c49bc7c7c0
Warn when a non-rigid flex has no constraints or passive forces.
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Add a warning in user_model.cc if a flex is not rigid and has no edge equality constraints or passive forces (edge stiffness, edge damping, or vertex damping). Such flexes would not affect the simulation. A test case is added to verify the warning.
PiperOrigin-RevId: 889215981
Change-Id: I481128e1456921b632719547c676d201fdfbe931
2026-03-25 06:50:30 -07:00
510d75f4cf
Allow actuators to add damping and armature to joint and tendon transmissions.
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PiperOrigin-RevId: 886899849
Change-Id: I02200ee0d4f7c96096d8188b95f823b566562a30
2026-03-20 11:41:15 -07:00
efae9157a7
Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y
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PiperOrigin-RevId: 884607673
Change-Id: If8088dbf37fed1055304778a7eb84dec52cba920
2026-03-16 13:25:25 -07:00
86aae0f5a5
Use user::ThreadPool for actuator lengthrange calculation in addition to mesh and texture compilation
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PiperOrigin-RevId: 883099169
Change-Id: Id6832c2ca0b8f45e2f428615ae54df4b8bb6f434
2026-03-13 04:54:57 -07:00
713b5524bc
Introduces a new "strain" equality mode (flex_edgeequality = 3) for flexcomps with trilinear interpolation. This mode enforces constraints on the three invariants of the Green-Lagrange strain tensor at 8 Gauss quadrature points within each flex element, resulting in 24 equality constraints per flexcomp.
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Also fixes a bug when attaching a flex with constraints.
PiperOrigin-RevId: 881349765
Change-Id: I8e6df8239488bfdc87d7e5b473568975e38c737e
2026-03-10 04:26:07 -07:00
53fadd9d63
Improve nJmom by counting number of dofs for slidercrank and site transmissions
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PiperOrigin-RevId: 875233737
Change-Id: I2cf3afad7e29e176a4f5a917dd35cfad99b2b0a3
2026-02-25 10:41:24 -08:00
52ed96bc3a
Move tendon sparsity fields from mjData to mjModel
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PiperOrigin-RevId: 875087590
Change-Id: I1a5489d2d2011795ee38b09d547e68acd72e3cc7
2026-02-25 04:32:11 -08:00
37e993f67e
Improve upper bound for nJmom by computing maximum number of dofs for tendon transmissions
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PiperOrigin-RevId: 874057077
Change-Id: I83736719cc2d91a899cd5997ea4a91d21cf06c9e
2026-02-23 07:11:31 -08:00
84431fbf7e
Improved upper bound for nJten
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PiperOrigin-RevId: 872479828
Change-Id: I750d56320d6ace6145475d378cb9d0c30919438d
2026-02-19 11:09:25 -08:00
57c2316b9e
Merge pull request #3080 from kevinzakka:fix-fusestatic-camera-light-crash
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PiperOrigin-RevId: 872054304
Change-Id: I9eab499002077afa46b236e8eae13100285f362c
2026-02-18 14:53:30 -08:00
5903d4826f
Sparse ten_J and ten_J_colind
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PiperOrigin-RevId: 869712136
Change-Id: Id2979684aa0c39552cb8453852483cbac55f0ea3
2026-02-13 06:57:22 -08:00
336e1026a4
Sparse ten_J and ten_J_colind memory
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PiperOrigin-RevId: 868834376
Change-Id: Iec92d9e09e3134666895e54a78cb02439d74a4de
2026-02-11 14:05:43 -08:00
d011285380
Sparse ten_J and ten_J_colind memory
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PiperOrigin-RevId: 868800229
Change-Id: Id83f9fd40dd9bece06fd99753e4202eea17ca884
2026-02-11 12:45:50 -08:00
f570ab52a8
Fix segfault in FuseStatic when body contains cameras or lights
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FuseStatic deletes static (joint-less) bodies and reassigns their
children to the parent body. Geoms and sites were reassigned, but
cameras and lights were not, leaving dangling body pointers that
crash in mjCCamera::Compile() / mjCLight::Compile().
Add camera and light reassignment in FuseStatic and FuseReindex.
2026-02-09 14:56:51 -08:00
6419534bad
Add actuator and sensor delays. Fixes #1004
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PiperOrigin-RevId: 866478839
Change-Id: Id21a6da0f98454c8fa39ea5af8a5e213d6eae497
2026-02-06 08:47:36 -08:00
49b4790877
Enable multithreading for texture compilation, use new user ThreadPool for compilation.
