bf722098f0
Fix broken link in changelog.
...
PiperOrigin-RevId: 760730799
Change-Id: I65e2d06f9162266b2929cc4d26af621fc3535197
2025-05-19 12:40:36 -07:00
94803d772c
Enable multithreading of Newton solver.
...
PiperOrigin-RevId: 760723081
Change-Id: Ib7d3c9cec2fdf7dd0e46a570f37c0a6fc5424c7b
2025-05-19 12:18:22 -07:00
7edbdd0ad6
Remove the Shell plugin and integrate it into the engine.
...
PiperOrigin-RevId: 760688502
Change-Id: Ia70988d42b7edf571d7cb4a4f48f8fc50b51667d
2025-05-19 10:51:25 -07:00
45fc15b844
Speed up sparse supernode detection by combining it with transposition.
...
PiperOrigin-RevId: 760673008
Change-Id: I6d66580e675fd86e5b974859383f93f87482ca16
2025-05-19 10:14:15 -07:00
ced630181d
Replace mjv_sceneState and related code with mjv_copy{Model,Data}
...
PiperOrigin-RevId: 760662776
Change-Id: I512bda9187fbc19ade6924b91d5cb2275078de42
2025-05-19 09:51:58 -07:00
8268c6d1ff
Add mjv_copyData
...
PiperOrigin-RevId: 760642972
Change-Id: I16227fd91bf42618fda684b15b3650758ae29b13
2025-05-19 08:59:43 -07:00
670c97c4f7
Reorder model editing notebook, placing dm_control example last
...
PiperOrigin-RevId: 760642275
Change-Id: I7d8a625ab1d6d8364de93571390e8c14289e070a
2025-05-19 08:57:49 -07:00
6c201d3e1c
Add examples of scaling assets into tutorial notebook. Fixes #2476
...
PiperOrigin-RevId: 760617809
Change-Id: I86d4fadb473cf8ad9bcfd058567551c431f2bf31
2025-05-19 07:34:51 -07:00
84d658a5ad
Remove redundant variable in mj_factorI
...
PiperOrigin-RevId: 760604094
Change-Id: I664b4cc9d717bc12a4711feb3fa585777fb7a1aa
2025-05-19 06:42:11 -07:00
178fb49c2b
Fix namespacing in USD schema.
...
PiperOrigin-RevId: 759632714
Change-Id: I666ca0e5b7f264f63eae0bbb39f0403654fb1c56
2025-05-16 08:54:24 -07:00
df09980258
Create python module for MjcPhysics.
...
PiperOrigin-RevId: 759602056
Change-Id: I06e604a5f6b3ca3b1a4bb949589d1b7ab72dd6ad
2025-05-16 07:13:05 -07:00
ee8abdf854
Speed up mju_sqrMatTDSparse
...
PiperOrigin-RevId: 759593417
Change-Id: I0168e1f96333769d09d61e835560910d43aac608
2025-05-16 06:42:17 -07:00
81442e06a0
Add MjcPhysicsSiteAPI support and testing.
...
PiperOrigin-RevId: 759124593
Change-Id: Ic2fa2a00f8384f432ee2eef95c80f5c180aa4ca9
2025-05-15 06:38:03 -07:00
7ba507323d
Handle mocap body in bind.
...
PiperOrigin-RevId: 759065524
Change-Id: Ic4cc737596af883f267b6e2c470ac4591ea1eead
2025-05-15 03:10:19 -07:00
e8c566bee1
Remove use of diagnum in solver
...
PiperOrigin-RevId: 759021147
Change-Id: I9e5c85b6542380780fc487781398f406ddaad51b
2025-05-15 00:39:28 -07:00
dc4968506b
Remove MjcPhysics prefix from schema API types.
...
PiperOrigin-RevId: 758718987
Change-Id: I8a3a5dc7a990d401a91f5982e62c590e8924472a
2025-05-14 09:39:24 -07:00
0a5da8db22
Rename MjcSiteAPI to MjcPhysicsSiteAPI for consistency.
...
PiperOrigin-RevId: 758708231
Change-Id: I75914ba52159996515547aa9e2e93690cadbfc66
2025-05-14 09:10:30 -07:00
e1baa15776
Remove unnecessary argument in mju_mulSymVecSparse
...
