ff7c94de8a
Add quadratic interpolation to mju_interpolate3D.
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PiperOrigin-RevId: 820252349
Change-Id: I983175eb51d7e1a81da06c0911326fcb8f5fe764
2025-10-16 08:48:20 -07:00
ffdfe542cf
Add mju_interpolate3D.
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This is a more general API in preparation of a higher interpolation order
PiperOrigin-RevId: 820174741
Change-Id: I81bd52ab44e0485d72579e21d1c8a48a1b35ec3f
2025-10-16 04:39:24 -07:00
48f10bfcb6
Update MuJoCo to v3.3.8 following the 3.3.7 release.
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PiperOrigin-RevId: 819919328
Change-Id: Ib34f959f6f8efd83362d49e784aa8e0594036899
2025-10-15 14:39:05 -07:00
5715cebbb9
MSAN: Don't clear mjData.sensordata in mj_resetData
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This is strictly an out array and should not be read before it is written to. This change improves MSAN coverage of engine code.
PiperOrigin-RevId: 819767673
Change-Id: I57500c8147f4774d326cf87ea3bac5420e4dd54d
2025-10-15 08:31:03 -07:00
ae1febd83f
Automated g4 rollback of changelist 818694877.
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*** Reason for rollback ***
BEGIN_PUBLIC
Holding off on a minor version bump until the next release.
*** Original change description ***
#mujoco update the version to 3.4.0 ahead of the 3.4.0 release.
Bump the version to 3.4.0 ahead of the next release.
***
PiperOrigin-RevId: 818748143
Change-Id: I722e9beb80c61a48bd997da6a1840777a81d5036
2025-10-13 11:14:42 -07:00
02d2d4d49a
Bump the version to 3.4.0 ahead of the next release.
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PiperOrigin-RevId: 818694877
Change-Id: I42e261956a0219e549bec6a54cbf330a74f02f9f
2025-10-13 09:22:49 -07:00
bbeb0b95a7
Reset contact efc_address in mj_clearEfc, fixes #2869
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The truth is that all these solver-related values should be moved out of `mjContact` altogether, but that can be done in a future followup.
PiperOrigin-RevId: 818624976
Change-Id: I5b9e63927098cdf26b9f8acfdd9d86e75d6ce331
2025-10-13 06:18:41 -07:00
66a1c22cae
Label all bodies, not just selected bodies, when mjLABEL_BODY is set.
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An earlier refactor incorrectly assumed that only selected bodies needed
labels.
PiperOrigin-RevId: 818568645
Change-Id: I7aea07c5342673dd589e1891d0db1f2b0c489fe4
2025-10-13 02:54:34 -07:00
a7fe06c717
Further simplification to mj_crb
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PiperOrigin-RevId: 818241421
Change-Id: I67dd2a60f415eb17b41f5ee553939118ab124123
2025-10-12 01:43:30 -07:00
12f0e3df9a
Quick return for static bodies in mj_object{Velocity,Acceleration}
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PiperOrigin-RevId: 818238459
Change-Id: I340a2f61439db2a149cc64a5fee543680fdcad0f
2025-10-12 01:25:05 -07:00
abe88202d0
Remove redundant flags argument.
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PiperOrigin-RevId: 817115667
Change-Id: I4e5096206d7c24f5861e1bb9e8049149803dceeb
2025-10-09 04:07:43 -07:00
8e4932170a
Remove unused params.
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PiperOrigin-RevId: 816654011
Change-Id: Ib26bc90dcda167e8acf1feaa3b015acb5aa7aceb
2025-10-08 05:05:59 -07:00
e7e331b11e
Update sensor decor elements to be of type mjOBJ_SENSOR.
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PiperOrigin-RevId: 816640568
Change-Id: I838608c0482ec1ee499fe9598ddb33aa6c5331e9
2025-10-08 04:17:40 -07:00
7b9f6a5cc1
Invert early-out checks to reduce nesting.
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PiperOrigin-RevId: 816606107
Change-Id: I325d3f4695cdeb189694088d8a81b198d65f96ea
2025-10-08 02:21:14 -07:00
52eff3da0f
Fix mismatched argument format in mju_mulInertVec declaration.
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PiperOrigin-RevId: 815818142
Change-Id: Id9caa581962705095f227a113505fc3e3ddd1054
2025-10-06 11:40:32 -07:00
ab9575d8a6
Refactor and speed up mj_crb and add a benchmark.
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This is a no-op "prefactor" of `mj_crb` to reduce the number of lines changed in the upcoming sleeping CL. The main change here is that `mj_crb` now avoids accessing the model and data pointer repeatedly, but instead has the input and output pointers explicitly declared as local variables. A benchmark test found a healthy **14% perf bump** due to two changes:
- Adding `restrict` to `mju_mulInertVec`
- The function-local pointers.
