4787c8094c
Add geom surfacevel: zero-dof conveyors, treadmills and turntables.
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https://www.youtube.com/watch?v=PdSdrqhSiZA
The new geom attribute surfacevel (6 numbers: linear and angular velocity in the geom's local frame, angular about the geom frame origin) specifies the velocity of the geom's surface material relative to the geom frame. The relative surface velocity of the two geoms is added to the tangential contact rows of efc_vel in mj_referenceConstraint, so friction drives touching bodies toward the motion of the surface: objects on a conveyor are transported at belt speed, turntables impart omega x r with torsional spin-up for condim >= 4, and surface velocities compose with each other and with body motion. The component along the contact normal is projected out: probe experiments showed that velocity-space emission chatters mass-independently and ingestion merely deepens penetration; normal-direction effects belong to force-space features.
surfacevel is interpreted in the geom frame as authored: for mesh geoms, whose compiled frame absorbs the mesh centering and principal-axes transform, the compiler re-expresses the authored value in the compiled frame.
No special interaction with sleeping: objects being transported do not fall asleep because they are moving; objects at rest on an active surface may sleep like any other resting object.
Includes showcase models (model/surfacevel/): a luggage carousel whose ring is a spinning square-profile supertorus fed by a cascade of belts with matched spinning end rollers, bags dropping in and circulating indefinitely; and a treadmill with a passive humanoid.
PiperOrigin-RevId: 948647785
Change-Id: I0c6559a91cc7ece1237eb8ac2e51986e7342d962
2026-07-15 17:58:17 -07:00
2444defc63
Support arbitrary large meshes in multiccd by reusing EPA memory.
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PiperOrigin-RevId: 947709621
Change-Id: Idc4f168434b9d0a8555c0bed989adb0e99770a78
2026-07-14 08:48:25 -07:00
c499f7f2b0
Add Nesterov momentum with O'Donoghue-Candès restarts to PGS solver (~2x speedup)
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Benchmark on `2humanoid100.xml` (nefc=1785, nv=654):
```
Convergence at fixed iteration count (mean relative error vs Newton):
20 iters: 2.98e-03 vs 1.54e-02 (5.2x better)
40 iters: 8.14e-05 vs 2.60e-03 (32x better)
80 iters: 1.17e-07 vs 1.77e-04 (1500x better)
Pipeline throughput (tolerance=1e-8, islands disabled):
Nesterov: 243 steps/s, 46 iters/step
Baseline: 151 steps/s, 95 iters/step
Solver speedup: 1.8x, overall step speedup: 1.6x
Pipeline throughput (tolerance=1e-8, islands enabled):
Nesterov: 306 steps/s, 442 iters/step
Baseline: 175 steps/s, 966 iters/step
Solver speedup: 2.1x, overall step speedup: 1.7x
```
PiperOrigin-RevId: 936610759
Change-Id: I2978e8bd545971d9151005623967e5cf0ad125cc
2026-06-23 05:52:14 -07:00
f712eed4ce
Allow flex sleeping
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PiperOrigin-RevId: 917817500
Change-Id: Ia3bd5e52e7c2eaa3f70c81352d82c130b1d357f6
2026-05-19 07:15:27 -07:00
a4e49f2dff
Margin and gap redesign (breaking change)
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PiperOrigin-RevId: 914329812
Change-Id: I905665e4c1965bdb8b90587e5b1277cfbfe5cce0
2026-05-12 09:43:43 -07:00
412cee2059
Add Jdot correction for connect and weld constaints
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Measured reduction in constraint violations before/after this change:
| Model | Correction ON (Avg Viol) | Correction OFF (Avg Viol) | Reduction |
| :--- | :--- | :--- | :--- |
| `jdotv_connect_2d.xml` | 3.959e-4 | 1.699e-3 | **76.7%** |
| `jdotv_connect_3d.xml` | 1.399e-3 | 5.493e-3 | **74.5%** |
| `jdotv_weld_3d.xml` | 9.472e-3 | 1.148e-2 | **17.5%** |
PiperOrigin-RevId: 899137525
Change-Id: Ic3e33764ebd64239bab916289c23d80c3da0b51b
2026-04-13 12:48:03 -07:00
c004d144d1
Correct DC motor derivative calculation and enforce actearly.
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PiperOrigin-RevId: 898983657
Change-Id: I008529eacf3e400696d26bd3a52a4cf4c1c12225
2026-04-13 10:56:58 -07:00
81720071b8
Changes to dcmotor:
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- Remove `lugre:viscous`, should now be added directly to actuator `damping`. Trying to do this for the user was incompatible with default inheritance (compounding instead of overriding).
- Move voltage limiting from the `saturation` to the `controller` attribute.
- Fix indexing issues in default inheritance.
PiperOrigin-RevId: 897087642
Change-Id: I5388c2633e15c7e223992e7eb5d6a28db75a6438
2026-04-09 06:52:45 -07:00
70a7647ad9
Add <dcmotor> actuator and related docs and tests.
