4ea778f2d3
Add octree support to MJX API.
...
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
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
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
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
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
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
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
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
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
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
2937efd5f2
Use sparse math in mjd_actuator_vel.
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PiperOrigin-RevId: 778924297
Change-Id: I221fb338c894f278e9f8401f25056539c62ccc65
2025-07-03 10:52:54 -07:00
9eb0745968
Fix comment typo in getimpedance.
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PiperOrigin-RevId: 777997980
Change-Id: I0fe87196360e6771db10f4d9b08d43448ea5f54e
2025-07-01 05:33:47 -07:00
5c1f1f9dba
Add octree to meshes of SDF geoms.
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PiperOrigin-RevId: 777634862
Change-Id: I3210c2f8d73fd30ceecb0a11abd1d82e086b3d5d
2025-06-30 10:50:15 -07:00
57b3d6d0f4
Make island discovery compatible with flex
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PiperOrigin-RevId: 777490642
Change-Id: Iae2f4e8297cc24bded833e04ebfe32895f3a5460
2025-06-30 03:16:57 -07:00
e97e5d31d0
Replace box SDF with a smooth approximation.
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This approximation is equivalent to the exact SDF on the surface and externally, but it is smooth on the inside, rotating the gradient from radial at the box center to normal to the faces at the surface, and interpolated linearly (using two Euler angles) in between. This enables stable contact gradients for deeper penetrations.
PiperOrigin-RevId: 776574022
Change-Id: I562976e9f0535b0067aa12b2bc9d48eccb6472e9
2025-06-27 07:21:30 -07:00
862300def5
Fix comment typo in _resetData.
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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.
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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.
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PiperOrigin-RevId: 773783069
Change-Id: I2fff2abdceedc982d89cee8d14b95abceea1c113
2025-06-20 11:41:27 -07:00
4ce6293217
Fix bug in inverse dynamics when tendon armature is present.
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PiperOrigin-RevId: 773604419
Change-Id: Iaffe3d831c6a5aba8a0a99c05aa76cbd862745f5
2025-06-20 02:25:04 -07:00
335a9ce0c2
Use early-exit to improve readability of mj_instantiateEquality.
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PiperOrigin-RevId: 772917213
Change-Id: I106402d063a8fd0e95154bd8608eb4359d4dfdab
2025-06-18 07:45:23 -07:00
998769a995
Return the total non-zeros from mju_sqrMatTDSparseCount.
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PiperOrigin-RevId: 772414653
Change-Id: Ic1cac868af0034196f33d08b2456be77c72cbd50
2025-06-17 04:27:15 -07:00
a4ab35c194
update scrubs and set next version
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PiperOrigin-RevId: 770740070
Change-Id: I6b2f1356706b1849872df2583adbbb3f72057884
2025-06-12 11:39:45 -07:00
9b2b7cf92a
Set light intensity to 0 by default (not 1000).
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PiperOrigin-RevId: 764257692
Change-Id: If656095e3f8d4b4d9c97fa67bdad508a49095eb3
2025-05-28 07:47:28 -07:00
56b88b59f0
Support 0-simplex in GJK code, and refactor code for efficiency and readability.
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PiperOrigin-RevId: 764197889
Change-Id: Ie0d57474060a34a6b908be0386094f442cda448a
2025-05-28 04:19:13 -07:00
568620dd2f
Add texture attribute to lights.
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PiperOrigin-RevId: 763739805
Change-Id: I333ed2ac68f30f79f688ca01d7b5fd6bf2d836c9
2025-05-27 05:04:01 -07:00
89e39dc0a7
Expose mj_makeM as a sub-component.
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PiperOrigin-RevId: 763662068
Change-Id: I55ced456dca751c1de09fb35e2f73c60ffc0d626
2025-05-27 00:35:55 -07:00
eb6f7dc6b7
Gate some calls with __EMSCRIPTEN__
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PiperOrigin-RevId: 762520516
Change-Id: If9f7729721bab8c947861a968cf96eecc6591228
2025-05-23 12:10:52 -07:00
74cc904edc
Convert light directional boolean into a type enum.
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PiperOrigin-RevId: 761983728
Change-Id: Id5bf93c103e5358d9c5cd9f1176532a978e0b3a8
2025-05-22 08:51:18 -07:00
373b4c0437
Support image/ktx format for textures.
