a04e0385e4
Add USD content type support in MJCF.
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PiperOrigin-RevId: 788075561
Change-Id: If37cc254cab0411454de7663e0b3ff9f2b263281
2025-07-28 10:53:49 -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
a116653e5f
Remove unnecessary handling of value attribute.
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PiperOrigin-RevId: 788060431
Change-Id: I56acafb211441bd74dbd6e80ab1d8f82ac808c3a
2025-07-28 10:19:47 -07:00
9e7979e492
Add checks for contact sensor when constructing with mjSpec Python bindings.
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PiperOrigin-RevId: 788008233
Change-Id: I14518b8cce1a7dad4fd24933478e0cc1bb75e350
2025-07-28 07:50:56 -07:00
8db2413c84
Fix a bug in triangle-box filter that caused missing Octree leaves.
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PiperOrigin-RevId: 787955811
Change-Id: I40ad0f9219cbe5d5757b9345b1de495cba50d306
2025-07-28 04:41:02 -07:00
e4eb654573
Updates joint/ref attribute documentation to clarify that the initial model configuration is unmodified.
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PiperOrigin-RevId: 787679025
Change-Id: I4eab9d2ea1b411d40c780c087fa44ccff0b10094
2025-07-27 04:55:03 -07:00
83435361fa
Increase max points in 2D plot from 1000 to 1001.
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PiperOrigin-RevId: 787513580
Change-Id: I573c779932fa7411b132020213637a25fa859844
2025-07-26 12:46:31 -07:00
ddb7eb07c7
Initial implementation of contact sensor for MJX JAX backend.
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PiperOrigin-RevId: 786742643
Change-Id: Idabd98320a4716c597bb596e32a8a90f3cd5f356
2025-07-24 09:59:40 -07:00
5eab59d026
Add plugin_state support to MJX API.
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Move fr3 controllers states to plugin_state.
Reset plugin_state during device.reset().
PiperOrigin-RevId: 786433231
Change-Id: I7c95cc884acab23fb8c59419b573ee0a6b4cf803
2025-07-23 14:49:41 -07:00
541c56b46f
Create mjcPhysics ImageableAPI for visual, non physical visual entities.
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PiperOrigin-RevId: 786366034
Change-Id: Ifb72d2daf8f5963bb7007dda1685da94b456ff41
2025-07-23 11:48:17 -07:00
7da32d186f
Add basic visual material parsing support to USD interop.
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For this first iteration we only support simple UsdPreviewSurface spec node graphs.
PiperOrigin-RevId: 786309455
Change-Id: I2e5501a65b22aca6da570bc94394514c67bd100a
2025-07-23 09:21:56 -07:00
4bbd0fb9c7
Do not store grid edges in tactile sensor.
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This is in preparation for extending support to store the grid as a mesh.
PiperOrigin-RevId: 786281232
Change-Id: Ic718c2d2e1891cf0b66113270fd3c98acc1e74a5
2025-07-23 08:00:51 -07:00
8383bd439c
Add support for parsing 'st' primvar from USD.
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PiperOrigin-RevId: 786277487
Change-Id: Id99e6bf6a656b623950c363597da3930ee4c00e3
2025-07-23 07:47:50 -07:00
4f43a7d08e
fix typo in bindings_test.py
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PiperOrigin-RevId: 785536018
Change-Id: I06dd65c65c12e92d354d900a8046b38c0c5de8d3
2025-07-21 12:37:23 -07:00
6416e548aa
Merge pull request #2348 from jjyyxx:patch-3
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PiperOrigin-RevId: 785518837
Change-Id: I2bbdcb6aea0ff3edfa354389ef758c2d34b93f68
2025-07-21 11:49:39 -07:00
3901dcde96
Move changelog item into breaking changes section in 3.3.4
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PiperOrigin-RevId: 785479748
Change-Id: Ic0e779a9fddfa945e94fc6870a1a3fe826980f4b
2025-07-21 10:09:08 -07:00
a2a27c113f
Do not raise an error in MJX if MultiCCD is enabled.
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PiperOrigin-RevId: 785473405
Change-Id: I91165ac83fa000ff51467295820330703bfb20ed
2025-07-21 09:52:09 -07:00
921bca5105
#mjx don't specify JAX default backend
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PiperOrigin-RevId: 785472058
Change-Id: Iba2d3e87dd2d78e6eee8fb579a760250a91b5d23
2025-07-21 09:48:09 -07:00
fc13995dd4
Yield ownership of vector<double>, vector<float>, and vector<int> to mjSpec in Python bindings.
