e92ce30732
Account for scale authored on UsdMesh prims.
...
PiperOrigin-RevId: 784231423
Change-Id: I82b363c6c40940982ebeb0b1949e0e1e8f92199d
2025-07-17 10:29:31 -07:00
c597434fc9
When UsdCollisionAPI is applied but collisionEnabled is false, treat it as a visual gprim.
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PiperOrigin-RevId: 784219782
Change-Id: If87e1cd7e1cc10b27a3d432585466e3aece71d26
2025-07-17 09:59:37 -07:00
f5df466ee5
Add support for visual gprims to USD parsing.
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PiperOrigin-RevId: 784197335
Change-Id: I8eb155b7942209f372487f8268ad76310cf510ac
2025-07-17 08:51:50 -07:00
2e13c64308
Simplify parsing from USD stage to kinematic tree for mjSpec population.
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Summary of changes:
- Move stage parsing from usd_to_mjspec to kinematic_tree
- A Node now has lists of paths for prims that we support parsing.
- When parsing the stage, we create a list of all the Nodes that we will place in our tree.
- Removed the need for expensive SdfPath maps and sorting of bodies in favor of indexed integer arrays.
- Simplifies usd_to_mjspec parsing as we can process each node and it's owned prims one at a time.
PiperOrigin-RevId: 784187799
Change-Id: I4907cfa1137014af21c45b10fa29ac53a49b6dac
2025-07-17 08:20:10 -07:00
bca5d0c671
Update all references after attaching a plugin with multiple references.
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PiperOrigin-RevId: 783784916
Change-Id: I11da14f11f9206b466bce424979264659bf9a819
2025-07-16 09:22:55 -07:00
3cc8d7f58a
Fix typo in mjcPhysics MjcMaterialAPI
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PiperOrigin-RevId: 783750052
Change-Id: Ib829ae7ead7a33572e94ee0fe221da778b623f10
2025-07-16 07:31:09 -07:00
549a21c9c2
Add box-triangle projection tests to octree construction.
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Number of octree nodes for cow example:
Before change 45217
After change 28921
PiperOrigin-RevId: 783748606
Change-Id: I278ac7bc969dc1463d6dd0f7cdc8b267b7ce6c92
2025-07-16 07:24:59 -07:00
6144a508b5
In Mujoco USD interop, only consider dynamic friction when writing to and parsing from USD.
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PiperOrigin-RevId: 783741987
Change-Id: I23c47a6e95c160c5c7d5c513e268c79e4236e2e4
2025-07-16 07:00:18 -07:00
b99d9e8f12
Fix inherit range pulling from act early attribute when parsing USD to MjSpec.
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PiperOrigin-RevId: 783735573
Change-Id: I988f16cd16e47caa84a30009c36a932ec3672429
2025-07-16 06:35:10 -07:00
ac0701d582
Add mujoco compiler settings to MjcSceneAPI in mjcPhysics.
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PiperOrigin-RevId: 783729333
Change-Id: Ic1c3e4fb47a901de4eebdc2e987d276f4202d9ed
2025-07-16 06:09:36 -07:00
cdf5bcb693
Add inheritrange attribute to mjcPhysics MjcActuator
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PiperOrigin-RevId: 783363012
Change-Id: I7d0476aae70c3acc3ed4808a8741b7eb12948dba
2025-07-15 09:30:16 -07:00
5e666635f6
Remove mjtVisFlag.mjVIS_FLEXBVH and mjvOption.oct_depth
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PiperOrigin-RevId: 783355711
Change-Id: I1e11999d5c533925f1d07266aeca95598a5691ba
2025-07-15 09:08:22 -07:00
14a8880d0d
Add plane collision test between box and triangle to Octree construction.
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Number of octree nodes for the cow example:
Before change 57849
After change 45217
PiperOrigin-RevId: 783338447
Change-Id: I0e5178a4aa5bbe066f2a0ac1eb965b84e541dfd4
2025-07-15 08:13:44 -07:00
4ea778f2d3
Add octree support to MJX API.
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Also, enable the touch sensor to use the octree SDF.
PiperOrigin-RevId: 783313462
Change-Id: I0032c2a7164f4770aa10a3612db3fd70bea954db
2025-07-15 06:44:43 -07:00
576a34bcf2
Add netforce reduction to contact sensor.
