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Author SHA1 Message Date
Alessio Quaglino cef02fabea Remove sdflib plugin and move interpolation to engine_collision_sdf. 
Before:
```
 Simulation time      : 1.71 s
 Steps per second     : 5854
 Realtime factor      : 11.71 x
 Time per step        : 170.8 µs

 Newton iters / step  : 2.19
 Contacts / step      : 3.45
 Constraints / step   : 13.79
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

After:
```
 Simulation time      : 1.41 s
 Steps per second     : 7093
 Realtime factor      : 14.19 x
 Time per step        : 141.0 µs

 Newton iters / step  : 2.19
 Contacts / step      : 3.45
 Constraints / step   : 13.79
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

PiperOrigin-RevId: 781087896
Change-Id: Iaf69dccc5e95af5bac862344683c74f962162186
 2025-07-09 09:29:47 -07:00
Alessio Quaglino 96118da08b Move SDF precomputation to the mujoco compiler. 
Before:
```
 Simulation time      : 2.24 s
 Steps per second     : 4472
 Realtime factor      : 8.94 x
 Time per step        : 223.6 µs

 Newton iters / step  : 2.47
 Contacts / step      : 3.37
 Constraints / step   : 13.49
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

After:
```
 Simulation time      : 1.71 s
 Steps per second     : 5854
 Realtime factor      : 11.71 x
 Time per step        : 170.8 µs

 Newton iters / step  : 2.19
 Contacts / step      : 3.45
 Constraints / step   : 13.79
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

PiperOrigin-RevId: 781075182
Change-Id: Ie509047ff581ab0df4b10bbd394c27d350ab5a13
 2025-07-09 08:57:09 -07:00
Yuval Tassa a3d251f552 Add mjModel.sensor_intprm, integer parameters of sensors 
PiperOrigin-RevId: 781053754
Change-Id: I90e5ef1cab3f87b894dbc70dccfc8bf0046ce1b6
 2025-07-09 08:00:21 -07:00
Sam Haves 9d64ed9575 Remove leftover MJ_USD_TARGET_NAME include directories call from USD CMake. 
PiperOrigin-RevId: 781023625
Change-Id: Id75cb94c0eafc27c47a275d3cf4280020ed0c17a
 2025-07-09 06:33:55 -07:00
Alessio Quaglino b81f1db8af Replace SdfLib with linear octree interpolation of TriangleMeshDistance. 
Temporary changes to the octree:
- Changed frame from mesh to geom

Before change (tolerance 1e-3):
```
 Simulation time      : 2.34 s
 Steps per second     : 4275
 Realtime factor      : 8.55 x
 Time per step        : 233.9 µs

 Newton iters / step  : 2.26
 Contacts / step      : 3.69
 Constraints / step   : 14.76
 Degrees of freedom   : 12
 Dynamic memory usage : 0.7% of 14M
```

After change (6 octree levels):
```
 Simulation time      : 2.24 s
 Steps per second     : 4472
 Realtime factor      : 8.94 x
 Time per step        : 223.6 µs

 Newton iters / step  : 2.47
 Contacts / step      : 3.37
 Constraints / step   : 13.49
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

PiperOrigin-RevId: 781019754
Change-Id: Ib15581244dfe9e571e1c6c2cac4a101cf3d8ba3d
 2025-07-09 06:21:41 -07:00
Yuval Tassa e6c5715903 Add insidesite sensor for detecting when an object is inside the volume of a site. 
PiperOrigin-RevId: 780993257
Change-Id: I2dcfc840d222680adc3b934344a0819f4d78b6eb
 2025-07-09 04:56:42 -07:00
Taylor Howell a86461fc57 Set MJX minimum friction value to mjMINMU. 
PiperOrigin-RevId: 780934075
Change-Id: I1ae0b678526218514cc260fdb9f2a62d88394cbe
 2025-07-09 01:59:29 -07:00
Taylor Howell 8da4e1c354 Fix deriv_smooth_vel docstring. 
