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4c288c19ac
Remove physics schema authoring toggle from MJCF SdfFileFormat plugin.
2025-07-31 07:05:41 -07:00
9f64338b37
Clarify principal point description in documentation.
2025-07-31 06:39:45 -07:00
b5368a3385
Add displayColor authoring to site geometry when converting MJCF to USD.
2025-07-31 06:27:29 -07:00
82cf27992d
Initialize variables in copyM2Sparse
2025-07-30 06:15:06 -07:00
51babec9c5
Move tactile sensor to the engine.
2025-07-30 05:26:39 -07:00
89f4789085
Add mjs_makeMesh to create a builtin mesh.
2025-07-29 11:30:19 -07:00
46dc67b7eb
Add function mjs_sensorDim to user API.
2025-07-29 10:19:28 -07:00
a771fc6c09
Increase mjNSENS to 3
2025-07-29 08:37:08 -07:00
4575089f48
Prevent ray casting from stopping at the SDF bounding box.
2025-07-29 03:08:47 -07:00
a04e0385e4
Add USD content type support in MJCF.
2025-07-28 10:52:41 -07:00
3434f5d9c7
Compute convex hull for collision pairs.
2025-07-28 10:48:41 -07:00
a116653e5f
Remove unnecessary handling of value attribute.
2025-07-28 10:18:17 -07:00
9e7979e492
Add checks for contact sensor when constructing with mjSpec Python bindings.
2025-07-28 07:49:44 -07:00
8db2413c84
Fix a bug in triangle-box filter that caused missing Octree leaves.
2025-07-28 04:39:58 -07:00
e4eb654573
Updates joint/ref attribute documentation to clarify that the initial model configuration is unmodified.
2025-07-27 04:53:55 -07:00
83435361fa
Increase max points in 2D plot from 1000 to 1001.
2025-07-26 12:45:25 -07:00
ddb7eb07c7
Initial implementation of contact sensor for MJX JAX backend.
2025-07-24 09:58:39 -07:00
5eab59d026
Add plugin_state support to MJX API.
2025-07-23 14:48:46 -07:00
541c56b46f
Create mjcPhysics ImageableAPI for visual, non physical visual entities.
2025-07-23 11:47:10 -07:00
d13329ed1d
adding build interfaces to the linked directories
2025-07-23 12:53:38 -05:00
7da32d186f
Add basic visual material parsing support to USD interop.
2025-07-23 09:21:00 -07:00
4bbd0fb9c7
Do not store grid edges in tactile sensor.
2025-07-23 07:59:59 -07:00
8383bd439c
Add support for parsing 'st' primvar from USD.
2025-07-23 07:46:53 -07:00
4f43a7d08e
fix typo in bindings_test.py
2025-07-21 12:36:31 -07:00
6416e548aa
Merge pull request #2348 from jjyyxx:patch-3
2025-07-21 11:49:39 -07:00
3901dcde96
Move changelog item into breaking changes section in 3.3.4
2025-07-21 10:08:08 -07:00
a2a27c113f
Do not raise an error in MJX if MultiCCD is enabled.
2025-07-21 09:51:07 -07:00
921bca5105
#mjx don't specify JAX default backend
2025-07-21 09:46:49 -07:00
fc13995dd4
Yield ownership of vector<double>, vector<float>, and vector<int> to mjSpec in Python bindings.
2025-07-21 06:43:28 -07:00
60f9b34a77
Validate the MjModel pointer passed to MjData constructor.
2025-07-21 06:22:50 -07:00
8b94bd0ef6
Update MJX feature parity documentation.
2025-07-21 06:19:51 -07:00
3283fb8655
Fix sign in cylinder support function.
2025-07-21 05:10:57 -07:00
db72d0d53c
Clamp dist in mj_geomDistanceCCD. Closes #2710
2025-07-21 05:08:29 -07:00
c2f5d0f266
Add sensor_intprm to types.py
2025-07-21 04:50:45 -07:00
af87c6d7a0
Pull request changes
2025-07-18 12:39:07 -05:00
0eb2f9f118
Use meshid in touch sensor for mesh geoms.
