9e72874801
Remove EPA tolerance in the discrete case in nativeccd.
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PiperOrigin-RevId: 750649926
Change-Id: I8ab317cd6b227c9486a2916ae9c6445906c23401
2025-04-23 10:52:14 -07:00
8f768be2da
Remove solver_nisland field from mjData.
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PiperOrigin-RevId: 750527660
Change-Id: I6b34944c92483ea2abc774df75efd868255a2bac
2025-04-23 03:27:41 -07:00
c2ac0d724e
Add mju_gather and mju_scatter, private engine functions.
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PiperOrigin-RevId: 750245294
Change-Id: I3a14ccdd55a324d3fe206e388fb2a513772f5f5e
2025-04-22 10:33:33 -07:00
99490163df
Prevent NaN in cylinder SDF.
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Fixes #2573 .
The correction matches the one used in MJX (see _cylinder_grad in collision_sdf.py).
PiperOrigin-RevId: 747887406
Change-Id: I1a4f1ac769adb96c98665eace7ce54fb09a7d3a2
2025-04-15 08:34:05 -07:00
d168135189
Remove duplicate test_tendon_force_clamp from inverse_test.py.
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PiperOrigin-RevId: 747835971
Change-Id: I96ca7a2e3f71dbc05af238c269a81b41b51fa48b
2025-04-15 05:40:25 -07:00
71a7004057
Fix array extent parsing logic for introspect.
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Also fix the mjxmacro_test to correctly assert that all array extents defined in the X macros can be correctly parsed from field comments.
PiperOrigin-RevId: 747808525
Change-Id: I0b08dc263f8a46118a07200ae044d6c491207245
2025-04-15 04:03:04 -07:00
ec186430ef
Add setting plugin config properties via Python bindings.
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PiperOrigin-RevId: 747421357
Change-Id: Ie80f1a889f2f6ec457c1e16193fa0694e07d3fe9
2025-04-14 08:07:14 -07:00
f317bd17c3
Add tendon actuator force sensor to MJX.
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PiperOrigin-RevId: 747344916
Change-Id: Iab513ff953408c002216ffff12e3f8c825cedc10
2025-04-14 03:51:20 -07:00
8e7457d7c6
Initial support for writing UsdPhysics data starting with UsdPhysicsRigidbodyAPI support.
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The SDF_FORMAT_ARGS `usdMjcfToggleUsdPhysics` is introduced to toggle writing UsdPhysics or not when converting. Off by default
PiperOrigin-RevId: 746467942
Change-Id: I26cb9a4c4ae2eef96163dab967a74f14940a2a6d
2025-04-11 08:19:11 -07:00
006c18b1d8
Update numbering in the 3.3.1 release notes to give MJX a numbered bullet in the docs.
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PiperOrigin-RevId: 746455557
Change-Id: I04849ed1a5b97c0f6408d2333b13419e6cd35688
2025-04-11 07:37:24 -07:00
446a8f1742
Add basic site support to Mjcf SdfFileFormat plugin.
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We will still need to tag these with a custom API schema to ease round-tripping but that will follow creation of such a schema.
PiperOrigin-RevId: 746421793
Change-Id: I2df2209b4bc90d763718fb4bea8158b8598755c6
2025-04-11 05:28:03 -07:00
440ce5eb7a
Update the version number to 3.3.2 following the 3.3.1 release.
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PiperOrigin-RevId: 746147577
Change-Id: Idb7b4e7e06a4730b4f2eea8f6600b898e998f8db
2025-04-10 13:17:20 -07:00
a209134315
Enable procedural plugin activation in Python bindings.
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PiperOrigin-RevId: 746055614
Change-Id: Idcc2f62fdfeccdca356e3d1acadf168b46a98881
2025-04-10 09:13:21 -07:00
b1f8d444f2
Fix bug in replaceSimplex3 in nativeccd.
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PiperOrigin-RevId: 746014344
Change-Id: I93b32ab5f67ee48ab72238de53f7cda07638cb79
2025-04-10 07:04:27 -07:00
25126e88c7
Move mju_cholFactorCount to engine_util_solve.