Adding `restrict` to the local pointers had no effect. Note that `mj_crb` is not a particularly expensive function so these speed bumps are not significant per se, but rather indicative of possible future gains with these techniques.
```
Benchmark Time(ns) CPU(ns) Iterations
---------------------------------------------------------------
ORGINAL BASELINE
BM_CRB_BASELINE_mean 4325 4348 993200 230.052k items/s
BASELINE + RESTRICT
BM_CRB_BASELINE_mean 4057 4090 1186150 244.573k items/s
LOCAL POINTERS + RESTRICT
BM_CRB_mean 3772 3800 1001750 263.209k items/s
```
PiperOrigin-RevId: 815798225
Change-Id: Iffdf57b544e8e10562807c617f73ca4ccd1c614f
2025-10-06 10:54:01 -07:00
431f96572e
Remove unused mjOption.apirate.
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PiperOrigin-RevId: 815633571
Change-Id: Ib98f3eb2df47f96fa1fe6e987a3a0cd23a9479f6
2025-10-06 02:51:17 -07:00
a849fedcd2
Separate mjv_addGeoms into separate functions for each category.
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PiperOrigin-RevId: 815607891
Change-Id: I16b29061c7e2229146bd0e0152721bca40fa4fd1
2025-10-06 01:30:26 -07:00
18779ab54a
Clean up engine_core_util
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PiperOrigin-RevId: 814709359
Change-Id: If4ec66808e7de51e16b772afdb8485fa4ff30030
2025-10-03 08:48:11 -07:00
24679b47e4
Separate out site and geom frame construction.
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PiperOrigin-RevId: 814677737
Change-Id: I623f9d1e23ac6b3076a577e97911f7ec73492f52
2025-10-03 06:56:53 -07:00
493d73062c
Misc cleanup to addFrameGeoms.
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PiperOrigin-RevId: 814582959
Change-Id: I2546bf1c13334628d379ad24737de095085e1b1f
2025-10-03 01:14:32 -07:00
6ed2ceaa83
Add non-decorative elements before decorative elements.
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PiperOrigin-RevId: 814165875
Change-Id: Iab09e2fe1fa129b0c19760c969b5639e690a95d9
2025-10-02 03:59:06 -07:00
91257896c0
Implement faster mju_isZeroByte.
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PiperOrigin-RevId: 814148714
Change-Id: Iaf5ed9d3502eaaaee8d46a986f2db00811ae0707
2025-10-02 02:53:53 -07:00
edbdb5195c
Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2
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PiperOrigin-RevId: 813754244
Change-Id: I6836e41c3b021cb727e922c25c60f629b9814c93
2025-10-01 07:58:17 -07:00
b1ae44d10f
Refactor duplicated frame drawing logic into a utility function.
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PiperOrigin-RevId: 813675737
Change-Id: I7f9094852f26b2ddc08534bf87cf2f71476d99ec
2025-10-01 03:36:14 -07:00
f9d0bedb44
Minor cleanup: Move geom-related functions together.
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PiperOrigin-RevId: 813661319
Change-Id: I6cdf74ff57f39f932ddd39268f15f1128ddf1df4
2025-10-01 02:46:45 -07:00
328a4ab293
Merge geomsExhausted into acquireGeom.
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PiperOrigin-RevId: 813347956
Change-Id: I07bd566388383cc5c49e675f5b85fffb379ef6d1
2025-09-30 11:19:53 -07:00
59d0676dcc
Remove redundant checks for exhausted geoms.
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PiperOrigin-RevId: 813284297
Change-Id: I565c517bef782ba07ff323e206b75f6f905e5809
2025-09-30 08:44:17 -07:00
70d03adc71
Store the status of the scene in the scene itself.
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PiperOrigin-RevId: 813119377
Change-Id: Iebff9e7796ca9809ea22902522982bfd96eeba06
2025-09-30 00:06:00 -07:00
6a7566872a
Functions for printing the contents of mjvScene.
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PiperOrigin-RevId: 812699642
Change-Id: Iafff53c952c952624129ff01a8c1b0aa5d38eec5
2025-09-29 02:47:17 -07:00
8de86c9944
Remove margin name from geomdist sensors.
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PiperOrigin-RevId: 811775910
Change-Id: I4d265d4ad0206ea2d92c6c4b659f509a17f12baa
2025-09-26 05:24:12 -07:00
e51459f949
Break out struct initialization functions into engine_init.c.