2025-07-18 07:22:01 -07:00
c2820941aa
Convert UsdPhysicsRevoluteJoint from degres to radians if compiler option is set.
2025-07-18 07:17:25 -07:00
46b713ef2d
Remove pedantic designated initializers in USD parsing.
2025-07-18 05:09:14 -07:00
e92ce30732
Account for scale authored on UsdMesh prims.
2025-07-17 10:28:28 -07:00
c597434fc9
When UsdCollisionAPI is applied but collisionEnabled is false, treat it as a visual gprim.
2025-07-17 09:58:49 -07:00
f5df466ee5
Add support for visual gprims to USD parsing.
2025-07-17 08:50:49 -07:00
2e13c64308
Simplify parsing from USD stage to kinematic tree for mjSpec population.
2025-07-17 08:18:59 -07:00
e23226509c
Tidy up of touch stress plugin.
2025-07-17 08:13:45 -07:00
bca5d0c671
Update all references after attaching a plugin with multiple references.
2025-07-16 09:22:05 -07:00
3cc8d7f58a
Fix typo in mjcPhysics MjcMaterialAPI
2025-07-16 07:30:02 -07:00
549a21c9c2
Add box-triangle projection tests to octree construction.
2025-07-16 07:24:15 -07:00
6144a508b5
In Mujoco USD interop, only consider dynamic friction when writing to and parsing from USD.
2025-07-16 06:59:11 -07:00
b99d9e8f12
Fix inherit range pulling from act early attribute when parsing USD to MjSpec.
2025-07-16 06:34:16 -07:00
ac0701d582
Add mujoco compiler settings to MjcSceneAPI in mjcPhysics.
2025-07-16 06:08:38 -07:00
5069534a5c
Small (~10%) performance improvement in touch sensor by avoiding a transpose.
2025-07-16 03:03:42 -07:00
27bb74d7df
Set MJX minimum friction value to mjMINMU.
2025-07-15 10:21:20 -07:00
cdf5bcb693
Add inheritrange attribute to mjcPhysics MjcActuator
2025-07-15 09:29:28 -07:00
5e666635f6
Remove mjtVisFlag.mjVIS_FLEXBVH and mjvOption.oct_depth
2025-07-15 09:07:34 -07:00
14a8880d0d
Add plane collision test between box and triangle to Octree construction.
2025-07-15 08:12:47 -07:00
4ea778f2d3
Add octree support to MJX API.
2025-07-15 06:43:58 -07:00
ad0dc0de5e
Document change in inertia calculation.
2025-07-15 02:34:21 -07:00
576a34bcf2
Add netforce reduction to contact sensor.
2025-07-14 13:26:49 -07:00
d0e4771c8c
Add contact sensor.
2025-07-14 13:01:55 -07:00
e441868dad
Add missing attributes to MjcCollisionAPI USD schema.
2025-07-14 12:44:54 -07:00
ef013a0633
Add mjPARTIAL_SORT macro to engine_sort.h
2025-07-14 12:25:42 -07:00
2a700c98aa
Check MJX with JAX backend for flex.
2025-07-14 10:48:17 -07:00
6e7aaacb85
Do not rely on global object lists in mjCBody::NextChild().
2025-07-14 10:46:51 -07:00
5187a712be
Standardize exit codes for samples.
2025-07-14 10:14:36 -07:00
9a41d385c1
Add needsdf flag to mjsMesh.
2025-07-14 10:10:27 -07:00
92bcbeb5d3
Add support for UsdPhysicsMaterialAPI and create MjcMaterialAPI for missing attributes.
2025-07-14 09:52:00 -07:00
7d5b360dea
Add clarifying comments to mju_transformSpatial
2025-07-14 04:02:06 -07:00
11e695b4c2
Rename MjcTransmission to MjcActuator in mjcPhysics schema.