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PiperOrigin-RevId: 864449279
Change-Id: I5dd053ab0b1f14d81e1f68296eadc59cd5b8d698
2026-02-02 11:35:41 -08:00
dce2ed00ea
Change not required, issue was addressed in e48da1e38c
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PiperOrigin-RevId: 861680910
Change-Id: Iea5c7190bf826c9254eb1bd2f78b0098073cba20
2026-01-27 06:03:04 -08:00
7da271c687
Add vertex equality option.
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PiperOrigin-RevId: 860299454
Change-Id: I7befd8e5f4c8bac6d74684a96a9cc3cee9ae1e29
2026-01-23 16:30:05 -08:00
68537e1e32
Replace mjtSize with size_t for size calculations.
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Use unsigned size_t instead of signed mjtSize for size multiplications to avoid Clang's overflow-checking intrinsic. This is semantically correct as size calculations are inherently unsigned.
PiperOrigin-RevId: 860172221
Change-Id: I3b6cb720db8771b8f266f1927e2980ac7514538b
2026-01-23 10:51:43 -08:00
30b903b6c0
Migrate mjModel size fields from int to mjtSize.
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This change updates all size-related members within the `mjModel` struct from `int` to `mjtSize`. This allows MuJoCo to handle models with a larger number of elements. Corresponding changes were made to macros, function signatures, and I/O routines to accommodate the new `mjtSize` type.
PiperOrigin-RevId: 860144595
Change-Id: I701c6d607715d240766b6210a9773cd9e4258c59
2026-01-23 09:41:49 -08:00
54dd623650
Add vertex-based flex constraints (dim=2).
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PiperOrigin-RevId: 859552050
Change-Id: I61d4b9dc40f041c5b930e5f8810a803e8bccb87a
2026-01-22 04:54:53 -08:00
e56b31e98f
Reduce flexedge_J size from nflexedge x nv to the effective sparse size.
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PiperOrigin-RevId: 856290141
Change-Id: Ide297d1b6f0e3aa07e3e20bf9ab44b6501097695
2026-01-14 11:18:41 -08:00
64a2345c07
Fix usethread check to enable multithreaded mesh compilation.
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PiperOrigin-RevId: 854260636
Change-Id: I18d1f47a1ef7f8abcce14e0351b9523fbbac8be6
2026-01-09 11:00:17 -08:00
608115ab95
Add output attribute to camera elements.
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This attribute allows specifying the intended output types (e.g., RGB, depth, normal) for each camera in the XML. The output types are stored as bit flags in `mjModel`.
PiperOrigin-RevId: 853316261
Change-Id: I1ad2e94102593cf402756f8f4c80509371ca86d2
2026-01-07 10:22:27 -08:00
7fddeeaff6
Minor fixes to mj_multiRay
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PiperOrigin-RevId: 847780959
Change-Id: I3588415f215bd5f1592bec6678a5bae45d5f0980
2025-12-22 08:52:36 -08:00
b8a4ac5d48
Refactor camera orthographic attribute to projection enum.
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PiperOrigin-RevId: 847069028
Change-Id: I7f686fe654e9b56519cab8bd2f37c9cc40091d3f
2025-12-20 03:28:29 -08:00
c064abc3da
Change row-flipping logic for heightfields.
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Move row-flipping logic from `mjCModel::CopyBack` to `mjXWriter`.
PiperOrigin-RevId: 842220322
Change-Id: I6fb09db6c9e8689f6e435f82f58dd3e7c4314478
2025-12-09 07:02:21 -08:00
769f37b653
Implement sleeping in engine
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PiperOrigin-RevId: 829361787
Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
2025-11-07 03:33:07 -08:00
252a0d73df
Add sleep related data structures
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PiperOrigin-RevId: 829055431
Change-Id: I1ccbd77a57044a754ae7db611b4c2c0010fbda53
2025-11-06 12:10:55 -08:00
740afe22b3
Append warnings to model compile errors.
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PiperOrigin-RevId: 827903480
Change-Id: I2ad17bf4cea0dae0ab803fbb7baa9bd70eef303d
2025-11-04 04:15:07 -08:00
01d1ac34e0
Add quadratic interpolation to flex.
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PiperOrigin-RevId: 822055781
Change-Id: Ibc252ac560de666b0b28f868e46b88d3ed92f67d
2025-10-21 04:36:36 -07:00
59f14485e0
Move mjCWrap type to mjsWrap.
