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abe88202d04fc06cbf4e2d14831fcdaa7dc6aebe
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1561 Commits

Author SHA1 Message Date
Haroon Qureshi abe88202d0 Remove redundant flags argument. 
PiperOrigin-RevId: 817115667
Change-Id: I4e5096206d7c24f5861e1bb9e8049149803dceeb
 2025-10-09 04:07:43 -07:00
Alessio Quaglino 98682ae284 Do not modify mesh position when fitting a geom to the mesh AABB. 
Also, unify the meaning of fitting a geom to an AABB: it now means to find the smallest geom such that its AABB contains the mesh AABB.

Fixes #2881.

PiperOrigin-RevId: 817097544
Change-Id: I883c686feffa803bd16ba461db24a474dfec7712
 2025-10-09 03:05:00 -07:00
Sam Haves 3a299c49ca Remove use of usdaFileFormat from mjcf_file_format. 
Previously this was just used for the USDA file format token, which we can confidently just construct ourselves.

Since [this PR in OpenUSD](https://github.com/PixarAnimationStudios/OpenUSD/commit/5bb9ad1fb2a034e1f9b48c7db936f296b5b78e25) the file lives in a different place now and public usage will be deprecated anyways.

PiperOrigin-RevId: 816801204
Change-Id: I42e92d2af52b0f9ff0a679ecb96f3d2dbf623531
 2025-10-08 11:54:44 -07:00
Haroon Qureshi 1335ec87e4 Move font assets data targets into toolbox library. 
PiperOrigin-RevId: 816654994
Change-Id: Ic56fab2b0af0c8d85682f8b233342a0d088d5cca
 2025-10-08 05:09:42 -07:00
Haroon Qureshi 8e4932170a Remove unused params. 
PiperOrigin-RevId: 816654011
Change-Id: Ib26bc90dcda167e8acf1feaa3b015acb5aa7aceb
 2025-10-08 05:05:59 -07:00
Haroon Qureshi e7e331b11e Update sensor decor elements to be of type mjOBJ_SENSOR. 
PiperOrigin-RevId: 816640568
Change-Id: I838608c0482ec1ee499fe9598ddb33aa6c5331e9
 2025-10-08 04:17:40 -07:00
Haroon Qureshi 7b9f6a5cc1 Invert early-out checks to reduce nesting. 
PiperOrigin-RevId: 816606107
Change-Id: I325d3f4695cdeb189694088d8a81b198d65f96ea
 2025-10-08 02:21:14 -07:00
Haroon Qureshi fbab761627 Cleanup how different rendering backends are selected. 
PiperOrigin-RevId: 816169098
Change-Id: I915aa45fa3a6d45a5178d3ff7bfdd0f1b1e01789
 2025-10-07 17:48:23 +01:00
Yuval Tassa 52eff3da0f Fix mismatched argument format in mju_mulInertVec declaration. 
PiperOrigin-RevId: 815818142
Change-Id: Id9caa581962705095f227a113505fc3e3ddd1054
 2025-10-06 11:40:32 -07:00
Yuval Tassa ab9575d8a6 Refactor and speed up mj_crb and add a benchmark. 
This is a no-op "prefactor" of `mj_crb` to reduce the number of lines changed in the upcoming sleeping CL. The main change here is that `mj_crb` now avoids accessing the model and data pointer repeatedly, but instead has the input and output pointers explicitly declared as local variables. A benchmark test found a healthy **14% perf bump** due to two changes:
- Adding `restrict` to `mju_mulInertVec`
- The function-local pointers.