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Fixes #2756
PiperOrigin-RevId: 785417251
Change-Id: Ib399c46ee59585258ace7d9583c68b7d06d0a9e4
2025-07-21 06:44:17 -07:00
60f9b34a77
Validate the MjModel pointer passed to MjData constructor.
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Fixes #2426 .
PiperOrigin-RevId: 785411895
Change-Id: If698120b5a4ab4ac457d35760380c140b1b5a208
2025-07-21 06:23:52 -07:00
8b94bd0ef6
Update MJX feature parity documentation.
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PiperOrigin-RevId: 785411252
Change-Id: I2bf6619c8114f2e9d9eedceed26177a5a8c3b073
2025-07-21 06:20:51 -07:00
3283fb8655
Fix sign in cylinder support function.
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PiperOrigin-RevId: 785394029
Change-Id: I010edab0ba8734a9b91626669fa309a0ddb346e5
2025-07-21 05:12:16 -07:00
db72d0d53c
Clamp dist in mj_geomDistanceCCD. Closes #2710
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PiperOrigin-RevId: 785393424
Change-Id: I508cd2ad6f47ca022cc54f228247ca498fda691f
2025-07-21 05:09:38 -07:00
c2f5d0f266
Add sensor_intprm to types.py
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PiperOrigin-RevId: 785388933
Change-Id: I050410f0437e38e1559b2e1e4138c527daa84cb9
2025-07-21 04:51:50 -07:00
0eb2f9f118
Use meshid in touch sensor for mesh geoms.
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PiperOrigin-RevId: 784575734
Change-Id: Ibca753273c67128c6c1421dad8413814dce31182
2025-07-18 07:23:04 -07:00
c2820941aa
Convert UsdPhysicsRevoluteJoint from degres to radians if compiler option is set.
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PiperOrigin-RevId: 784574716
Change-Id: I58f65816edb782fcb41bbc721f7bed5a27741639
2025-07-18 07:18:17 -07:00
46b713ef2d
Remove pedantic designated initializers in USD parsing.
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PiperOrigin-RevId: 784544836
Change-Id: Ie36136b2a0b8105ccb4a4679883120638ec80699
2025-07-18 05:10:12 -07:00
e92ce30732
Account for scale authored on UsdMesh prims.
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PiperOrigin-RevId: 784231423
Change-Id: I82b363c6c40940982ebeb0b1949e0e1e8f92199d
2025-07-17 10:29:31 -07:00
c597434fc9
When UsdCollisionAPI is applied but collisionEnabled is false, treat it as a visual gprim.
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PiperOrigin-RevId: 784219782
Change-Id: If87e1cd7e1cc10b27a3d432585466e3aece71d26
2025-07-17 09:59:37 -07:00
f5df466ee5
Add support for visual gprims to USD parsing.
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PiperOrigin-RevId: 784197335
Change-Id: I8eb155b7942209f372487f8268ad76310cf510ac
2025-07-17 08:51:50 -07:00
2e13c64308
Simplify parsing from USD stage to kinematic tree for mjSpec population.
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Summary of changes:
- Move stage parsing from usd_to_mjspec to kinematic_tree
- A Node now has lists of paths for prims that we support parsing.
- When parsing the stage, we create a list of all the Nodes that we will place in our tree.
- Removed the need for expensive SdfPath maps and sorting of bodies in favor of indexed integer arrays.
- Simplifies usd_to_mjspec parsing as we can process each node and it's owned prims one at a time.
PiperOrigin-RevId: 784187799
Change-Id: I4907cfa1137014af21c45b10fa29ac53a49b6dac
2025-07-17 08:20:10 -07:00
e23226509c
Tidy up of touch stress plugin.
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PiperOrigin-RevId: 784186240
Change-Id: I47298ff2b7676a540781561817670c5f00c1b63a
2025-07-17 08:14:49 -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
3cc8d7f58a
Fix typo in mjcPhysics MjcMaterialAPI
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PiperOrigin-RevId: 783750052
Change-Id: Ib829ae7ead7a33572e94ee0fe221da778b623f10
2025-07-16 07:31:09 -07:00
549a21c9c2
Add box-triangle projection tests to octree construction.