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PiperOrigin-RevId: 783020713
Change-Id: I0d11ccc4e1fd16d07e6f116d64a26485346d9cf1
2025-07-14 13:27:43 -07:00
d0e4771c8c
Add contact sensor.
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PiperOrigin-RevId: 783011982
Change-Id: Ica56fe9d520fa1d1ee7338e09148b1a55a049912
2025-07-14 13:03:35 -07:00
e441868dad
Add missing attributes to MjcCollisionAPI USD schema.
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PiperOrigin-RevId: 783006362
Change-Id: I02d51190d62bb9460863025cd16360427afc70c4
2025-07-14 12:47:24 -07:00
ef013a0633
Add mjPARTIAL_SORT macro to engine_sort.h
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PiperOrigin-RevId: 782999687
Change-Id: I986aec0e1faedae90f1891b5f3233d5262d167f3
2025-07-14 12:26:36 -07:00
6e7aaacb85
Do not rely on global object lists in mjCBody::NextChild().
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PiperOrigin-RevId: 782963753
Change-Id: I0afecbab4b7796f077963ba66eb7140d8f83ad89
2025-07-14 10:47:45 -07:00
9a41d385c1
Add needsdf flag to mjsMesh.
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PiperOrigin-RevId: 782949528
Change-Id: Iaa96326a91795c3469c991bd8def53560b38e4f0
2025-07-14 10:13:05 -07:00
92bcbeb5d3
Add support for UsdPhysicsMaterialAPI and create MjcMaterialAPI for missing attributes.
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PiperOrigin-RevId: 782942169
Change-Id: I344b5e47d1d63c9d4e50173cb6a96d0af177ec9e
2025-07-14 09:53:13 -07:00
7d5b360dea
Add clarifying comments to mju_transformSpatial
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PiperOrigin-RevId: 782842640
Change-Id: I1e6fc27a860b4afc3a00ab4be6d5cb2897b4426b
2025-07-14 04:03:14 -07:00
11e695b4c2
Rename MjcTransmission to MjcActuator in mjcPhysics schema.
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PiperOrigin-RevId: 782352356
Change-Id: I4b74e3131b0fed925c506742c22038231f848909
2025-07-12 09:39:01 -07:00
3473e4e451
Add group support to mjcPhysics equivalents for sites, geoms, actuators, and joints.
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PiperOrigin-RevId: 781945497
Change-Id: I5c409f05e6bae33c181a51c273f260daea6004fc
2025-07-11 05:37:41 -07:00
3c99705f85
Update MuJoCo's version number following the 3.3.4 release.
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PiperOrigin-RevId: 781596261
Change-Id: Iac050c4b9cb65542b52fa6b8c54ff2537bc6a648
2025-07-10 10:47:26 -07:00
723960a1f3
Fix plane size
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Mujoco uses half-sizes so we must divide USD sizes by 2.
Also added a test for geom primitive sizes.
PiperOrigin-RevId: 781595650
Change-Id: If8a84dd942905c367590eafffac61cc23b1c407d
2025-07-10 10:45:43 -07:00
58c95219dc
Modify mjSORT to remove some unnecessary copies.
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PiperOrigin-RevId: 781573097
Change-Id: I60148bc88fb64ea6dfee9390efb3fd161ad3f1d8
2025-07-10 09:51:40 -07:00
1f8f3a5004
Add capsule axis rotation for USD->MJ.
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PiperOrigin-RevId: 781546484
Change-Id: Ie6613de8faac406664ca22cb246fe7db2a728317
2025-07-10 08:32:07 -07:00
1bb6391d9c
Replace SetRotateInto with pxr::GfRotation(from, to) constructor directly
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Also remove duplicate line with no effect
PiperOrigin-RevId: 781540954
Change-Id: I1e161c2ed0b6e3209697c9551ad30e3371e44865
2025-07-10 08:14:32 -07:00
d81ab17bf5
Cache SDF octree.
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PiperOrigin-RevId: 781500550
Change-Id: I0077d41f13be0243bff292534cc6bce2bdc1caa4
2025-07-10 06:05:28 -07:00
fbea72d767
Remove MjcActuatorAPI in favor of typed MjcTransmission.
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PiperOrigin-RevId: 781498554
Change-Id: Ib6ce5038645f6ca08638a9d316b0347dc121bc62
2025-07-10 05:58:58 -07:00
2d69610abd
Use the geom frame for SDF collisions.
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Also disables mesh reorientation for meshes autogenerated with marching cubes from analytic SDFs.
