77e025ea98
Move meshdir and texturedir to mjsCompiler.
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For backwards compatibility in the Python bindings, both `spec.compiler.meshdir` and `spec.meshdir` are now allowed.
Fixes #2834 .
PiperOrigin-RevId: 809060113
Change-Id: Ie23f1c5dd57de43568312a8e062906f4013bb474
2025-09-19 09:05:44 -07:00
681f5767b2
Remove -Wno-extra-semi, add workaround for mjSORT confusing some IDEs
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PiperOrigin-RevId: 808689636
Change-Id: Ia091fb597c171a33842e62690d06f32614fbe4eb
2025-09-18 12:28:09 -07:00
eb96dd556c
Reduce ccd_iterations from 50 to 35.
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PiperOrigin-RevId: 808610578
Change-Id: I8755f9ba2902bf0805b7ded07ee6e048e404a31f
2025-09-18 09:16:52 -07:00
4b8454b79c
Add semicolons after mjSORT macro calls.
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PiperOrigin-RevId: 808587320
Change-Id: I9fd290b9a2b615647135f1250e87af8ea9bb81f6
2025-09-18 08:13:46 -07:00
f9f3dd3c1d
Fix ImGui input processing
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PiperOrigin-RevId: 808555760
Change-Id: Ie443143d9c058058b99786e44f27715b05c9f8ed
2025-09-18 06:42:16 -07:00
d7500e0dec
Split START macro into two parts: one for control flow and one for assignment.
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PiperOrigin-RevId: 808497167
Change-Id: I4d78426af69d98f57600cb7fd76edaf5b20b0039
2025-09-18 03:23:12 -07:00
6f5a7576f9
Move simlib into experimental folder and rename it toolbox.
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Also:
- update the namespace to `toolbox` (instead of `filament`)
- Add copyright notices to all files
PiperOrigin-RevId: 808474353
Change-Id: Id1fe86c5d183c8e91bec8509b6c0830b5fe84c1c
2025-09-18 02:15:23 -07:00
8e9eb2fa38
Update MuJoCo's version number following the 3.3.6 release.
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PiperOrigin-RevId: 808180152
Change-Id: I23de64cb0968b94c489b29622e4308d16513793a
2025-09-17 09:13:04 -07:00
7eab0117f7
Don't smooth tracking camera motion
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PiperOrigin-RevId: 808110613
Change-Id: Ib8631e5ace6db7c7bb780f26b79a72e26e72f451
2025-09-17 05:25:17 -07:00
52da7586dc
Clean up includes in src/engine
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PiperOrigin-RevId: 807726978
Change-Id: I02800deb79bfb3c328d941861ded9d817e8f6e32
2025-09-16 09:36:44 -07:00
5bbda2186d
Make the Octree interpolation continuous.
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This is done by detecting the hanging nodes and compute the function at those location by interpolating the corresponding coarse vertices.
PiperOrigin-RevId: 807700228
Change-Id: I27dcb85361ca445c2099dd07b280cae5c92d3131
2025-09-16 08:15:26 -07:00
ac4874226c
Support NULL in dir parameter in mj_addFileVFS.
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Fixes #2839 .
PiperOrigin-RevId: 807208005
Change-Id: I8def3b1e388dc19fa2fa8a92d53abef30dee5b88
2025-09-15 06:00:13 -07:00
4fc69fa64d
Ensure that the Octree is balanced.
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This means that two adjacent nodes can only have at most one level of refinement difference.
Note: This is a small breaking change for mjWarp since the order of the children was flipped.
PiperOrigin-RevId: 806299445
Change-Id: Ia326a31c7a8162ae02d70c868d87779198e805be
2025-09-12 08:34:15 -07:00
7e048b7535
Refactor: Convert mjCOctree::MakeOctree from recursive to iterative.
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The octree construction is now performed using a breadth-first search with a `std::deque` to manage tasks. A new `OctreeTask` struct encapsulates the state for each node to be processed, and a helper function `Subdivide` is introduced for subdividing the Octree nodes.
Also reduce the number of (center, size) to (min, max) conversion for the bounding box representation in order to avoid duplicated vertices in the Octree due to floating point errors.
PiperOrigin-RevId: 806214441
Change-Id: Iff9015ebe4705522db743c478cef5acf1a7312b7
2025-09-12 03:22:17 -07:00
ad5f07e060
Extract functions from mjv_updateCamera for calculating frames and frustums.
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PiperOrigin-RevId: 805770746
Change-Id: Id2a6022a2ee2e8b1a783debf54b470a9df81051a
2025-09-11 04:10:59 -07:00
017e7d5a73
Add light ids.
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PiperOrigin-RevId: 805755907
Change-Id: I92a1b1ea4ce1495c2746fd518f33ab2d1ad81399
2025-09-11 03:20:44 -07:00
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
ea660f4c13
Expose minimal asset cache API.
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PiperOrigin-RevId: 803126923
Change-Id: Iabf63802572f7cb86864b5ece85f44b3f15a4ec0
2025-09-04 12:18:36 -07:00
767996ab17
Transform inputs to global before calling rayMesh in SDF collisions.
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PiperOrigin-RevId: 802523399
Change-Id: I889b020e4e721fbf471992f5c87446df601ba766
2025-09-03 06:12:34 -07:00
7a93e22514
Refactor MJMODEL_POINTERS into category-specific macros.
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PiperOrigin-RevId: 802089588
Change-Id: Id3443f88e8243c5167a23b6e42eb32a32f88e8d3
2025-09-02 04:41:50 -07:00
8d884585dd
Add target relative mouse motion actions.
