d0e4771c8c
Add contact sensor.
...
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.
...
PiperOrigin-RevId: 780993257
Change-Id: I2dcfc840d222680adc3b934344a0819f4d78b6eb
2025-07-09 04:56:42 -07:00
5c1f1f9dba
Add octree to meshes of SDF geoms.
...
PiperOrigin-RevId: 777634862
Change-Id: I3210c2f8d73fd30ceecb0a11abd1d82e086b3d5d
2025-06-30 10:50:15 -07:00
862300def5
Fix comment typo in _resetData.
...
PiperOrigin-RevId: 774705647
Change-Id: Id933cae9a219798eae266b36bd3efba2a3b88163
2025-06-23 03:49:55 -07:00
2707eadc00
Refactor mj_crb and mj_tendonArmature to use CSR M.
...
PiperOrigin-RevId: 774077388
Change-Id: Id57118a5d66c074766f5c69fd3b889ebc625cbf7
2025-06-21 04:49:06 -07:00
14dc7c2a60
Add "cameraid" attribute to visual/global specifying the default camera to use at model load.
...
PiperOrigin-RevId: 773783069
Change-Id: I2fff2abdceedc982d89cee8d14b95abceea1c113
2025-06-20 11:41:27 -07:00
373b4c0437
Support image/ktx format for textures.
...
PiperOrigin-RevId: 761926074
Change-Id: I6a312634b5bdc706ea5166bc3b2be273e14c1c8a
2025-05-22 05:47:55 -07:00
8268c6d1ff
Add mjv_copyData
...
PiperOrigin-RevId: 760642972
Change-Id: I16227fd91bf42618fda684b15b3650758ae29b13
2025-05-19 08:59:43 -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
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
ecb769fc3a
Refactor islands to be memory contiguous.
...
PiperOrigin-RevId: 755803476
Change-Id: I41972b07e0d5ef5d0117c94f565b93367b87458b
2025-05-07 05:06:27 -07:00
8f768be2da
Remove solver_nisland field from mjData.
...
PiperOrigin-RevId: 750527660
Change-Id: I6b34944c92483ea2abc774df75efd868255a2bac
2025-04-23 03:27:41 -07:00
96dda6ea75
Add tendon actuator force limits and tendon actuator force sensor.
...
PiperOrigin-RevId: 745096883
Change-Id: Ib9acb727fbbfc6b0b0323ee6a889053a7a878056
2025-04-08 05:16:35 -07:00
c0a7ea1edb
Added the element type mjOBJ_SPEC for mjSpec.
...
PiperOrigin-RevId: 742678572
Change-Id: I95a382ac58b5bc88c2aa5c07210549a1d5e2f538
2025-04-01 06:51:49 -07:00
157b074116
Add signature to mjSpec and mjModel and use it to perform safe bind to mjModel and mjData.
...
PiperOrigin-RevId: 740378879
Change-Id: If14b326942529494f172e7aedcae30195798b458
2025-03-25 09:37:49 -07:00
be64747166
add mjs_detachDefault to delete a default class from mjSpec
...
PiperOrigin-RevId: 738452369
Change-Id: I5a53a6dc8f89e1e8136aeefc09d7d9b7b7204e1f
2025-03-19 10:31:04 -07:00
7d9df8c9a9
Fill-in qM CSR matrix structure on mjData (currently unused).
...
PiperOrigin-RevId: 733258529
Change-Id: I903548ae60139e4858550194e1aedf0efa2f3033
2025-03-04 03:20:11 -08:00
ae1c3b7ec0
Support multi-contact with meshes in nativeccd. Contacts are pruned to up to 4 per geom.
...
PiperOrigin-RevId: 730457036
Change-Id: Ib2368f3a7def4fdb94673620df3603e372c35745
2025-02-24 08:14:04 -08:00
7f3bb062c3
Add fields in mjModel for supporting mesh multicontact in nativeccd.
...
PiperOrigin-RevId: 728659204
Change-Id: I7f8a11b082640284ea009d8693f228078680b953
2025-02-19 07:12:26 -08:00
7cdf180641
Introduce trilinear flex parametrization.
...
These flexes use only 24 DOFs (3 per vertex of the bounding box), while colliding with the full high resolution mesh.