Adding `restrict` to the local pointers had no effect. Note that `mj_crb` is not a particularly expensive function so these speed bumps are not significant per se, but rather indicative of possible future gains with these techniques.

```
Benchmark                Time(ns)        CPU(ns)     Iterations
---------------------------------------------------------------

ORGINAL BASELINE
BM_CRB_BASELINE_mean         4325           4348         993200  230.052k items/s

BASELINE + RESTRICT
BM_CRB_BASELINE_mean         4057           4090        1186150  244.573k items/s

LOCAL POINTERS + RESTRICT
BM_CRB_mean                  3772           3800        1001750  263.209k items/s
```

PiperOrigin-RevId: 815798225
Change-Id: Iffdf57b544e8e10562807c617f73ca4ccd1c614f
 2025-10-06 10:54:01 -07:00
Yuval Tassa 431f96572e Remove unused mjOption.apirate. 
PiperOrigin-RevId: 815633571
Change-Id: Ib98f3eb2df47f96fa1fe6e987a3a0cd23a9479f6
 2025-10-06 02:51:17 -07:00
Haroon Qureshi a849fedcd2 Separate mjv_addGeoms into separate functions for each category. 
PiperOrigin-RevId: 815607891
Change-Id: I16b29061c7e2229146bd0e0152721bca40fa4fd1
 2025-10-06 01:30:26 -07:00
Yuval Tassa 18779ab54a Clean up engine_core_util 
PiperOrigin-RevId: 814709359
Change-Id: If4ec66808e7de51e16b772afdb8485fa4ff30030
 2025-10-03 08:48:11 -07:00
Sam Haves b5c35f87fc Add material parsing path for colliders instead of strictly visual gprims. 
PiperOrigin-RevId: 814692421
Change-Id: If92a36d0382f60e0d92c7d90320dec51c20ea739
 2025-10-03 07:52:55 -07:00
Haroon Qureshi 24679b47e4 Separate out site and geom frame construction. 
PiperOrigin-RevId: 814677737
Change-Id: I623f9d1e23ac6b3076a577e97911f7ec73492f52
 2025-10-03 06:56:53 -07:00
Haroon Qureshi 493d73062c Misc cleanup to addFrameGeoms. 
PiperOrigin-RevId: 814582959
Change-Id: I2546bf1c13334628d379ad24737de095085e1b1f
 2025-10-03 01:14:32 -07:00
Sam Haves 32e08f9507 Expose userfacenormal to mjsMesh 
PiperOrigin-RevId: 814253177
Change-Id: I644974feea0722f03e7c3b01be7b702dba233f0a
 2025-10-02 08:53:42 -07:00
Sam Haves 6320b95957 Add mju_getXMLDependencies that given an MJCF file returns filepaths to all of it's dependencies. 
PiperOrigin-RevId: 814203235
Change-Id: Ib5c2e2f4dd42224a768c88d76473544190c72bc0
 2025-10-02 06:14:48 -07:00
Haroon Qureshi 6ed2ceaa83 Add non-decorative elements before decorative elements. 
PiperOrigin-RevId: 814165875
Change-Id: Iab09e2fe1fa129b0c19760c969b5639e690a95d9
 2025-10-02 03:59:06 -07:00
Kyle Bayes 91257896c0 Implement faster mju_isZeroByte. 
PiperOrigin-RevId: 814148714
Change-Id: Iaf5ed9d3502eaaaee8d46a986f2db00811ae0707
 2025-10-02 02:53:53 -07:00
Yuval Tassa edbdb5195c Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2 
PiperOrigin-RevId: 813754244
Change-Id: I6836e41c3b021cb727e922c25c60f629b9814c93