2025-07-12 09:37:55 -07:00
3473e4e451
Add group support to mjcPhysics equivalents for sites, geoms, actuators, and joints.
2025-07-11 05:36:35 -07:00
bbb265da4a
Do not draw touch sensor grid if contact point vis flag is disabled.
2025-07-11 03:10:23 -07:00
3c99705f85
Update MuJoCo's version number following the 3.3.4 release.
2025-07-10 10:46:34 -07:00
723960a1f3
Fix plane size
2025-07-10 10:44:57 -07:00
58c95219dc
Modify mjSORT to remove some unnecessary copies.
2025-07-10 09:50:44 -07:00
365cac49f8
Add benchmarks for mjSORT macro.
2025-07-10 08:59:54 -07:00
0b11e3e3fa
Fix typo in changelog
2025-07-10 08:45:00 -07:00
1f8f3a5004
Add capsule axis rotation for USD->MJ.
2025-07-10 08:31:15 -07:00
1bb6391d9c
Replace SetRotateInto with pxr::GfRotation(from, to) constructor directly
2025-07-10 08:13:24 -07:00
d81ab17bf5
Cache SDF octree.
2025-07-10 06:04:31 -07:00
fbea72d767
Remove MjcActuatorAPI in favor of typed MjcTransmission.
2025-07-10 05:58:08 -07:00
2d69610abd
Use the geom frame for SDF collisions.
2025-07-10 05:14:09 -07:00
7e57a6bc30
Add missing actuatorgroupdisable default to mjcPhysics schema.
2025-07-10 05:13:58 -07:00
e7212d86bc
Add maxhullvert attribute to mjcPhysics MeshCollisionAPI.
2025-07-10 04:58:20 -07:00
243c011ea0
Add note about performance and release builds.
2025-07-10 03:39:33 -07:00
270017f9ba
Spurious formatting errors for gravity attr authoring in Mjcf SdfFileFormat plugin.
2025-07-09 13:01:15 -07:00
26a42e2848
Add sdflib changelog item.
2025-07-09 10:14:57 -07:00
cef02fabea
Remove sdflib plugin and move interpolation to engine_collision_sdf.
2025-07-09 09:28:15 -07:00
96118da08b
Move SDF precomputation to the mujoco compiler.
2025-07-09 08:56:20 -07:00
a3d251f552
Add mjModel.sensor_intprm, integer parameters of sensors
2025-07-09 07:59:28 -07:00
9d64ed9575
Remove leftover MJ_USD_TARGET_NAME include directories call from USD CMake.
2025-07-09 06:32:50 -07:00
b81f1db8af
Replace SdfLib with linear octree interpolation of TriangleMeshDistance.
2025-07-09 06:20:36 -07:00
e6c5715903
Add insidesite sensor for detecting when an object is inside the volume of a site.
2025-07-09 04:55:51 -07:00
a86461fc57
Set MJX minimum friction value to mjMINMU.
2025-07-09 01:58:22 -07:00
8da4e1c354
Fix deriv_smooth_vel docstring.
2025-07-09 01:32:24 -07:00
2a32babb78
Update Mujoco Deps in preperation for the 3.3.4 release
2025-07-08 14:20:07 -07:00
13621879c6
Remove unnecessary loop from mj_collideOBB.
2025-07-08 10:49:25 -07:00
14972d2490
Add mj_loadUSD function. Change simulate to use that instead of manual spec compilation.
2025-07-08 10:03:02 -07:00
e507e31922
Fix schema naming in mjcPhysics to avoid collisions.
2025-07-08 06:26:18 -07:00
d464165e30
Print contact forces in mj_printData.
2025-07-08 04:10:15 -07:00
1a4ddca6cf
Make mjs_findElement find meshes by file name.
2025-07-07 09:50:49 -07:00
7a09145161
Rename variables to avoid shadowing in user_objects.cc
2025-07-07 09:13:51 -07:00
e01c4b454a
Rename variables to avoid shadowing in xml_native_reader.cc
2025-07-07 09:08:54 -07:00
Sam Haves