d6354487b82
2025-08-16 13:06:32 -07:00
c0096b51a4
Move ntree to mjModel allocator sizes
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PiperOrigin-RevId: 795855203
Change-Id: Idab185294d53dced9ebf073b782969dc5643b95a
2025-08-16 09:16:41 -07:00
7eb13777f8
Put sparsity structures in mjModel, don't use them yet.
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PiperOrigin-RevId: 795032051
Change-Id: I75c69e881980ff9c308acf00bb3a65f4b2ef12f5
2025-08-14 07:37:42 -07:00
f077fd00a9
Compute sparse matrix sizes before making the mjModel in the compiler.
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PiperOrigin-RevId: 794998215
Change-Id: Ib7d0a2479b18cc8b3168c0656d3c4be0eff43a0f
2025-08-14 05:51:17 -07:00
840108cf7c
Refactor octree in preparation for continuous interpolation.
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PiperOrigin-RevId: 792092644
Change-Id: I096ca0989210a00ae0b4556498d96212755d23c7
2025-08-07 04:06:03 -07:00
3434f5d9c7
Compute convex hull for collision pairs.
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build / windows-2025 (push) Has been cancelled
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PiperOrigin-RevId: 788074030
Change-Id: I3d4bbe71f824db82e998e374d95a5c49995af806
2025-07-28 10:49:50 -07:00
bca5d0c671
Update all references after attaching a plugin with multiple references.
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PiperOrigin-RevId: 783784916
Change-Id: I11da14f11f9206b466bce424979264659bf9a819
2025-07-16 09:22:55 -07:00
9a41d385c1
Add needsdf flag to mjsMesh.
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PiperOrigin-RevId: 782949528
Change-Id: Iaa96326a91795c3469c991bd8def53560b38e4f0
2025-07-14 10:13:05 -07:00
96118da08b
Move SDF precomputation to the mujoco compiler.
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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
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PiperOrigin-RevId: 781053754
Change-Id: I90e5ef1cab3f87b894dbc70dccfc8bf0046ce1b6
2025-07-09 08:00:21 -07:00
1a4ddca6cf
Make mjs_findElement find meshes by file name.
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PiperOrigin-RevId: 780150428
Change-Id: Ie500062fa8cca755683b66540e84ede588d7c331
2025-07-07 09:51:33 -07:00
6ccc4f77bc
Defer sensor reference id resolution from sensor compiler to model compiler
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PiperOrigin-RevId: 780070082
Change-Id: I7166f589f15bb0cd14b92e213d7a9f2a3bbad4e4
2025-07-07 05:37:53 -07:00
564c51ddb9
Check for duplicated names when setting element names.
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PiperOrigin-RevId: 778827590
Change-Id: I77a208c1571cf735cae80840ea830aa347681f71
2025-07-03 03:20:55 -07:00
5c1f1f9dba
Add octree to meshes of SDF geoms.
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PiperOrigin-RevId: 777634862
Change-Id: I3210c2f8d73fd30ceecb0a11abd1d82e086b3d5d
2025-06-30 10:50:15 -07:00
21bae3a388
Report which body has too-small mass/inertia in compilation error.
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PiperOrigin-RevId: 776196017
Change-Id: Ib81efb170347a57cdc4b446c14cd7b8f5357958c
2025-06-26 10:40:40 -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
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
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
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
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
7932b4b202
Accumulate inertial in mjs_bodyToFrame.
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PiperOrigin-RevId: 765129145
Change-Id: Ib7caca42ef4272ebe762655eee9380dae471be7f
2025-05-30 04:10:38 -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
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
3e9bc79b54
Adds color space to textures.
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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.
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PiperOrigin-RevId: 760688502
Change-Id: Ia70988d42b7edf571d7cb4a4f48f8fc50b51667d
2025-05-19 10:51:25 -07:00
71bdd915f7
Move bending stiffness from plugin to the compiler.
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PiperOrigin-RevId: 758677644
Change-Id: I7d5c5140ba6948002bfa4ae9d6b4bf0f6de0e39b
2025-05-14 07:39:24 -07:00
fa95fe0c59
Add intensity and range parameters to lights.
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PiperOrigin-RevId: 758603199
Change-Id: I74e88bdfeedd9224e84d953f237d68eca79e6cb7
2025-05-14 03:28:03 -07:00
34e8ff1aad
Add flex edge flap connectivity to mjModel.