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Number of octree nodes for cow example:
Before change 45217
After change 28921
PiperOrigin-RevId: 783748606
Change-Id: I278ac7bc969dc1463d6dd0f7cdc8b267b7ce6c92
2025-07-16 07:24:59 -07:00
6144a508b5
In Mujoco USD interop, only consider dynamic friction when writing to and parsing from USD.
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PiperOrigin-RevId: 783741987
Change-Id: I23c47a6e95c160c5c7d5c513e268c79e4236e2e4
2025-07-16 07:00:18 -07:00
b99d9e8f12
Fix inherit range pulling from act early attribute when parsing USD to MjSpec.
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PiperOrigin-RevId: 783735573
Change-Id: I988f16cd16e47caa84a30009c36a932ec3672429
2025-07-16 06:35:10 -07:00
ac0701d582
Add mujoco compiler settings to MjcSceneAPI in mjcPhysics.
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PiperOrigin-RevId: 783729333
Change-Id: Ic1c3e4fb47a901de4eebdc2e987d276f4202d9ed
2025-07-16 06:09:36 -07:00
5069534a5c
Small (~10%) performance improvement in touch sensor by avoiding a transpose.
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PiperOrigin-RevId: 783682096
Change-Id: I8311ee8fe9f64996db852969a70398c66fca4e48
2025-07-16 03:05:05 -07:00
27bb74d7df
Set MJX minimum friction value to mjMINMU.
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PiperOrigin-RevId: 783381620
Change-Id: I353a4fa39956ecb0ed0e1b2bbcaff651e8c68606
2025-07-15 10:22:27 -07:00
cdf5bcb693
Add inheritrange attribute to mjcPhysics MjcActuator
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PiperOrigin-RevId: 783363012
Change-Id: I7d0476aae70c3acc3ed4808a8741b7eb12948dba
2025-07-15 09:30:16 -07:00
5e666635f6
Remove mjtVisFlag.mjVIS_FLEXBVH and mjvOption.oct_depth
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PiperOrigin-RevId: 783355711
Change-Id: I1e11999d5c533925f1d07266aeca95598a5691ba
2025-07-15 09:08:22 -07:00
14a8880d0d
Add plane collision test between box and triangle to Octree construction.
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Number of octree nodes for the cow example:
Before change 57849
After change 45217
PiperOrigin-RevId: 783338447
Change-Id: I0e5178a4aa5bbe066f2a0ac1eb965b84e541dfd4
2025-07-15 08:13:44 -07:00
4ea778f2d3
Add octree support to MJX API.
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Also, enable the touch sensor to use the octree SDF.
PiperOrigin-RevId: 783313462
Change-Id: I0032c2a7164f4770aa10a3612db3fd70bea954db
2025-07-15 06:44:43 -07:00
ad0dc0de5e
Document change in inertia calculation.
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PiperOrigin-RevId: 783249303
Change-Id: I93b24d6601c46073df2a18fbc24c52f8f7dfb915
2025-07-15 02:35:19 -07:00
576a34bcf2
Add netforce reduction to contact sensor.
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PiperOrigin-RevId: 783020713
Change-Id: I0d11ccc4e1fd16d07e6f116d64a26485346d9cf1
2025-07-14 13:27:43 -07:00
d0e4771c8c
Add contact sensor.
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PiperOrigin-RevId: 783011982
Change-Id: Ica56fe9d520fa1d1ee7338e09148b1a55a049912
2025-07-14 13:03:35 -07:00
e441868dad
Add missing attributes to MjcCollisionAPI USD schema.
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PiperOrigin-RevId: 783006362
Change-Id: I02d51190d62bb9460863025cd16360427afc70c4
2025-07-14 12:47:24 -07:00
ef013a0633
Add mjPARTIAL_SORT macro to engine_sort.h
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PiperOrigin-RevId: 782999687
Change-Id: I986aec0e1faedae90f1891b5f3233d5262d167f3
2025-07-14 12:26:36 -07:00
2a700c98aa
Check MJX with JAX backend for flex.
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PiperOrigin-RevId: 782964265
Change-Id: I744d114569738ad0d5c4ee11ffba90bd50ef25ed
2025-07-14 10:49:30 -07:00
Sam Haves