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PiperOrigin-RevId: 761926074
Change-Id: I6a312634b5bdc706ea5166bc3b2be273e14c1c8a
2025-05-22 05:47:55 -07:00
94803d772c
Enable multithreading of Newton solver.
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PiperOrigin-RevId: 760723081
Change-Id: Ib7d3c9cec2fdf7dd0e46a570f37c0a6fc5424c7b
2025-05-19 12:18:22 -07:00
7edbdd0ad6
Remove the Shell plugin and integrate it into the engine.
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PiperOrigin-RevId: 760688502
Change-Id: Ia70988d42b7edf571d7cb4a4f48f8fc50b51667d
2025-05-19 10:51:25 -07:00
45fc15b844
Speed up sparse supernode detection by combining it with transposition.
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PiperOrigin-RevId: 760673008
Change-Id: I6d66580e675fd86e5b974859383f93f87482ca16
2025-05-19 10:14:15 -07:00
ced630181d
Replace mjv_sceneState and related code with mjv_copy{Model,Data}
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PiperOrigin-RevId: 760662776
Change-Id: I512bda9187fbc19ade6924b91d5cb2275078de42
2025-05-19 09:51:58 -07:00
8268c6d1ff
Add mjv_copyData
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PiperOrigin-RevId: 760642972
Change-Id: I16227fd91bf42618fda684b15b3650758ae29b13
2025-05-19 08:59:43 -07:00
84d658a5ad
Remove redundant variable in mj_factorI
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PiperOrigin-RevId: 760604094
Change-Id: I664b4cc9d717bc12a4711feb3fa585777fb7a1aa
2025-05-19 06:42:11 -07:00
ee8abdf854
Speed up mju_sqrMatTDSparse
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PiperOrigin-RevId: 759593417
Change-Id: I0168e1f96333769d09d61e835560910d43aac608
2025-05-16 06:42:17 -07:00
e8c566bee1
Remove use of diagnum in solver
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PiperOrigin-RevId: 759021147
Change-Id: I9e5c85b6542380780fc487781398f406ddaad51b
2025-05-15 00:39:28 -07:00
e1baa15776
Remove unnecessary argument in mju_mulSymVecSparse
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PiperOrigin-RevId: 758688536
Change-Id: Ife1099b948215363ddaa6d0b0edcf3492edcddcc
2025-05-14 08:12:15 -07:00
d8bebdc675
Remove unnecessary diagnum argument in mj_solveLD and mj_factorI
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PiperOrigin-RevId: 758669364
Change-Id: Icfefc4a7a1e7d28da373725358ccf9d5f589f689
2025-05-14 07:13:27 -07:00
b0c36c6b33
Remove dead functions.
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PiperOrigin-RevId: 758663369
Change-Id: I2de0d9802eb73c3541ef17e46182608b08a3793e
2025-05-14 06:55:39 -07:00
dd28b887d4
Rename C sparse structure to M in mjdata, improve docstrings.
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PiperOrigin-RevId: 758636638
Change-Id: If78acc423601d2911f514929b27f7b6d0af9ef58
2025-05-14 05:26:19 -07:00
1165018f71
Add island support to Newton solver
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PiperOrigin-RevId: 758618486
Change-Id: I257d78c7dc9aa4dbf7cd6d8849d8ec48201edf24
2025-05-14 04:20:34 -07:00
fa95fe0c59
Add intensity and range parameters to lights.
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PiperOrigin-RevId: 758603199
Change-Id: I74e88bdfeedd9224e84d953f237d68eca79e6cb7
2025-05-14 03:28:03 -07:00
a6c3a287d6
Prepare Newton solver for island support
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PiperOrigin-RevId: 758600631
Change-Id: Iac354588ad91f404a30fa035893560db60db733f
2025-05-14 03:18:03 -07:00
2386dfd7da
Add touch sensor for estimating the surface contact stresses from the SDF.
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PiperOrigin-RevId: 758556339
Change-Id: Ib56d76fab084b530fd68d61a29294cb6f1d05f3f
2025-05-14 00:45:58 -07:00
4186589738
Use mjData.M where appropriate
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PiperOrigin-RevId: 758374391
Change-Id: I9de7af7be8e41b5c300d0a04ea99082b4cefdec6
2025-05-13 14:22:41 -07:00
1e02d66c3d
Remove M matrix structure from mjData.
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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
Alessio Quaglino