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PiperOrigin-RevId: 758593152
Change-Id: I79836df961972c9eae8037e5fcbfc3d0122645de
2025-05-14 02:50:37 -07:00
96dda6ea75
Add tendon actuator force limits and tendon actuator force sensor.
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PiperOrigin-RevId: 745096883
Change-Id: Ib9acb727fbbfc6b0b0323ee6a889053a7a878056
2025-04-08 05:16:35 -07:00
cc2f57d820
Change mjSpec and mjModel signature mechanism.
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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
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PiperOrigin-RevId: 743939992
Change-Id: I587214f5d6fabbc0cc273c33d82decbe9ad8f919
2025-04-04 07:44:04 -07:00
e1f5ceb65a
Add mjModel.tendon_armature (in preparation, not yet implemented)
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PiperOrigin-RevId: 743649968
Change-Id: I1d893e3e06afc48b652575bc7837750ab3573670
2025-04-03 12:06:27 -07:00
8941f56e86
Copy UIDs during mj_copySpec.
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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
c0a7ea1edb
Added the element type mjOBJ_SPEC for mjSpec.
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PiperOrigin-RevId: 742678572
Change-Id: I95a382ac58b5bc88c2aa5c07210549a1d5e2f538
2025-04-01 06:51:49 -07:00
648a03c2cf
Override inertia of body with visual geoms if discardvisual is true.
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Fixes #2546 .
PiperOrigin-RevId: 742650702
Change-Id: I753c1e1c89da732ece100676644bbecf9d6373bb
2025-04-01 05:21:48 -07:00
01d4c46753
Store the mjsCompiler -> appended mjSpec map when appending an mjSpec.
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Previously, we stored the source `mjSpec` during a copy as a hack for having access to the compiler options, but this is not robust since we cannot guarantee that 1) the source `mjSpec` is not destroyed before we need to look up the compiler options nor 2) that the `mjSpec` was appended without a copy.
While 2) could be solved by simply handling an additional case in `mjCModel::FindSpec`, using a map also solves 1) and it is easier to understand.
PiperOrigin-RevId: 741504264
Change-Id: Iab1bfd9e61299a94fa8caf3a244c067b09d54384
2025-03-28 06:27:22 -07:00
69f8349203
Add signature error checking at the end of compilation.
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Fixed some edge cases that caused the new error to be triggered.
PiperOrigin-RevId: 740483759
Change-Id: I6ced3ba55476d5c18103e205151ecace94f2b29b
2025-03-25 14:22:58 -07:00
157b074116
Add signature to mjSpec and mjModel and use it to perform safe bind to mjModel and mjData.
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PiperOrigin-RevId: 740378879
Change-Id: If14b326942529494f172e7aedcae30195798b458
2025-03-25 09:37:49 -07:00
4e206c29c1
Keep tree lists updated at all times.
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This simplifies the compiler logic since an updated tree list was necessary at many stages (e.g. attach and keyframes resizing) and it will be anyway required when computing the mjSpec signature.
PiperOrigin-RevId: 740356447
Change-Id: I7f2ec25b27b8d4ca4364801c9a401c40c6d84569
2025-03-25 08:21:22 -07:00
dc96ed6bdb
Remove plugins that are not referenced after detaching a body.
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Fixes #2497 .
Also, use `Release()` instead of `delete` for removing elements when detaching a body in order to preserve correct reference count.
PiperOrigin-RevId: 739133888
Change-Id: I7ccfad84446fb15259bad30c4ba1e6f7fa601518
2025-03-21 04:34:05 -07:00
8d92a0fbe6
Clear body subtreedofs when compiling. Fixes issue when attaching previously compiled model.
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PiperOrigin-RevId: 738906593
Change-Id: I74875b4d07c422e397358dff5daf6682ec1bd655
2025-03-20 12:52:36 -07:00
be64747166
add mjs_detachDefault to delete a default class from mjSpec
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PiperOrigin-RevId: 738452369
Change-Id: I5a53a6dc8f89e1e8136aeefc09d7d9b7b7204e1f
2025-03-19 10:31:04 -07:00
205599ac1a
Cosmetic improvements to src/user/ source files.
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PiperOrigin-RevId: 737930914
Change-Id: I1cc254d420fcdf0c42ec3d2f601e5a02d925d958
2025-03-18 02:59:12 -07:00
Alessio Quaglino