PiperOrigin-RevId: 780923683
Change-Id: I05fc5426a980dfffa22cba7cac71f5e4a811b5eb
 2025-07-09 01:33:33 -07:00
Rishi Krishnan 2a32babb78 Update Mujoco Deps in preperation for the 3.3.4 release 
PiperOrigin-RevId: 780712420
Change-Id: Ib13d18bcf0f248acff93c04f977eec59185dc932
 2025-07-08 14:21:53 -07:00
Taylor Howell 13621879c6 Remove unnecessary loop from mj_collideOBB. 
PiperOrigin-RevId: 780629489
Change-Id: I715cd1f72012c0655997ba4c967fa7b5b8731d54
 2025-07-08 10:50:33 -07:00
Sam Haves 14972d2490 Add mj_loadUSD function. Change simulate to use that instead of manual spec compilation. 
PiperOrigin-RevId: 780608874
Change-Id: I333238c756fe76b371518a7cdf9452b93da3540a
 2025-07-08 10:04:08 -07:00
Sam Haves e507e31922 Fix schema naming in mjcPhysics to avoid collisions. 
PiperOrigin-RevId: 780537076
Change-Id: I4ea24162ba20d6aae10207491f9aae2250808576
 2025-07-08 06:27:30 -07:00
Yuval Tassa d464165e30 Print contact forces in mj_printData. 
PiperOrigin-RevId: 780503111
Change-Id: I17c6f1584d5260fa9c88c54d0aea9ec0101c082b
 2025-07-08 04:11:10 -07:00
Alessio Quaglino 1a4ddca6cf Make mjs_findElement find meshes by file name. 
PiperOrigin-RevId: 780150428
Change-Id: Ie500062fa8cca755683b66540e84ede588d7c331
 2025-07-07 09:51:33 -07:00
Yuval Tassa 7a09145161 Rename variables to avoid shadowing in user_objects.cc 
PiperOrigin-RevId: 780137314
Change-Id: Ife5abd0ecc3851837a7aef7048efe80dbdfcf60e
 2025-07-07 09:15:03 -07:00
Yuval Tassa e01c4b454a Rename variables to avoid shadowing in xml_native_reader.cc 
PiperOrigin-RevId: 780135233
Change-Id: I509ac6a0807e102ad8749f81562ad45bf4c04335
 2025-07-07 09:10:02 -07:00
Yuval Tassa 783e6499d8 Remove explicit mjModel dependency from engine_util_misc.c 
PiperOrigin-RevId: 780123513
Change-Id: I567e09db3cd13a93a4720742affb62b54bfa5426
 2025-07-07 08:33:19 -07:00
Yuval Tassa 6ccc4f77bc Defer sensor reference id resolution from sensor compiler to model compiler 
PiperOrigin-RevId: 780070082
Change-Id: I7166f589f15bb0cd14b92e213d7a9f2a3bbad4e4
 2025-07-07 05:37:53 -07:00
Sam Haves 1742ba510c Swap out apostrophe for single quote in mjcPhysics actuator lengthRange docs. 
PiperOrigin-RevId: 780051495
Change-Id: Ib56a012ded364740564b879456a9e0570b5a0d7a
 2025-07-07 04:27:49 -07:00
Sam Haves 2c4fed07d2 Add missing source files to mj_usd target. 
PiperOrigin-RevId: 779244207
Change-Id: I3a913f8add82838a1d7371f84b4f03f271a1897b
 2025-07-04 11:46:48 -07:00
Sam Haves be3c3ef8a9 Add missing gravity attribute authoring to Mjcf SdfFileFormat plugin. 
PiperOrigin-RevId: 779239797
Change-Id: I039b1089e5b436498d14df384c1aee830fd4b48a
 2025-07-04 11:25:49 -07:00
Baruch Tabanpour 45d4cacc45 Remove dense actuator_moment for _put_data_c. 