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PiperOrigin-RevId: 821851540
Change-Id: I53382a8a21312a96aea46eec130f43e7cad70f92
2025-10-20 16:28:41 -07:00
b6f25ca623
Check mjs_getName return value in XML parser. Fixes #2898 .
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PiperOrigin-RevId: 819351410
Change-Id: I0807d71328068f6388991ae15274c7d61b4d3e53
2025-10-14 12:40:28 -07:00
0e1104768a
No public description
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PiperOrigin-RevId: 809083979
Change-Id: I5c6641b73c76153c15f5cdf858b788e1433acc81
2025-09-19 10:10:45 -07:00
26ea20a21f
No public description
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PiperOrigin-RevId: 809074980
Change-Id: Ib3e3522addceddba6a057cfef80fcbd30a420b3d
2025-09-19 09:49:07 -07:00
77e025ea98
Move meshdir and texturedir to mjsCompiler.
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For backwards compatibility in the Python bindings, both `spec.compiler.meshdir` and `spec.meshdir` are now allowed.
Fixes #2834 .
PiperOrigin-RevId: 809060113
Change-Id: Ie23f1c5dd57de43568312a8e062906f4013bb474
2025-09-19 09:05:44 -07:00
9d5063799f
Resize keyframes also at the start of compilation.
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Previously, it was assumed that attaching was the last operation performed on the mjSpec, so keyframes resulted in the incorrect size. In order to prevent information loss, we now only allow the resize function to expand the keyframe array, since attach should never remove a degree of freedom.
PiperOrigin-RevId: 804917828
Change-Id: Icfacd207ced1c6aac600d514f8d9065ceff2d347
2025-09-09 08:16:32 -07:00
8acd83f317
Add passive collision mode for flexes.
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PiperOrigin-RevId: 801754907
Change-Id: I4147af2ee2596519d42cb9a03cf8d5488f0bc3e8
2025-09-01 04:13:58 -07:00
b092563cab
Remove mjDSBL_PASSIVE, split it into mjDSBL_SPRING and mjDSBL_DAMPING.
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PiperOrigin-RevId: 800870384
Change-Id: I273e0ceec090901e2620febb67e57914928e94bb
2025-08-29 06:06:28 -07:00
1fb1810b07
Add ability to specify a material assignment to a mesh asset.
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This extends both the spec and the XML definition to allow specification of a material name on a mesh. This material acts as a fallback in the case that the referencing geom element does not specify a material of it's own.
PiperOrigin-RevId: 798232378
Change-Id: Iaf300c727732744ea1b613e64334ee505ac6e209
2025-08-22 09:11:31 -07:00
b66175eba6
Bending stiffness for curved shells in flex.
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PiperOrigin-RevId: 796361841
Change-Id: I105ea235fe2a8e1bcbde67276d77fa92eed214a1
2025-08-18 04:13:18 -07:00
6b41fbe72a
Use CSR matrices for dof-dof index mappings
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PiperOrigin-RevId: 795895311
Change-Id: I1000e0ee98906ef35990e73236e85d6354487b82
2025-08-16 13:06:32 -07:00
c0096b51a4
Move ntree to mjModel allocator sizes
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PiperOrigin-RevId: 795855203
Change-Id: Idab185294d53dced9ebf073b782969dc5643b95a
2025-08-16 09:16:41 -07:00
7eb13777f8
Put sparsity structures in mjModel, don't use them yet.
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PiperOrigin-RevId: 795032051
Change-Id: I75c69e881980ff9c308acf00bb3a65f4b2ef12f5
2025-08-14 07:37:42 -07:00
f077fd00a9
Compute sparse matrix sizes before making the mjModel in the compiler.
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PiperOrigin-RevId: 794998215
Change-Id: Ib7d0a2479b18cc8b3168c0656d3c4be0eff43a0f
2025-08-14 05:51:17 -07:00
840108cf7c
Refactor octree in preparation for continuous interpolation.
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PiperOrigin-RevId: 792092644
Change-Id: I096ca0989210a00ae0b4556498d96212755d23c7
2025-08-07 04:06:03 -07:00
3434f5d9c7
Compute convex hull for collision pairs.
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PiperOrigin-RevId: 788074030
Change-Id: I3d4bbe71f824db82e998e374d95a5c49995af806
2025-07-28 10:49:50 -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
9a41d385c1
Add needsdf flag to mjsMesh.
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PiperOrigin-RevId: 782949528
Change-Id: Iaa96326a91795c3469c991bd8def53560b38e4f0
2025-07-14 10:13:05 -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
Alessio Quaglino