d657e628f0
Fix radius sizes of geom shapes
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PiperOrigin-RevId: 752750452
Change-Id: I2ac08ad4014718320f014ed8ba7cc3b87586f6c0
2025-04-29 08:44:50 -07:00
d3bc0544d3
Add basic support for geom rgba.
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Adds primvar:displayColor/primvar:displayOpacity to the geom prim if its rgba attribute differs from the default (0.5, 0.5, 0.5, 1.0). This sets the color and opacity directly on the prim with no need for an external material, making it consistent with how rgba is used in mujoco.
PiperOrigin-RevId: 751013128
Change-Id: I059943ec5b266e62c3696d9a0ac4f2033db9e07f
2025-04-24 08:59:02 -07:00
8df3614781
Add support for plane geometry.
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PiperOrigin-RevId: 750994019
Change-Id: Ia3b085bed5b8e2fcdb00ffc69dd5551a7fa3c30d
2025-04-24 07:54:56 -07:00
9e72874801
Remove EPA tolerance in the discrete case in nativeccd.
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PiperOrigin-RevId: 750649926
Change-Id: I8ab317cd6b227c9486a2916ae9c6445906c23401
2025-04-23 10:52:14 -07:00
c2ac0d724e
Add mju_gather and mju_scatter, private engine functions.
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PiperOrigin-RevId: 750245294
Change-Id: I3a14ccdd55a324d3fe206e388fb2a513772f5f5e
2025-04-22 10:33:33 -07:00
8e7457d7c6
Initial support for writing UsdPhysics data starting with UsdPhysicsRigidbodyAPI support.
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The SDF_FORMAT_ARGS `usdMjcfToggleUsdPhysics` is introduced to toggle writing UsdPhysics or not when converting. Off by default
PiperOrigin-RevId: 746467942
Change-Id: I26cb9a4c4ae2eef96163dab967a74f14940a2a6d
2025-04-11 08:19:11 -07:00
446a8f1742
Add basic site support to Mjcf SdfFileFormat plugin.
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We will still need to tag these with a custom API schema to ease round-tripping but that will follow creation of such a schema.
PiperOrigin-RevId: 746421793
Change-Id: I2df2209b4bc90d763718fb4bea8158b8598755c6
2025-04-11 05:28:03 -07:00
b1f8d444f2
Fix bug in replaceSimplex3 in nativeccd.
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PiperOrigin-RevId: 746014344
Change-Id: I93b32ab5f67ee48ab72238de53f7cda07638cb79
2025-04-10 07:04:27 -07:00
25126e88c7
Move mju_cholFactorCount to engine_util_solve.
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PiperOrigin-RevId: 746011856
Change-Id: If9812251420053644f4eca81adb5116d370ee524
2025-04-10 06:56:31 -07:00
3429a4881a
Detect mismatch between maxNodes and Nodes in a gmsh block. Fixes #2342
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PiperOrigin-RevId: 745967745
Change-Id: If1b5fcd71079a0e6a6def9b442758678e31a5828
2025-04-10 04:15:21 -07:00
85b323c7fb
Remove square roots when possible in EPA improving numerical precision.
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PiperOrigin-RevId: 745559836
Change-Id: I3f8b23406e93ccfc4bc3499bfbed829b35462a74
2025-04-09 06:18:51 -07:00
96dda6ea75
Add tendon actuator force limits and tendon actuator force sensor.
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PiperOrigin-RevId: 745096883
Change-Id: Ib9acb727fbbfc6b0b0323ee6a889053a7a878056
2025-04-08 05:16:35 -07:00
606f00f802
Remove contact pruning with box-box collisions in nativeccd and add benchmarks.
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PiperOrigin-RevId: 744732382
Change-Id: I2e20b646c541ee99888f1e964302d1b4363b2dc4
2025-04-07 08:34:04 -07:00
d7027fb1c0
Do not skip mjSpec's with repeated model names when attaching a new mjSpec.
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PiperOrigin-RevId: 744705838
Change-Id: Ie47a3c029f443910629619b7f9ff43ab07646725
2025-04-07 06:52:12 -07:00
58234b2217
Replace mjMAXVAL with numerical max limit where necessary in nativeccd.
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PiperOrigin-RevId: 744693156
Change-Id: I72c3122701be281d468291dfc2ad1e4bb1da5a1c
2025-04-07 05:59:02 -07:00
cc2f57d820
Change mjSpec and mjModel signature mechanism.
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The signature now contains the necessary information to safely perform `bind`. The private UIDs are now removed.
Fixes an issue of changing signature when compiling a copy of an mjSpec.