PiperOrigin-RevId: 758688536
Change-Id: Ife1099b948215363ddaa6d0b0edcf3492edcddcc
2025-05-14 08:12:15 -07:00
71bdd915f7
Move bending stiffness from plugin to the compiler.
...
PiperOrigin-RevId: 758677644
Change-Id: I7d5c5140ba6948002bfa4ae9d6b4bf0f6de0e39b
2025-05-14 07:39:24 -07:00
d8bebdc675
Remove unnecessary diagnum argument in mj_solveLD and mj_factorI
...
PiperOrigin-RevId: 758669364
Change-Id: Icfefc4a7a1e7d28da373725358ccf9d5f589f689
2025-05-14 07:13:27 -07:00
b0c36c6b33
Remove dead functions.
...
PiperOrigin-RevId: 758663369
Change-Id: I2de0d9802eb73c3541ef17e46182608b08a3793e
2025-05-14 06:55:39 -07:00
dd28b887d4
Rename C sparse structure to M in mjdata, improve docstrings.
...
PiperOrigin-RevId: 758636638
Change-Id: If78acc423601d2911f514929b27f7b6d0af9ef58
2025-05-14 05:26:19 -07:00
4ba04586ae
Fix setting slices of multidimensional arrays for multiple targets
...
PiperOrigin-RevId: 758623598
Change-Id: Ie05b36c25be74ddf7451a95377caf1ed1d692141
2025-05-14 04:36:58 -07:00
1165018f71
Add island support to Newton solver
...
PiperOrigin-RevId: 758618486
Change-Id: I257d78c7dc9aa4dbf7cd6d8849d8ec48201edf24
2025-05-14 04:20:34 -07:00
fa95fe0c59
Add intensity and range parameters to lights.
...
PiperOrigin-RevId: 758603199
Change-Id: I74e88bdfeedd9224e84d953f237d68eca79e6cb7
2025-05-14 03:28:03 -07:00
a6c3a287d6
Prepare Newton solver for island support
...
PiperOrigin-RevId: 758600631
Change-Id: Iac354588ad91f404a30fa035893560db60db733f
2025-05-14 03:18:03 -07:00
34e8ff1aad
Add flex edge flap connectivity to mjModel.
...
PiperOrigin-RevId: 758593152
Change-Id: I79836df961972c9eae8037e5fcbfc3d0122645de
2025-05-14 02:50:37 -07:00
2386dfd7da
Add touch sensor for estimating the surface contact stresses from the SDF.
...
PiperOrigin-RevId: 758556339
Change-Id: Ib56d76fab084b530fd68d61a29294cb6f1d05f3f
2025-05-14 00:45:58 -07:00
23865c7491
Skip cow.xml from xml_native_writer_test.
...
Including it caused tests to become flaky.
PiperOrigin-RevId: 758414305
Change-Id: I6a5b6b20df7faf736bb3dd8610019b9c9a23d633
2025-05-13 16:10:18 -07:00
4186589738
Use mjData.M where appropriate
...
PiperOrigin-RevId: 758374391
Change-Id: I9de7af7be8e41b5c300d0a04ea99082b4cefdec6
2025-05-13 14:22:41 -07:00
79c74d7eae
Add mjData.M, not yet used.
...
PiperOrigin-RevId: 758351796
Change-Id: I0786966b2f2c2e699db845cda6940a8821b23f49
2025-05-13 13:28:03 -07:00
1e02d66c3d
Remove M matrix structure from mjData.
...
Introduced in March 2025 as a temporary measure, this is not considered a breaking change.
PiperOrigin-RevId: 758311298
Change-Id: Ia08857c18b791f6a62a2d8d136b45fc075507b93
2025-05-13 11:47:18 -07:00
6bc0bbf7df
internal change
...
PiperOrigin-RevId: 758287280
Change-Id: I8b99a5d44910d5b2e7857b808b1696f244778a26
2025-05-13 10:53:25 -07:00
627fffdef9
Switch mjData.{qH,qLD} from full ("M") to reduced ("C") inertia matrix structure.
...
PiperOrigin-RevId: 758273074
Change-Id: If1a2e663ea70044694af985e0119afd6d58115ac
2025-05-13 10:20:32 -07:00
436b5a8e1f
Add mju_addToSymSparse
...
- Internal engine function to add a symmetric sparse matrix to a dense matrix.