 2025-10-01 07:58:17 -07:00
Sam Haves c439628f82 When parsing USD, infer gravity from stage metadata if UsdPhysicsScene missing or undefined. 
PiperOrigin-RevId: 813705210
Change-Id: I13741af6dc87ecd9efb83219e978f5f06c72d021
 2025-10-01 05:19:31 -07:00
Haroon Qureshi b1ae44d10f Refactor duplicated frame drawing logic into a utility function. 
PiperOrigin-RevId: 813675737
Change-Id: I7f9094852f26b2ddc08534bf87cf2f71476d99ec
 2025-10-01 03:36:14 -07:00
Haroon Qureshi f9d0bedb44 Minor cleanup: Move geom-related functions together. 
PiperOrigin-RevId: 813661319
Change-Id: I6cdf74ff57f39f932ddd39268f15f1128ddf1df4
 2025-10-01 02:46:45 -07:00
Haroon Qureshi 328a4ab293 Merge geomsExhausted into acquireGeom. 
PiperOrigin-RevId: 813347956
Change-Id: I07bd566388383cc5c49e675f5b85fffb379ef6d1
 2025-09-30 11:19:53 -07:00
Sam Haves 4d590afdad Instead of caching PNGImage results, cache mjCTexture and mjCHField assets. 
PiperOrigin-RevId: 813307632
Change-Id: I9de8b46423f57240d22811571d0533b010ee1e2b
 2025-09-30 09:44:45 -07:00
Haroon Qureshi 59d0676dcc Remove redundant checks for exhausted geoms. 
PiperOrigin-RevId: 813284297
Change-Id: I565c517bef782ba07ff323e206b75f6f905e5809
 2025-09-30 08:44:17 -07:00
Sam Haves 2dc533b63b Allow flipping textures with any number of channels and user provided pixel data. 
PiperOrigin-RevId: 813256285
Change-Id: I0d49885dc483ab8f093b2566ec4bef355575505e
 2025-09-30 07:28:13 -07:00
Haroon Qureshi 70d03adc71 Store the status of the scene in the scene itself. 
PiperOrigin-RevId: 813119377
Change-Id: Iebff9e7796ca9809ea22902522982bfd96eeba06
 2025-09-30 00:06:00 -07:00
Haroon Qureshi 6a7566872a Functions for printing the contents of mjvScene. 
PiperOrigin-RevId: 812699642
Change-Id: Iafff53c952c952624129ff01a8c1b0aa5d38eec5
 2025-09-29 02:47:17 -07:00
Haroon Qureshi e1c7e19780 Add rendering flags to the studio UI. 
PiperOrigin-RevId: 812649785
Change-Id: I47c6f974b7336bdd63c088ccfd06b5835e77ebff
 2025-09-28 23:58:33 -07:00
Kyle Bayes 8de86c9944 Remove margin name from geomdist sensors. 
PiperOrigin-RevId: 811775910
Change-Id: I4d265d4ad0206ea2d92c6c4b659f509a17f12baa
 2025-09-26 05:24:12 -07:00
Yuval Tassa e51459f949 Break out struct initialization functions into engine_init.c. 
PiperOrigin-RevId: 811598048
Change-Id: Ia832a8268e2209a5a264bbf79aa00dda487206bc
 2025-09-25 19:22:27 -07:00
Yuval Tassa fe8384b6c5 Visualize joint and tendon limits by re-coloring. 
PiperOrigin-RevId: 811590674
Change-Id: I5b65f2294a4bcda3c321fb51ebf29501bd0d416d
 2025-09-25 19:02:26 -07:00
Sam Haves 922aebbeed Provide explicit argument for asset cache ID. 
This will allow assets to cache compiled results with different parameters. For example, we could cache both an RGB version of a texture and a Mono version.