PiperOrigin-RevId: 744670626
Change-Id: Id3c66419cf2afbe78e91bc4b37d2299f5ec00ab1
2025-04-07 04:21:27 -07:00
d05251af2a
Add tendon armature
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PiperOrigin-RevId: 743939992
Change-Id: I587214f5d6fabbc0cc273c33d82decbe9ad8f919
2025-04-04 07:44:04 -07:00
e1f5ceb65a
Add mjModel.tendon_armature (in preparation, not yet implemented)
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PiperOrigin-RevId: 743649968
Change-Id: I1d893e3e06afc48b652575bc7837750ab3573670
2025-04-03 12:06:27 -07:00
f96f3e1c22
Add XML compiler/saveinertial flag. Fixes #2405
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PiperOrigin-RevId: 743607654
Change-Id: I1f2e61be89b79c1995e079f36aa285096f9fb441
2025-04-03 10:12:42 -07:00
8941f56e86
Copy UIDs during mj_copySpec.
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This will produce the same mjSpec signature after a deep copy.
PiperOrigin-RevId: 743538018
Change-Id: Ic0f5b06a00e8883cb92dc98159db3bea02cb7a36
2025-04-03 06:29:07 -07:00
e5912c3ce4
Use tolerance to compare quaternion components in UserObjectsTest.Inertial
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Fixes #2515
PiperOrigin-RevId: 742704324
Change-Id: Ib26891e43128e66d2ac1840ed574285781fb12a5
2025-04-01 08:12:01 -07:00
a02a27d4a4
Combine all mjs_attach functions into one.
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PiperOrigin-RevId: 742702092
Change-Id: I89e35c59ada017cd061e2031584eeea71776743d
2025-04-01 08:05:58 -07:00
08d22baea1
Fix bug in horizon code in nativeccd where parallel faces are included in horizon.
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PiperOrigin-RevId: 742687622
Change-Id: I4a180cb9c7451e0a2c22ffd77b7b6f6fd68836a4
2025-04-01 07:21:14 -07:00
9ecec6f238
Fix bad contact from passing through polytope2 in nativeccd.
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PiperOrigin-RevId: 742666700
Change-Id: I76034579b4e663f9abfa265ec3e2bc608f631f59
2025-04-01 06:11:20 -07:00
648a03c2cf
Override inertia of body with visual geoms if discardvisual is true.
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Fixes #2546 .
PiperOrigin-RevId: 742650702
Change-Id: I753c1e1c89da732ece100676644bbecf9d6373bb
2025-04-01 05:21:48 -07:00
86c970bc23
Add error checking in mjs_setFrame.
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Also raise error if the frame is not found in the mjCBody copy constructor.
Fixes #2543 .
PiperOrigin-RevId: 742624013
Change-Id: I4999b3165c97f8d079412214d027ca7a8dae8cb3
2025-04-01 03:34:48 -07:00
05f3e914b0
Improve armature documentation
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PiperOrigin-RevId: 742583729
Change-Id: I18d1c95a91f4d70b842c680d4a0f4d0b04476894
2025-04-01 01:16:58 -07:00
01d4c46753
Store the mjsCompiler -> appended mjSpec map when appending an mjSpec.
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Previously, we stored the source `mjSpec` during a copy as a hack for having access to the compiler options, but this is not robust since we cannot guarantee that 1) the source `mjSpec` is not destroyed before we need to look up the compiler options nor 2) that the `mjSpec` was appended without a copy.
While 2) could be solved by simply handling an additional case in `mjCModel::FindSpec`, using a map also solves 1) and it is easier to understand.
PiperOrigin-RevId: 741504264
Change-Id: Iab1bfd9e61299a94fa8caf3a244c067b09d54384
2025-03-28 06:27:22 -07:00
644b42bee3
Add mujoco/experimental and move USD work there.
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PiperOrigin-RevId: 740730698
Change-Id: If9c68798cda502d6d7632906a034437e2557802e
2025-03-26 05:37:45 -07:00
d6943731b2
Fix bug in nativeccd multiccd.
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PiperOrigin-RevId: 740495321
Change-Id: I7eaa0da8514e27c233d49567c276d1d238808d1f
2025-03-25 14:56:21 -07:00
c931565fdc
Add internal functionmj_tendonDot: time derivative of tendon Jacobian for one tendon.
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Notes:
- Currently always uses dense math, even for sparse models. This should be easy to change in the future.
- Does not support geom wrapping. This is possible but harder, requires derivatives of mju_wrap.
PiperOrigin-RevId: 740378741
Change-Id: Id39ef2c4bfbb7ee11ec33c97d7d83140441cdab2
2025-03-25 09:36:30 -07:00
12b40b948e
Remove MuJoCo stack calls in nativeccd.
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1. There is now thread local static memory for use with a conservative max number of iterations needed for contact.
2. For possible needs of high precision contact recovery with large iteration numbers (i.e. ellipsoid-ellipsoid collisions), there are callbacks to allocate memory when needed.
PiperOrigin-RevId: 739187134
Change-Id: I3d210f75218922d969c78465da3fe50da4fe3080
2025-03-21 08:20:51 -07:00
dc96ed6bdb
Remove plugins that are not referenced after detaching a body.