PiperOrigin-RevId: 781487195
Change-Id: I36b66384f240a764823c489f78f22ba9fe32f15f
2025-07-10 05:16:51 -07:00
7e57a6bc30
Add missing actuatorgroupdisable default to mjcPhysics schema.
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PiperOrigin-RevId: 781487140
Change-Id: I7b0ff3a015e0c6b229e5409455a648f6d2399617
2025-07-10 05:15:27 -07:00
e7212d86bc
Add maxhullvert attribute to mjcPhysics MeshCollisionAPI.
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PiperOrigin-RevId: 781482346
Change-Id: I0d53f9ad99ac842629243b0375907b2f91bd3b61
2025-07-10 04:59:18 -07:00
270017f9ba
Spurious formatting errors for gravity attr authoring in Mjcf SdfFileFormat plugin.
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PiperOrigin-RevId: 781175798
Change-Id: Ic3b3a14280c051859db7c38af0e271a1878acdb8
2025-07-09 13:02:19 -07:00
cef02fabea
Remove sdflib plugin and move interpolation to engine_collision_sdf.
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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
96118da08b
Move SDF precomputation to the mujoco compiler.
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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
a3d251f552
Add mjModel.sensor_intprm, integer parameters of sensors
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PiperOrigin-RevId: 781053754
Change-Id: I90e5ef1cab3f87b894dbc70dccfc8bf0046ce1b6
2025-07-09 08:00:21 -07:00
9d64ed9575
Remove leftover MJ_USD_TARGET_NAME include directories call from USD CMake.
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PiperOrigin-RevId: 781023625
Change-Id: Id75cb94c0eafc27c47a275d3cf4280020ed0c17a
2025-07-09 06:33:55 -07:00
b81f1db8af
Replace SdfLib with linear octree interpolation of TriangleMeshDistance.
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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
e6c5715903
Add insidesite sensor for detecting when an object is inside the volume of a site.
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PiperOrigin-RevId: 780993257
Change-Id: I2dcfc840d222680adc3b934344a0819f4d78b6eb
2025-07-09 04:56:42 -07:00
13621879c6
Remove unnecessary loop from mj_collideOBB.
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PiperOrigin-RevId: 780629489
Change-Id: I715cd1f72012c0655997ba4c967fa7b5b8731d54
2025-07-08 10:50:33 -07:00
14972d2490
Add mj_loadUSD function. Change simulate to use that instead of manual spec compilation.
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PiperOrigin-RevId: 780608874
Change-Id: I333238c756fe76b371518a7cdf9452b93da3540a
2025-07-08 10:04:08 -07:00
e507e31922
Fix schema naming in mjcPhysics to avoid collisions.
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PiperOrigin-RevId: 780537076
Change-Id: I4ea24162ba20d6aae10207491f9aae2250808576
2025-07-08 06:27:30 -07:00
d464165e30
Print contact forces in mj_printData.
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PiperOrigin-RevId: 780503111
Change-Id: I17c6f1584d5260fa9c88c54d0aea9ec0101c082b
2025-07-08 04:11:10 -07:00
1a4ddca6cf
Make mjs_findElement find meshes by file name.
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PiperOrigin-RevId: 780150428
Change-Id: Ie500062fa8cca755683b66540e84ede588d7c331
2025-07-07 09:51:33 -07:00
7a09145161
Rename variables to avoid shadowing in user_objects.cc
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PiperOrigin-RevId: 780137314
Change-Id: Ife5abd0ecc3851837a7aef7048efe80dbdfcf60e
2025-07-07 09:15:03 -07:00
e01c4b454a
Rename variables to avoid shadowing in xml_native_reader.cc
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PiperOrigin-RevId: 780135233
Change-Id: I509ac6a0807e102ad8749f81562ad45bf4c04335
2025-07-07 09:10:02 -07:00
783e6499d8
Remove explicit mjModel dependency from engine_util_misc.c
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PiperOrigin-RevId: 780123513
Change-Id: I567e09db3cd13a93a4720742affb62b54bfa5426
2025-07-07 08:33:19 -07:00
6ccc4f77bc
Defer sensor reference id resolution from sensor compiler to model compiler
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PiperOrigin-RevId: 780070082
Change-Id: I7166f589f15bb0cd14b92e213d7a9f2a3bbad4e4
2025-07-07 05:37:53 -07:00
Sam Haves