PiperOrigin-RevId: 811341377
Change-Id: Ifd6a4ff88661a2b38be47c02d6a666de2c202885
 2025-09-25 07:24:12 -07:00
Haroon Qureshi 0baac58999 Remove redundant ngeoms check. 
PiperOrigin-RevId: 810787607
Change-Id: I5d04b1d7f5f8ad758960a46ff08cc47d2887e851
 2025-09-24 02:21:35 -07:00
Yuval Tassa d9650b68b0 Remove unused private functions 
PiperOrigin-RevId: 810776310
Change-Id: I1c67c5efe07c4ca23b04122548b674719be927f7
 2025-09-24 01:48:54 -07:00
Yuval Tassa d71d42a374 Add private function mju_isZeroByte to check for byte-wise zero. 
PiperOrigin-RevId: 810456282
Change-Id: I877d0f9225e7a783ed7ff12ce54f4ed0a7889793
 2025-09-23 08:49:43 -07:00
Haroon Qureshi bb0878417e Automated g4 rollback of changelist 810355812. 
*** Reason for rollback ***

mjv_makeScene does not call mjv_defaultScene directly.  Instead, it calls mjv_freeScene which calls mjv_defaultScene.  However, mjv_freeScene attempts to free pointers if they are not NULL and if you don't call mjv_defaultScene then you'll have garbage data in those pointers.

*** Original change description ***

Remove redundant mjv_defaultScene call since its called by mjv_makeScene

***

PiperOrigin-RevId: 810442645
Change-Id: Ica50493d6769a0afb086f9ead99d731cdf0d75d9
 2025-09-23 08:05:40 -07:00
Yuval Tassa 33b09e0822 Stop using stack allocation for catenary drawing 
PiperOrigin-RevId: 810434095
Change-Id: Iee8c01ff721c2af216c5725fc9eaf6267b2e5284
 2025-09-23 07:37:34 -07:00
Haroon Qureshi 09e6723dab Remove unnecessary stack mark/free in engine_vis_visualize.c 
PiperOrigin-RevId: 810391913
Change-Id: Id02f4dadba7ef08f60bb7726470082f45c5761c5
 2025-09-23 04:53:50 -07:00
Matija Kecman bf918ccf40 Remove redundant mjv_defaultScene call since its called by mjv_makeScene 
PiperOrigin-RevId: 810355812
Change-Id: I2bc112e24c3adaca616604ebc5c1e3e3c494eb59
 2025-09-23 02:35:05 -07:00
Taylor Howell d616f11508 Remove references to deprecated nconmax and njmax. 
PiperOrigin-RevId: 809987304
Change-Id: I4109497fe108234dd77011d61eb3ef833e6ae111
 2025-09-22 06:28:41 -07:00
Taylor Howell 4bbe4e5ebc Zero actuator_velocity if actuation is disabled. 
PiperOrigin-RevId: 809986353
Change-Id: Ie9fecda80864fef3377074042fd7829af8d03d64
 2025-09-22 06:24:43 -07:00
Haroon Qureshi 6eea3d8ec0 Initial implementation of toolbox-based "Studio" app. 
PiperOrigin-RevId: 809966748
Change-Id: Ic6333259ca1d112a2e42d47ccc44326bfcea3bdd
 2025-09-22 05:02:31 -07:00
Haroon Qureshi 7fc6b29afd Replace PREPARE_NEXT_GEOM and FINISH_GEOM macros with functions. 
PiperOrigin-RevId: 809940866
Change-Id: I1d45eede9ddf8606e7fd2a8caa2ed0224b0e24a7
 2025-09-22 03:21:13 -07:00
Haroon Qureshi d9da8e2570 Replace RETURN_IF_GEOMS_EXHAUSTED macro with inlined code. 
PiperOrigin-RevId: 809919921
Change-Id: Icf2afbd4168ebb18577b5915afa9d457001259d6
 2025-09-22 02:03:19 -07:00
Yuval Tassa d55da23235 Simplify mj_comPos, avoid stack allocation 
PiperOrigin-RevId: 809762290
Change-Id: I87824279ff5f7049b1f06b900d4d3e33f5fafe0f
 2025-09-21 14:06:22 -07:00
Google DeepMind 0e1104768a No public description 
PiperOrigin-RevId: 809083979
Change-Id: I5c6641b73c76153c15f5cdf858b788e1433acc81
 2025-09-19 10:10:45 -07:00
Google DeepMind 26ea20a21f No public description 
PiperOrigin-RevId: 809074980
Change-Id: Ib3e3522addceddba6a057cfef80fcbd30a420b3d
 2025-09-19 09:49:07 -07:00