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PiperOrigin-RevId: 892927987
Change-Id: I38ed6412801341ba03ddf5fe7b93a6081df24d37
2026-04-01 07:50:23 -07:00
efae9157a7
Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y
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PiperOrigin-RevId: 884607673
Change-Id: If8088dbf37fed1055304778a7eb84dec52cba920
2026-03-16 13:25:25 -07:00
f3ad0eff2b
Fix body category check for mocap body descendants in visualization.
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PiperOrigin-RevId: 856179240
Change-Id: I29f4758fee0ff3b16d0b9f452c28e640b5558993
2026-01-14 06:06:55 -08:00
70bc7be4bc
Add additional data fields that can be reported by rangefinder sensors.
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PiperOrigin-RevId: 848316991
Change-Id: Idbf7ba81b4da711a22c23302c8782ab2b0b98d82
2025-12-23 15:33:00 -08:00
9d646e6548
Extend rangefinder sensor to support cameras.
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PiperOrigin-RevId: 848255889
Change-Id: I6e1a9ed13d29d2242558625a47e24e47ad6e87db
2025-12-23 12:04:49 -08:00
223ba99ec2
Add mju_rayFlexNormal (not exposed in public header)
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PiperOrigin-RevId: 847746174
Change-Id: Ia8f597d296bf6a3eed9bd48b1c39b2ff2b5fcf90
2025-12-22 06:49:22 -08:00
c7f5766345
Add frustum visualization for orthographic cameras.
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PiperOrigin-RevId: 847698917
Change-Id: I13633e8ba2d4718b127a5838c404ab74c6180e3d
2025-12-22 03:43:54 -08:00
b8a4ac5d48
Refactor camera orthographic attribute to projection enum.
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PiperOrigin-RevId: 847069028
Change-Id: I7f686fe654e9b56519cab8bd2f37c9cc40091d3f
2025-12-20 03:28:29 -08:00
47e35e632f
Add a test for equivalence of different solvers.
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PiperOrigin-RevId: 845777469
Change-Id: I76a162b71bea349cca3472001360181654a5d571
2025-12-17 08:21:52 -08:00
c064abc3da
Change row-flipping logic for heightfields.
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Move row-flipping logic from `mjCModel::CopyBack` to `mjXWriter`.
PiperOrigin-RevId: 842220322
Change-Id: I6fb09db6c9e8689f6e435f82f58dd3e7c4314478
2025-12-09 07:02:21 -08:00
f65c1cdfd1
Add mj_raySdfNormal (not exposed in public header)
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PiperOrigin-RevId: 842178540
Change-Id: I5d2db555e9b6c0fa0daaa8bc14c7781663e4c94e
2025-12-09 04:43:39 -08:00
ad24889bb9
Add mj_rayMeshNormal (not exposed in public header)
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PiperOrigin-RevId: 838707353
Change-Id: If31d2454e0668f750bcba21ee42f81ef962e9097
2025-12-01 04:13:52 -08:00
7caa3d6703
Add names to some sensors in sleep test XML.
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PiperOrigin-RevId: 837611931
Change-Id: Ib077765d795037bdd0d32d19e1c7d5bf9b256d51
2025-11-27 14:09:21 -08:00
d1317fd1a5
Add ray normal computation for primitives (currently private)
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PiperOrigin-RevId: 834294539
Change-Id: I176f13a8f91dede589338fc44e099a16bac0b580
2025-11-19 08:01:02 -08:00
b8512b9d1f
Fix bug related to sleeping static children of mocap bodies.
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PiperOrigin-RevId: 831376685
Change-Id: I8891a1d7dc6efc037e9ade5c7e8dd5c35c7e455e
2025-11-12 07:20:03 -08:00
22c0b68903
Improve logic and documentation for sleeping sensors
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PiperOrigin-RevId: 830891115
Change-Id: Ife8309b165c085b54c9f668d825d69ed12a9a8f0
2025-11-11 06:45:56 -08:00
883836848a
Fix box-box distance computation.
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PiperOrigin-RevId: 829431553
Change-Id: I9e28bc8eb7687c3c83e5ff68c65e93d8a07378a9
2025-11-07 07:37:03 -08:00
769f37b653
Implement sleeping in engine
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PiperOrigin-RevId: 829361787
Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
2025-11-07 03:33:07 -08:00
bdccbcc60a
Add multiccd fields to MJX and add simplex box-mesh model.
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PiperOrigin-RevId: 813190617
Change-Id: Idc450da59d6420825077a642719525750f6551ec
2025-09-30 03:40:29 -07:00
fe8384b6c5
Visualize joint and tendon limits by re-coloring.
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PiperOrigin-RevId: 811590674
Change-Id: I5b65f2294a4bcda3c321fb51ebf29501bd0d416d
2025-09-25 19:02:26 -07:00
d616f11508
Remove references to deprecated nconmax and njmax.