On an 8x8x8 cube, the performance using DOFs at all vertices is
```
Simulation time : 18.74 s
Steps per second : 533
Realtime factor : 0.53 x
Time per step : 1874.4 µs
Contacts per step : 114.88
Constraints per step : 3322.51
Degrees of freedom : 1536
```
With the new implementation, it is the following:
```
Simulation time : 1.82 s
Steps per second : 5507
Realtime factor : 5.51 x
Time per step : 181.6 µs
Contacts per step : 38.84
Constraints per step : 155.36
Degrees of freedom : 24
```
PiperOrigin-RevId: 721008829
Change-Id: I833df027527db578d86667cc4b24295bcf6f7d22
2025-01-29 09:38:22 -08:00
240a7afdee
Add sensors for potential and kinetic energy.
...
PiperOrigin-RevId: 716775375
Change-Id: Ic8ab7f1a51df970ab551dabe7c797cde13cd97fd
2025-01-17 13:10:12 -08:00
2409a6e537
Add mjData.nA the number of non-zeros in the constraint inverse inertia matrix.
...
PiperOrigin-RevId: 714076988
Change-Id: I4c323a6e81dfb23f7972b662719bbcb688bacf4a
2025-01-10 09:23:55 -08:00
b5df2c10bf
Remove mjData.C_diag, no longer required as C is now lower triangular.
...
PiperOrigin-RevId: 712514204
Change-Id: I8293f65ebc09c6a8fed76b0e59d2e2a667e01a43
2025-01-06 06:58:19 -08:00
7eb8231fda
Represent only the lower triangle in Newton solver's reduced dof-dof matrix.
...
PiperOrigin-RevId: 712488529
Change-Id: Iad91c72654376539791d7856765a0d0ac9088251
2025-01-06 04:58:55 -08:00
2691887500
Add engine-internal convenience macro for allocating typed arrays, improve error message.
...
PiperOrigin-RevId: 705126655
Change-Id: I2bd8fada6d33a919d2fb82297f93ac57958355a4
2024-12-11 09:04:44 -08:00
3a14ada308
Store index of diagonal element for C and D in mjData.
...
PiperOrigin-RevId: 704287869
Change-Id: I15d1faa0b5c3ff54721f692ec6329726456ec318
2024-12-09 08:01:30 -08:00
1d64362adc
Add mjv_copyModel to copy mjModel, skipping large arrays not required for abstract visualization.
...
This functionality is meant for fast copying of `mjModel` when synchronizing the visualization state, as in the Python passive viewer.
PiperOrigin-RevId: 699199743
Change-Id: I13a5160063eb09139ec1aee9c4969bc1c6f547f1
2024-11-22 09:38:08 -08:00
a51f346059
Use sparse (uncompressed) actuator_moment in mj_transmission.
...
PiperOrigin-RevId: 692179704
Change-Id: Ic30ac5a98dc13de2028e378df65dc88ba3912bf5
2024-11-01 08:06:28 -07:00
c9f78ad8a8
Rename nnzJ to nJ in mjData.
...
This naming is more consistent.
PiperOrigin-RevId: 691858223
Change-Id: Ife3db822afa0b51b30d0792548b35b3742da388a
2024-10-31 10:43:10 -07:00
0c97dcf1fd
Avoid overflowing the stack when allocating memory for polytope in EPA.
...
PiperOrigin-RevId: 688641864
Change-Id: I3eef7e821ffbfa8d97a946ecf86d098cb4f0c233
2024-10-22 12:11:22 -07:00
ee7b994021
Remove Newton Cholesky factor from mjData arena, rollback of b66da3d369.
...
PiperOrigin-RevId: 685726867
Change-Id: Ic2afd0dd35e38f403164d2cbe4618286abfa51ab
2024-10-14 09:07:22 -07:00
9aca4bccac
Fix stack usage reporting under ASAN.
...
PiperOrigin-RevId: 684790558
Change-Id: Ifc206bb0653c1fa3052621f0d3d80cb10671b77f
2024-10-11 04:37:12 -07:00
b66da3d369
Add mjData.L, sparse Cholesky factor of Newton solver Hessian.
...
PiperOrigin-RevId: 683669555
Change-Id: I18d7530b5d68d1d48cb95d4faa0150c434109638
2024-10-08 10:13:08 -07:00
84e0e2839d
Improve error message when requested stack allocation is larger than 2^64 bytes.
...
PiperOrigin-RevId: 677851110
Change-Id: Iaef92f7f48f41f3a4bfaae9c517ff6664afed039
2024-09-23 10:34:33 -07:00
31abd7900a
Add edge ids to flex elements in mjModel.
...