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PiperOrigin-RevId: 746011856
Change-Id: If9812251420053644f4eca81adb5116d370ee524
2025-04-10 06:56:31 -07:00
3c530976e3
Add rne_postconstraint dependence for FRAMELINACC and FRAMEANGACC sensors to MJX.
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PiperOrigin-RevId: 746009774
Change-Id: Ide45298b463f1ad04f1ffa7f60a7a8aeaf18f063
2025-04-10 06:48:40 -07:00
51c489fc30
Add inverse dynamics to MJX.
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PiperOrigin-RevId: 745998273
Change-Id: I203af89332ace5d7a60fff3ec6ff4cc88c02340d
2025-04-10 06:08:41 -07:00
d3664b5d01
Avoid square root in mju_makeFrame
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PiperOrigin-RevId: 745974380
Change-Id: I90879fac05e62daf60acd2223f814e833634b242
2025-04-10 04:41:23 -07:00
3429a4881a
Detect mismatch between maxNodes and Nodes in a gmsh block. Fixes #2342
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PiperOrigin-RevId: 745967745
Change-Id: If1b5fcd71079a0e6a6def9b442758678e31a5828
2025-04-10 04:15:21 -07:00
eadd13038a
Move Mujoco struct wrappers definitions into library separate from pybind module.
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This allows other modules to depend on functions such as FromRawPointer that previously were only defined in the _struct python module.
PiperOrigin-RevId: 745619670
Change-Id: I9f1af60cb665c00d853b7ca38201b37302d278af
2025-04-09 09:28:40 -07:00
da1850760a
Prepare for v3.3.1 release.
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PiperOrigin-RevId: 745602958
Change-Id: I412fd58bb063959d5a151f4bca9b3ba26e942d02
2025-04-09 08:40:30 -07:00
5c12ea871f
Split MjSpec out into header to allow use by other pybind modules.
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This should enable other pybind modules to accept arguments of type MjSpec.
PiperOrigin-RevId: 745580987
Change-Id: I435a8d264149369e3fbee14c5d2c628ef74b2541
2025-04-09 07:31:23 -07:00
85b323c7fb
Remove square roots when possible in EPA improving numerical precision.
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PiperOrigin-RevId: 745559836
Change-Id: I3f8b23406e93ccfc4bc3499bfbed829b35462a74
2025-04-09 06:18:51 -07:00
8fc616bf8f
Add tendon actuator force limits to MJX.
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PiperOrigin-RevId: 745529685
Change-Id: I43c372116daefc3dd2ed6ad1bb9c6e3978bc8527
2025-04-09 04:28:45 -07:00
5031f88158
In minimize.least_squares, compute values at the solution at full verbosity.
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PiperOrigin-RevId: 745301888
Change-Id: Ibd8e35e405bb2cebc7ac59a6dfc77118a6e6ba9f
2025-04-08 14:55:53 -07:00
699ad13a72
Merge pull request #2503 from Andrew-Luo1:rscope
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PiperOrigin-RevId: 745266549
Change-Id: I15d2eb992aae643ac096650693cc0750421f14c6
2025-04-08 13:21:47 -07:00
55e3ca3acf
Improvements to minimize.least_squares.
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All changes make functionality more similar to SciPy least squares:
- Use adaptive findiff epsilon.
- Make termination on step size relative to norm(x).
- Add termination on gradient norm.
- Make default tolerances like SciPy's.
PiperOrigin-RevId: 745221614
Change-Id: Iee93256651fca8154c97fa3bdaa9c67ede28e573
2025-04-08 11:23:24 -07:00
fc516ee3c1
revert import order
2025-04-08 14:06:17 -04:00
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
16e49f2761
Advertise the Model Editing tutorial
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https://youtu.be/LbANnKMDOHg?si=GiN7UPPhTh89c8aN
PiperOrigin-RevId: 745065758
Change-Id: Ic3d3e0603b6f6360580effb52b6cf3438efe2a53
2025-04-08 03:25:20 -07:00
4e0a4f4d39
Defer device puts to the end of make_data. Fixes #2461 .