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PiperOrigin-RevId: 811598048
Change-Id: Ia832a8268e2209a5a264bbf79aa00dda487206bc
2025-09-25 19:22:27 -07:00
fe8384b6c5
Visualize joint and tendon limits by re-coloring.
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PiperOrigin-RevId: 811590674
Change-Id: I5b65f2294a4bcda3c321fb51ebf29501bd0d416d
2025-09-25 19:02:26 -07:00
0baac58999
Remove redundant ngeoms check.
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PiperOrigin-RevId: 810787607
Change-Id: I5d04b1d7f5f8ad758960a46ff08cc47d2887e851
2025-09-24 02:21:35 -07:00
d9650b68b0
Remove unused private functions
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PiperOrigin-RevId: 810776310
Change-Id: I1c67c5efe07c4ca23b04122548b674719be927f7
2025-09-24 01:48:54 -07:00
d71d42a374
Add private function mju_isZeroByte to check for byte-wise zero.
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PiperOrigin-RevId: 810456282
Change-Id: I877d0f9225e7a783ed7ff12ce54f4ed0a7889793
2025-09-23 08:49:43 -07:00
33b09e0822
Stop using stack allocation for catenary drawing
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PiperOrigin-RevId: 810434095
Change-Id: Iee8c01ff721c2af216c5725fc9eaf6267b2e5284
2025-09-23 07:37:34 -07:00
09e6723dab
Remove unnecessary stack mark/free in engine_vis_visualize.c
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PiperOrigin-RevId: 810391913
Change-Id: Id02f4dadba7ef08f60bb7726470082f45c5761c5
2025-09-23 04:53:50 -07:00
d616f11508
Remove references to deprecated nconmax and njmax.
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PiperOrigin-RevId: 809987304
Change-Id: I4109497fe108234dd77011d61eb3ef833e6ae111
2025-09-22 06:28:41 -07:00
4bbe4e5ebc
Zero actuator_velocity if actuation is disabled.
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PiperOrigin-RevId: 809986353
Change-Id: Ie9fecda80864fef3377074042fd7829af8d03d64
2025-09-22 06:24:43 -07:00
7fc6b29afd
Replace PREPARE_NEXT_GEOM and FINISH_GEOM macros with functions.
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PiperOrigin-RevId: 809940866
Change-Id: I1d45eede9ddf8606e7fd2a8caa2ed0224b0e24a7
2025-09-22 03:21:13 -07:00
d9da8e2570
Replace RETURN_IF_GEOMS_EXHAUSTED macro with inlined code.
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PiperOrigin-RevId: 809919921
Change-Id: Icf2afbd4168ebb18577b5915afa9d457001259d6
2025-09-22 02:03:19 -07:00
d55da23235
Simplify mj_comPos, avoid stack allocation
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PiperOrigin-RevId: 809762290
Change-Id: I87824279ff5f7049b1f06b900d4d3e33f5fafe0f
2025-09-21 14:06:22 -07:00
681f5767b2
Remove -Wno-extra-semi, add workaround for mjSORT confusing some IDEs
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PiperOrigin-RevId: 808689636
Change-Id: Ia091fb597c171a33842e62690d06f32614fbe4eb
2025-09-18 12:28:09 -07:00
eb96dd556c
Reduce ccd_iterations from 50 to 35.
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PiperOrigin-RevId: 808610578
Change-Id: I8755f9ba2902bf0805b7ded07ee6e048e404a31f
2025-09-18 09:16:52 -07:00
4b8454b79c
Add semicolons after mjSORT macro calls.
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PiperOrigin-RevId: 808587320
Change-Id: I9fd290b9a2b615647135f1250e87af8ea9bb81f6
2025-09-18 08:13:46 -07:00
d7500e0dec
Split START macro into two parts: one for control flow and one for assignment.
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PiperOrigin-RevId: 808497167
Change-Id: I4d78426af69d98f57600cb7fd76edaf5b20b0039
2025-09-18 03:23:12 -07:00
8e9eb2fa38
Update MuJoCo's version number following the 3.3.6 release.
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PiperOrigin-RevId: 808180152
Change-Id: I23de64cb0968b94c489b29622e4308d16513793a
2025-09-17 09:13:04 -07:00
7eab0117f7
Don't smooth tracking camera motion
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PiperOrigin-RevId: 808110613
Change-Id: Ib8631e5ace6db7c7bb780f26b79a72e26e72f451
2025-09-17 05:25:17 -07:00
52da7586dc
Clean up includes in src/engine
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PiperOrigin-RevId: 807726978
Change-Id: I02800deb79bfb3c328d941861ded9d817e8f6e32
2025-09-16 09:36:44 -07:00
Alessio Quaglino