- Also minor refactors to related functions.
PiperOrigin-RevId: 757954336
Change-Id: I8d8a48bcbbd5d6c618ae097a87df2bc1e6f5ef1d
2025-05-12 16:19:43 -07:00
755564a348
Remove unused code related to legacy island implementation.
...
Also fix a docstring.
PiperOrigin-RevId: 757939564
Change-Id: I3a970fd38c63886d34cd23b1fb45617a9ce5c147
2025-05-12 15:39:16 -07:00
8a7c42c747
Add SDF functions to public API.
...
PiperOrigin-RevId: 757829339
Change-Id: I81ee7c3f33acf234835bf34cbb632e23cb9e284e
2025-05-12 10:53:39 -07:00
d77126dc58
Add vertcollide option for adding spheres at flex vertices.
...
PiperOrigin-RevId: 757789990
Change-Id: I8ccba52b13e8c02a7be78f992297d6f414d98f8e
2025-05-12 09:13:48 -07:00
09bf5409ab
Add code generated files for mjcPhysics schema.
...
PiperOrigin-RevId: 757784741
Change-Id: Iacef6ef78c8e95ce51c5546562ad5b679f460deb
2025-05-12 09:00:45 -07:00
b53ed63b5f
Use 2humanoid100.xml model in a benchmark test.
...
PiperOrigin-RevId: 757784271
Change-Id: I7da11ab85ba9f5e023cdbe3c77d31224f3444ca5
2025-05-12 08:59:14 -07:00
bd5cb88211
Change mjPhysics schema library name from mujocoPhysics to mjcPhysics.
...
PiperOrigin-RevId: 757777584
Change-Id: I6c8661aac3018892f113e65fada1b27903635200
2025-05-12 08:37:10 -07:00
dfe22f7ef7
Remove stale reference to uncompressed sparse matrix.
...
PiperOrigin-RevId: 757775265
Change-Id: Ic18c0c89ab84285a7d93e24c65e50832ebc53c6f
2025-05-12 08:30:43 -07:00
6a977d073b
Fix GitHub Actions builds.
...
PiperOrigin-RevId: 757765160
Change-Id: Idaf86f80a24bc480ce35711cb706a4702a249d31
2025-05-12 08:00:43 -07:00
9ac5fff41d
Move local function to top of test file.
...
PiperOrigin-RevId: 757722664
Change-Id: Ief7d8ca9fda990bf582ca0feaa4b645f0a4bb6e7
2025-05-12 05:36:38 -07:00
af088adaee
Add mjPhysics schemas, starting with MjcPhysicsSceneAPI and MjcPhysicsSiteAPI
...
PiperOrigin-RevId: 757710745
Change-Id: Ia920abecdf8c6a05f61dd0fd3a8e6bc001ccc7d0
2025-05-12 04:57:52 -07:00
85dd78d6f3
Add private function mj_makeM.
...
PiperOrigin-RevId: 757689756
Change-Id: Ie8bb49d9f18a95da2e3fd8622e30f9266a1ced98
2025-05-12 03:52:38 -07:00
9accc7ae51
Update mj_energyPos.
...
PiperOrigin-RevId: 757678945
Change-Id: If236b9e8f376a2673abc87e818326e9188f6c15a
2025-05-12 03:14:43 -07:00
b0b2c48190
Update comment in mj_energyPos.
...
PiperOrigin-RevId: 757670899
Change-Id: I3827089f4298b3800c20ed64ca0ccfcf3ed83d92
2025-05-12 02:45:45 -07:00
924ee3070a
Modify user values in mujoco to allow users to provide cleanup functions to avoid memory leaks.
...
For the MJCF -> USD plugin, and I suspect other usecases for user values, it's necessary to give ownership of the object to Mujoco. However since they get type erased, we can't clean up the data automatically for the user. Instead this allows c++ clients to provide a cleanup function with their data.
PiperOrigin-RevId: 756832010
Change-Id: I80b8e7822e1a0e399a0d19dcaa57ee69b3ccc16a
2025-05-09 11:03:06 -07:00
baf84265b8
Improve wrap_circle.
...
PiperOrigin-RevId: 756704385
Change-Id: Id44ba317c6072790763a958f4227a76278d3ab74
2025-05-09 04:13:14 -07:00
Yuval Tassa