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PiperOrigin-RevId: 744875869
Change-Id: I8d88d4f73407b44f761d01309e2cc28b43aa305f
2025-04-07 15:43:43 -07:00
606f00f802
Remove contact pruning with box-box collisions in nativeccd and add benchmarks.
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PiperOrigin-RevId: 744732382
Change-Id: I2e20b646c541ee99888f1e964302d1b4363b2dc4
2025-04-07 08:34:04 -07:00
d7027fb1c0
Do not skip mjSpec's with repeated model names when attaching a new mjSpec.
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PiperOrigin-RevId: 744705838
Change-Id: Ie47a3c029f443910629619b7f9ff43ab07646725
2025-04-07 06:52:12 -07:00
58234b2217
Replace mjMAXVAL with numerical max limit where necessary in nativeccd.
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PiperOrigin-RevId: 744693156
Change-Id: I72c3122701be281d468291dfc2ad1e4bb1da5a1c
2025-04-07 05:59:02 -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
93251f07d9
Install timers by default in Python bindings
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PiperOrigin-RevId: 744663306
Change-Id: Ia322ace94d1f269ff9b0275567b2e453acc94843
2025-04-07 03:54:24 -07:00
26c14c500e
Fix bug in testspeed.cc for models that do not invoke the constraint solver.
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PiperOrigin-RevId: 744650422
Change-Id: I0d49b7a3f3069f0c066e8758627e95f973b3a728
2025-04-07 03:01:24 -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
f96f3e1c22
Add XML compiler/saveinertial flag. Fixes #2405
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PiperOrigin-RevId: 743607654
Change-Id: I1f2e61be89b79c1995e079f36aa285096f9fb441
2025-04-03 10:12:42 -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
54f132f3f0
Resolve discrepancy in RK4 between MJX and MJ.
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PiperOrigin-RevId: 743185866
Change-Id: I478faca1d8733999cc9a0682e931b19ee05e3843
2025-04-02 10:16:07 -07:00
40393f460a
Fix shadow flickering artefacts on platforms that do not support ARB_clip_control.
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PiperOrigin-RevId: 743112447
Change-Id: Ibb727685605c0a257547162703f61e5232ff544c
2025-04-02 06:34:27 -07:00
b839fe79e1
Allow to attach an entire mjSpec in mjs_attach.
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PiperOrigin-RevId: 742737713
Change-Id: Ie172568b8c35232e1f13d75aebee20346e76e95b
2025-04-01 09:51:52 -07:00
e5912c3ce4
Use tolerance to compare quaternion components in UserObjectsTest.Inertial
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Fixes #2515
PiperOrigin-RevId: 742704324
Change-Id: Ib26891e43128e66d2ac1840ed574285781fb12a5
2025-04-01 08:12:01 -07:00
a02a27d4a4
Combine all mjs_attach functions into one.
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PiperOrigin-RevId: 742702092
Change-Id: I89e35c59ada017cd061e2031584eeea71776743d
2025-04-01 08:05:58 -07:00
08d22baea1
Fix bug in horizon code in nativeccd where parallel faces are included in horizon.
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PiperOrigin-RevId: 742687622
Change-Id: I4a180cb9c7451e0a2c22ffd77b7b6f6fd68836a4
2025-04-01 07:21:14 -07:00
305b68ecbf
Add tests for body.find_all() of joints and geoms, fix error message.
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Fixes #2525
PiperOrigin-RevId: 742685596
Change-Id: I5f0969967f2490d32e5691983e8d0c363d48a6bd
2025-04-01 07:14:59 -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
9ecec6f238
Fix bad contact from passing through polytope2 in nativeccd.
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PiperOrigin-RevId: 742666700
Change-Id: I76034579b4e663f9abfa265ec3e2bc608f631f59
2025-04-01 06:11:20 -07:00
Kyle Bayes