PiperOrigin-RevId: 779234984
Change-Id: I19ac2849aa2b00b1688781491c9230558c24c7a2
 2025-07-04 11:03:59 -07:00
Robin Alazard e69b6cc5f3 Fix wrong extent authoring for Cube. 
PiperOrigin-RevId: 779230125
Change-Id: I96c3d5daa7a760cd87a714a14ea74a15faf3d7db
 2025-07-04 10:39:32 -07:00
Robin Alazard 21a852504c Make sure we never apply the ArticulationRoot API more than once. 
PiperOrigin-RevId: 779185190
Change-Id: If441d0e2ba24191883839977b46864db2b4b8204
 2025-07-04 07:36:05 -07:00
Robin Alazard 85ad1eec91 Rework USD scene traversal, ensure DFS order of bodies is respected, remove implicit welding of non-jointed nested bodies 
PiperOrigin-RevId: 779121640
Change-Id: Ic3281ac10ce51975cd681e9342b2fffd5f24376f
 2025-07-04 03:25:49 -07:00
Yuval Tassa 2937efd5f2 Use sparse math in mjd_actuator_vel. 
PiperOrigin-RevId: 778924297
Change-Id: I221fb338c894f278e9f8401f25056539c62ccc65
 2025-07-03 10:52:54 -07:00
Alessio Quaglino af7d20c035 Change mjs_nextChild to be DFS to match XML parsing. 
PiperOrigin-RevId: 778915232
Change-Id: I5e290f47b7d2530597bb6c85b66ff2ae807e5510
 2025-07-03 10:07:13 -07:00
Alessio Quaglino 67f9ffddbd Delete outdated mjs_delete doc. 
PiperOrigin-RevId: 778912984
Change-Id: I2c09c67706679e9e85ea29fd63e698cddb0ef6ca
 2025-07-03 09:54:52 -07:00
Alessio Quaglino 69ce5dbd05 Consolidate tree traversal tests in the C and Python APIs. 
PiperOrigin-RevId: 778883024
Change-Id: I0d30ed011e60a6da7148cebc1f715895fd0c6fd6
 2025-07-03 07:25:23 -07:00
Taylor Howell 465fb3234c Updates for documentation. 
PiperOrigin-RevId: 778872216
Change-Id: I01406dcc03b11dfde80d6f59c6138b1ceb670716
 2025-07-03 06:35:11 -07:00
Tom Erez 7aa3b81c67 Fix minor typo in changelog. 
PiperOrigin-RevId: 778854401
Change-Id: Ie1a2f2b4b6e0524d0ca7463b84c8fc550dcbdda7
 2025-07-03 05:16:11 -07:00
Yuval Tassa 7548d370ed Add missing changelog item and enum documentation, clarify breaking changes. 
PiperOrigin-RevId: 778842895
Change-Id: I53f7f639ce8f1d3d5066fa7364bc1b74f2ed14ef
 2025-07-03 04:24:23 -07:00
Alessio Quaglino 564c51ddb9 Check for duplicated names when setting element names. 
PiperOrigin-RevId: 778827590
Change-Id: I77a208c1571cf735cae80840ea830aa347681f71
 2025-07-03 03:20:55 -07:00
Alessio Quaglino 594e17074a Replace name attribute with setters and getters in the C API of mjSpec. 
PiperOrigin-RevId: 778816015
Change-Id: Ieffb7a5bce37e887ff009f9a02d2434435e79ca1
 2025-07-03 02:30:56 -07:00
Yuval Tassa 1c5d47c94b Fix paragraph rendering in texture docs. 
PiperOrigin-RevId: 778803841
Change-Id: I17412b4d549984b361cab9edc20d04a708a71985
 2025-07-03 01:42:26 -07:00
Sam Haves d2840ce665 Add missing files to mjusd cmake. 
PiperOrigin-RevId: 778800306
Change-Id: I1bd5766108c59fb05a6a2c6c8b3207476aca60ea
 2025-07-03 01:27:12 -07:00
Sam Haves 1d613b9b9a Add support for mjcPhysics keyframes to USD interop. 