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PiperOrigin-RevId: 809987304
Change-Id: I4109497fe108234dd77011d61eb3ef833e6ae111
2025-09-22 06:28:41 -07:00
7443e685ac
Allow contact sensor subtree1/subtree2 to be any body.
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PiperOrigin-RevId: 799632590
Change-Id: If9cd6c5a3a5f83d89ae024a8f64232ab1f1d603a
2025-08-26 11:00:39 -07:00
996f0040fd
Add built-in sphere mesh.
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PiperOrigin-RevId: 791162850
Change-Id: I573a414727e79f1a495e0f2282b2faff48ab3443
2025-08-05 05:05:05 -07:00
89f4789085
Add mjs_makeMesh to create a builtin mesh.
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PiperOrigin-RevId: 788538127
Change-Id: I999733399a1a0da07b0f915f34d31364ab8b3b52
2025-07-29 11:31:18 -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
e6c5715903
Add insidesite sensor for detecting when an object is inside the volume of a site.
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PiperOrigin-RevId: 780993257
Change-Id: I2dcfc840d222680adc3b934344a0819f4d78b6eb
2025-07-09 04:56:42 -07:00
ecb769fc3a
Refactor islands to be memory contiguous.
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PiperOrigin-RevId: 755803476
Change-Id: I41972b07e0d5ef5d0117c94f565b93367b87458b
2025-05-07 05:06:27 -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
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
d05251af2a
Add tendon armature
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PiperOrigin-RevId: 743939992
Change-Id: I587214f5d6fabbc0cc273c33d82decbe9ad8f919
2025-04-04 07:44:04 -07:00
05f3e914b0
Improve armature documentation
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PiperOrigin-RevId: 742583729
Change-Id: I18d1c95a91f4d70b842c680d4a0f4d0b04476894
2025-04-01 01:16:58 -07:00
c931565fdc
Add internal functionmj_tendonDot: time derivative of tendon Jacobian for one tendon.
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Notes:
- Currently always uses dense math, even for sparse models. This should be easy to change in the future.
- Does not support geom wrapping. This is possible but harder, requires derivatives of mju_wrap.
PiperOrigin-RevId: 740378741
Change-Id: Id39ef2c4bfbb7ee11ec33c97d7d83140441cdab2
2025-03-25 09:36:30 -07:00
024616345d
Support edge contacts with multiccd in nativeccd.
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PiperOrigin-RevId: 730489114
Change-Id: I02847d84bbc15a1526391d5e1b7109ab83ea4a59
2025-02-24 09:48:43 -08:00
c52d1b3941
Remove the particle composite (replaced by replicate).
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PiperOrigin-RevId: 730089997
Change-Id: If8d18fb56ae01241e76f84dbf7951e034026d829
2025-02-23 03:14:11 -08:00
0fcd20f0da
Remove grid from composite types.
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Replaced it with flexcomp in the models.
PiperOrigin-RevId: 730070619
Change-Id: Icbc69e4c6784c6252743f689a1eafb6482d0c393
2025-02-23 01:31:41 -08:00
08edde5fd8
Add test for armature, model will be used in upcoming improved documentation for armature.
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PiperOrigin-RevId: 719916567
Change-Id: I7f74bd3c3864f43f5f68d458d5b128cfee1d7e6c
2025-01-26 12:01:12 -08:00
ec322641b7
Fix bug in mj_mulM2.
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PiperOrigin-RevId: 710756899
Change-Id: I30c0725859ba0f1a59750dc89eebb9eba84fa71b
2024-12-30 11:14:56 -08:00
831d9881d3
Remove box, cylinder and ellipsoid composite types.
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Also, fix a bug with Flex textures that was causing an incorrect allocation of the textures in mjModel. Fixes #2013 .
PiperOrigin-RevId: 692510858
Change-Id: If781716216974e085244da27bc3aa57d91c3458c
2024-11-02 11:14:13 -07:00
864b805a6e
Fix multiple bugs related to connect and weld constraints with site semantics. Fixes #2179
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The introduction of site specification to connects and welds in 3.2.3 conditionally changed the semantics of `mjData.eq_obj1id` and `mjData.eq_obj2id`. These changes were not properly propagated in several places leading to incorrect computations of constraint inertia, readings of affected force/torque sensors and runtime enabling/disabling of such constraints.
PiperOrigin-RevId: 690670420
Change-Id: I55ee8a013cbee8457f8d6c7f33c2981aedafbab6
2024-10-28 10:44:04 -07:00
7dc8aef807
Remove the convexhull compiler option.
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PiperOrigin-RevId: 690307675
Change-Id: I62d8213579ad07296ca96de004d39ae012174aa4
2024-10-27 04:31:10 -07:00
90bc4b555d
Add box-box collision to collection of collision performance benchmark models.
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Cosmetic tweaks to existing models.
PiperOrigin-RevId: 688133030
Change-Id: I8085b8288d67b75e1cbcbcac0dfa68fccc7d63ca
2024-10-21 07:45:54 -07:00
Yuval Tassa