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PiperOrigin-RevId: 802072880
Change-Id: I1ff204594a126f8e50df4c703709f70ec4dd458c
2025-09-02 03:39:49 -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
b9900db00e
Extract memory allocation functions and core utilities
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PiperOrigin-RevId: 801745499
Change-Id: Iaf05c3430769d3115743d8ab020d13148cb2eb59
2025-09-01 03:38:25 -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
b1c94c3761
Add printing of block-diagonalized matrices
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PiperOrigin-RevId: 800345520
Change-Id: I4996c5a7509cb451744d3e428a975cceee845ea5
2025-08-28 00:54:39 -07:00
643dc5bf4f
Update USD schema formatting
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PiperOrigin-RevId: 800018484
Change-Id: I7677cd099415af1271c7475d80a660653199b984
2025-08-27 07:02:50 -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
ec94bb49aa
Make constraint island discovery on by default.
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Also fix latent bug in mjData serialization.
PiperOrigin-RevId: 799505349
Change-Id: I299e7cc8133fa2ec0b339a7ff3d02543e06778b1
2025-08-26 04:27:24 -07:00
a230aa60c5
Improve mj_addM and associated test
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- Updated docs to clarify that only the lower triangle is touched
- The function was unnecessarily adding the upper triangle in the sparse case
- The test used an unnecessarily large model and stepping it leading to timeouts under ASAN
PiperOrigin-RevId: 798528736
Change-Id: I592cc17dfb62379bb0cd6b332a8eb7e8b0ef6355
2025-08-23 03:56:47 -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
debbd7c916
Fix cast; should be mjtGeom not mjtMouse.
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PiperOrigin-RevId: 798177495
Change-Id: I5d95446dd7f7f84052b60cb378acdd856c1e4d50
2025-08-22 05:47:49 -07:00
2f28473bc1
Remove transposed Jacobian fields from mjData
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No longer computed unconditionally, only ad-hoc where required.
PiperOrigin-RevId: 797753297
Change-Id: I2030fc342c98ff33575b0526dd72e2110c4fcb74
2025-08-21 07:21:24 -07:00
5fe4224ae7
Compute sparse Jacobian transpose inside solver.
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PiperOrigin-RevId: 797745776
Change-Id: I2ec429120d0c6eb51bec340619ab178389482e69
2025-08-21 06:55:48 -07:00
174a50442d
Allow transposing of sparse sub-matrices whose first row is > 0
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PiperOrigin-RevId: 797728559
Change-Id: I3c825118dae198333d357d2e4f248d00b0f5d8ce
2025-08-21 05:56:33 -07:00
c7a82c32dc
Do not update qacc_warmstart at the end of the solver call; instead, update it at the same time as all other state variables. This change makes mj_forward idempotent.
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See changelog herein for motivation and discussion.
PiperOrigin-RevId: 797392841
Change-Id: If50e9f09e1d07e8363169d3589c32097aeca2432
2025-08-20 11:30:13 -07:00
4bad134ba2
Add proper handling of MJCF asset/mesh/texturedir compiler attributes to USD plugin.
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This allows the MJCF SdfFileFormat plugin to load MJCF files that specify assetdir, meshdir, or texturedir attributes. This is specifically important for resolver implementations that fetch assets into a local cache.
PiperOrigin-RevId: 796509754
Change-Id: Ib2b0c9cf9d6a3351ceea49d90c882edf94d0b880
2025-08-18 11:38:32 -07:00
424226b640
Refactor mj_mulM to use CSR structure
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PiperOrigin-RevId: 796450207
Change-Id: I2a9d567732614674547c7ae02ff0d3d4bbf1b654
2025-08-18 09:09:29 -07:00
c2ff60e630
Decrease time step in shell examples.
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Also add bending damping.
PiperOrigin-RevId: 796446515
Change-Id: I4744003caf6146e5e00614a6016d1a6dfc42cca7
2025-08-18 09:00:10 -07:00
7c10a62f21
Improve island visualization colors and logic.
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- Make island visualization off by default
- Give it the keyboard shortcut 'N'
- Use HSV island coloring
PiperOrigin-RevId: 796375514
Change-Id: I3cc8d6f8142412c771b2b8e57e82e70000727770
2025-08-18 05:03:41 -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
1447711037
Rename spec to sig in state-related API functions.
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(to avoid confusion with mjSpec)
PiperOrigin-RevId: 795848898
Change-Id: I0b64eb85f5c7a3ee889a746c751d9f5561650277
2025-08-16 08:38:25 -07:00
bbb70d98a4
Add utility functions for mapping between sparse matrix patterns.
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PiperOrigin-RevId: 795543910
Change-Id: I92be3afc3cd90020027737fffdba18c45e25f825
2025-08-15 11:22:35 -07:00
931036adda
Always try to find the skybox texture, even if there are no materials in the MJCF. Fixes #2412
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Before the fix this only occured if the MJCF contained 0 materials.
PiperOrigin-RevId: 795510952
Change-Id: I0a36c275e6006f80dc9a5ba6b9c6040ce21187c9
2025-08-15 09:53:37 -07:00
b566ef2883
Ignore geoms with tiny mass in inertiafromgeom computation. Fixes #2754
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PiperOrigin-RevId: 795475978
Change-Id: I02b5db9e2ac7ec556cb0a0ec6dbe4214ba9128d7
2025-08-15 07:57:02 -07:00
977f94e9df
Delete sparsity structures from mjData, use the ones in mjModel
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PiperOrigin-RevId: 795067950
Change-Id: If4f52e40ac49f7c6986b33ef9c8b534199dfd21a
2025-08-14 09:13:02 -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
dcdf0a9c5c
Use mj_rayMesh for computing an inexact SDF for mesh-SDF collisions.
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PiperOrigin-RevId: 794576123
Change-Id: I3c688056a5ed617a0787ccf1f4aa683f9409040f
2025-08-13 07:50:06 -07:00
Alessio Quaglino