PiperOrigin-RevId: 778552679
Change-Id: I04026599f7a2836e3fe1cf0d553bcc86a5795f98
 2025-07-02 10:17:41 -07:00
Robin Alazard 072b327430 Fix the parsing of USD scenes that use ResetXformStack 
Also add a new test for it

PiperOrigin-RevId: 778114814
Change-Id: Ib019768ac45ecf7ec6d437199a3d1427557b2f06
 2025-07-01 11:07:07 -07:00
Robin Alazard 50de1b3c2c Read new Mujoco-specific JointAPI when converting USD. 
PiperOrigin-RevId: 778037519
Change-Id: Idd81dc5dc14e2dfb40ba7db4404fd09f9ff50a9f
 2025-07-01 07:40:23 -07:00
Robin Alazard 9dc67b50cd Write new Mujoco-specific JointAPI data to USD. 
PiperOrigin-RevId: 778035661
Change-Id: I945aa38fc58973023d78ab0ab5fad7783d23e1ef
 2025-07-01 07:35:34 -07:00
Robin Alazard 862436f9b3 Add JointAPI schema in mjcPhysics. 
PiperOrigin-RevId: 778030981
Change-Id: I22a4bf2a550fb78e47bef0ff171b10ce5912887e
 2025-07-01 07:22:05 -07:00
Nimrod Gileadi 3db03dcce5 Don't output a warning about duplicate geom names for unnamed geoms in URDF. 
PiperOrigin-RevId: 777998616
Change-Id: Id87533e30567fe5a0e372220ba57819383d42236
 2025-07-01 05:36:17 -07:00
Taylor Howell 9eb0745968 Fix comment typo in getimpedance. 
PiperOrigin-RevId: 777997980
Change-Id: I0fe87196360e6771db10f4d9b08d43448ea5f54e
 2025-07-01 05:33:47 -07:00
Alessio Quaglino 5c1f1f9dba Add octree to meshes of SDF geoms. 
PiperOrigin-RevId: 777634862
Change-Id: I3210c2f8d73fd30ceecb0a11abd1d82e086b3d5d
 2025-06-30 10:50:15 -07:00
Sam Haves 106df98946 Create Keyframe schema in mjcPhysics. 
PiperOrigin-RevId: 777568003
Change-Id: I036fd54e2926c138f9ca8de87040b263b8427df3
 2025-06-30 07:48:48 -07:00
Yuval Tassa 1c98dfd86e Remove unused header 
PiperOrigin-RevId: 777505320
Change-Id: I39d4ccf47a49bfb6f74090e59c68373e76a0bcf5
 2025-06-30 04:09:10 -07:00
Taylor Howell 2ce5caa239 Update MJX rne_postconstraint with contributions from equality connect and equality weld constraints. 
PiperOrigin-RevId: 777491801
Change-Id: Ib32dda4178def7a96d31e91787f3d0866a56cd76
 2025-06-30 03:21:45 -07:00
Yuval Tassa 57b3d6d0f4 Make island discovery compatible with flex 
PiperOrigin-RevId: 777490642
Change-Id: Iae2f4e8297cc24bded833e04ebfe32895f3a5460
 2025-06-30 03:16:57 -07:00
Yuval Tassa c945247e7c Don't write limited and actuatorfrclimited attributes when "true" is not a valid value. 
Saved XMLs are filled with
```
<joint type="free" limited="false" actuatorforcelimited="false"/>
```

but since these are hardcoded to "false" at compile time, there is no point in saving them to XML.

PiperOrigin-RevId: 776606516
Change-Id: Iac61c5126231f776077a8c265be732f9215fbfbb
 2025-06-27 09:07:30 -07:00
Sam Haves e80a62c6d5 Allow loading USD files into simulate. 
PiperOrigin-RevId: 776584803
Change-Id: I66a5277b3752d69ba5d44ed419204951edb18d41
 2025-06-27 07:59:21 -07:00