PiperOrigin-RevId: 675130981
Change-Id: If2ccfb268142d235273b7a50e15740f6399903b2
2024-09-16 06:58:10 -07:00
60a1921b34
Add site semantics to weld constraint. Fixes #1896
...
PiperOrigin-RevId: 675112981
Change-Id: Ie4c01440d54116075df89f480591700762892cbd
2024-09-16 05:46:01 -07:00
e4d4153352
Move sanitizer instrumentation to a separate header file. Fixes #2049 .
...
PiperOrigin-RevId: 672986547
Change-Id: I42522f4925237a73168e965364a2dd65c0f067cb
2024-09-10 09:05:35 -07:00
3437361bfb
Add reduced sparse dof-dof matrix structures to mjData.
...
PiperOrigin-RevId: 670919263
Change-Id: I3592de802ae84648d97230115c2e9c3437424968
2024-09-04 04:24:02 -07:00
42eb669e4e
Precompute mappings between M <-> D sparse representations.
...
PiperOrigin-RevId: 670898353
Change-Id: I4b15477b1b6eb4a64cf7d4a0bb5af8fcb95d4e45
2024-09-04 02:57:13 -07:00
088079eff0
Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations.
...
PiperOrigin-RevId: 666438658
Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463
2024-08-22 12:01:54 -07:00
70a3a541ea
Unpoison destination arena when copying mjData.
...
PiperOrigin-RevId: 658312528
Change-Id: Ie6d3497793ef70b89eaa64dcc7aed4130678f06c
2024-08-01 01:38:14 -07:00
e7301edd20
Copy arena contents in mj_copyData.
...
Fixes #1710 .
PiperOrigin-RevId: 651351384
Change-Id: I56e3204b30bb18f48278117e85e90464177da973
2024-07-11 03:54:44 -07:00
07fc95ca9a
Add orthographic cameras.
...
Orthographic cameras are specified by setting the `orthographic` attribute of the `<camera>` element. The `fovy` attribute is still used to specify the field-of-view, but its semantic is different for orthographic cameras. For orthographic cameras, the field-of-view is expressed in units of length, rather than degrees.
Other related changes:
* Fix bug in the ordering of `cam_xxx` elements in `mjModel`.
* Make camera visualization translucent only when the frustum is visualized.
* Added a button to `simulate` to toggle between perspective and orthographic free cameras.
https://youtu.be/ZXBTEIDWHhs
PiperOrigin-RevId: 642293435
Change-Id: Id090a421ad88ab404b5b27ddbbd6bfc81ad49bc5
2024-06-11 09:23:18 -07:00
ba8a2d4c8a
Dynamic model editing.
...
PiperOrigin-RevId: 640838852
Change-Id: I559b1d60f2a3a2d866788d4006be31757454c619
2024-06-06 03:30:59 -07:00
936866be0f
Add mjModel and mjData arguments to mj_makeModel and mj_makeRawData. If they are NULL, then the functions allocate the memory, otherwise they will use the memory allocated by the caller.
...
PiperOrigin-RevId: 639283021
Change-Id: I765f95fe1b5c27202ae033b05a13ae7b5fb8dbc3
2024-06-01 01:08:56 -07:00
2f19941fcf
Move mj_loadModel to xml_api.cc.
...
PiperOrigin-RevId: 635748029
Change-Id: Ie4c7d34c9738e5497ec700089d4dba780ba7d5ed
2024-05-21 03:37:24 -07:00
02d015458c
Add mj_geomDistance API function and sensors for geometric distance, normal direction and segment between between two geoms. Fixes #51
...
PiperOrigin-RevId: 632458301
Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
2024-05-10 04:52:43 -07:00
546a27ca72
Fix memory allocation error when memory size is larger than 2G. Fixes #1606
...
PiperOrigin-RevId: 627058355
Change-Id: Iebef647a0107d1f112a876d705f5b3ea888b4a41
2024-04-22 09:15:46 -07:00
7b3f1a0261
Add mjModel.mesh_scale: scaling applied to asset vertices.
...
PiperOrigin-RevId: 625083195
Change-Id: I36290282379e57ad23ec771d65d1bd6bf2a75b07
2024-04-15 14:26:06 -07:00
bda03af49a
Add childclass support to frames.
...
PiperOrigin-RevId: 615487831
Change-Id: I0e4d2efd52211701b4286a0b0de84424470a3a47
2024-03-13 11:31:22 -07:00
Yuval Tassa