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Fixes #2497 .
Also, use `Release()` instead of `delete` for removing elements when detaching a body in order to preserve correct reference count.
PiperOrigin-RevId: 739133888
Change-Id: I7ccfad84446fb15259bad30c4ba1e6f7fa601518
2025-03-21 04:34:05 -07:00
8d92a0fbe6
Clear body subtreedofs when compiling. Fixes issue when attaching previously compiled model.
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PiperOrigin-RevId: 738906593
Change-Id: I74875b4d07c422e397358dff5daf6682ec1bd655
2025-03-20 12:52:36 -07:00
467a63d203
Add BoxBox to ccd benchmarks.
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PiperOrigin-RevId: 738761460
Change-Id: If59d306748d64e9e30abe65daa746a4f8e9ec78c
2025-03-20 05:16:33 -07:00
be64747166
add mjs_detachDefault to delete a default class from mjSpec
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PiperOrigin-RevId: 738452369
Change-Id: I5a53a6dc8f89e1e8136aeefc09d7d9b7b7204e1f
2025-03-19 10:31:04 -07:00
209d2bd2c5
Added functionality for user payload data in mjSpec.
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PiperOrigin-RevId: 738343134
Change-Id: I6217362ced9993afcd5a2914c78718ffe3bf753a
2025-03-19 04:36:00 -07:00
bae5175cf2
Accumulate rotation after updating pos and quat in replicate.
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Fixes #2501 .
PiperOrigin-RevId: 737929158
Change-Id: I0cad2de37190f1d30d427ae646acbde335b5be56
2025-03-18 02:51:05 -07:00
35774706ee
Set parent frame of new frames after copying all frames.
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PiperOrigin-RevId: 737620918
Change-Id: I8f49570cab39bd84b2da908d3683dddc3b29cb3c
2025-03-17 08:19:04 -07:00
f25fc63f0f
Default flex internal contacts to "false".
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This function is unusual in the context of soft body simulations and has been a common gotcha for users, see e.g. #2500 , #2079 , #1900 , and #1433 . It should be used only if element inversion cannot be prevented otherwise.
PiperOrigin-RevId: 736822983
Change-Id: I76b0965c91c94dd88123826d218d7544ec37a88c
2025-03-14 04:55:09 -07:00
8e300eb628
Update list ids immediately during body detach.
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Fixes #2499 .
PiperOrigin-RevId: 736449320
Change-Id: Ieeae52bdbbbb896d886221ab088229c8287a32a3
2025-03-13 03:55:58 -07:00
8f4c5c4b16
add support for non-rgb textures in xml_native_writer
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PiperOrigin-RevId: 736221430
Change-Id: I83c19e06f0f7be054a88c3e894807e7b90ee012a
2025-03-12 12:17:32 -07:00
775c45c60e
Do not lookup compiler options by name when attaching.
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Also, fix a pre-existing bug that caused incorrect compiler option propagation with nested attachments.
Fixes #2480 .
PiperOrigin-RevId: 736156202
Change-Id: Ib430493e8c60556c2312603198587b39de9b8a4a
2025-03-12 09:18:47 -07:00
de48f4178f
Add missing term in mj_jacDot
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PiperOrigin-RevId: 735686836
Change-Id: I813ca46f71e368ddc97a6d2e540102137b31dbcf
2025-03-11 03:01:29 -07:00
019e0a806c
Throw an error if a child attached by reference to a parent is compiled.
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Fixes #2482 .
PiperOrigin-RevId: 735665098
Change-Id: Ia3436fdd2ff572f8f0c1ded434742a4a9186f2f7
2025-03-11 01:24:17 -07:00
14dc6fd33b
Do not use inertia during mesh compilation.
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Fixes #2479 .
PiperOrigin-RevId: 735387473
Change-Id: Ib241f2a0efc100bbe2cec24e0399bfcc87268094
2025-03-10 08:35:33 -07:00
e7a715497e
Write mesh inertia to defaults when exporting to xml. Fixes #2478
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PiperOrigin-RevId: 735338748
Change-Id: Id0b71d06c77baef417f7968ae8a14154243a1f83
2025-03-10 05:31:55 -07:00
adc3cc06fa
Change private->public spec for error checking in mjCSkin recompilation.
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Fixes #2485 .
PiperOrigin-RevId: 735323174
Change-Id: Ifcc2055f6a74afaa18ad5228633f36f760adcffd
2025-03-10 04:19:40 -07:00
4d024f9421
Convert internal representation of vertices to double. Also replace remove duplicate vertices with fast hash implementation.
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PiperOrigin-RevId: 734516595
Change-Id: Ic78556688d5f2b75d69cd286b8d060e2cdeb7c48
2025-03-07 05:17:49 -08:00
0f563ecf31
Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism.
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PiperOrigin-RevId: 733523931
Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
2025-03-04 17:34:35 -08:00
Robin Alazard