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  • 6cfea71985 Allow for different MJX backend implementations. Baruch Tabanpour 2025-05-07 11:27:57 -07:00
  • 421c487d9d Set mocap_pos/quat in make_data. Fixes #2606. Baruch Tabanpour 2025-05-07 10:12:29 -07:00
  • ecb769fc3a Refactor islands to be memory contiguous. Yuval Tassa 2025-05-07 05:05:34 -07:00
  • c3e71a3fb1 Update simulation.rst Paweł Budzianowski 2025-05-06 16:46:46 -07:00
  • 449de73430 Do not skip cow and touch_grid during WriteReadCompare. Alessio Quaglino 2025-05-06 07:53:51 -07:00
  • 253abad210 Add MeshCollisionAPI to collider Meshes with convexHull approximation. Robin Alazard 2025-05-02 08:34:28 -07:00
  • ab63a7e824 Add CMakeLists for usdMjcf file format plugin. Sam Haves 2025-05-02 05:47:25 -07:00
  • 02656532c2 Fix Mesh PhysicsCollisionAPI by accounting for how it's referenced/instanced. Robin Alazard 2025-05-02 03:46:34 -07:00
  • 6c319310b8 On Darwin archs, add ArchConstructEntry using to placate compile errors. Sam Haves 2025-04-30 11:00:48 -07:00
  • bb07fa0c78 Move Mujoco USD test fixture out of MJCF plugin directory and rename to test_utils. Sam Haves 2025-04-30 08:43:18 -07:00
  • 177fce9fa1 Remove absl dep and custom MujocoTest from usd plugin tests. Sam Haves 2025-04-30 06:33:41 -07:00
  • 45d3fef2fc Add initial support for colliders Robin Alazard 2025-04-30 04:14:43 -07:00
  • 7742f62803 Add mju_mulSymVecSparse, private engine function Yuval Tassa 2025-04-29 16:32:49 -07:00
  • 1766a388cc Improve warmstarting if island structure exists. Yuval Tassa 2025-04-29 15:17:13 -07:00
  • 4c92c60988 Remove time from test model keyframe Yuval Tassa 2025-04-29 12:55:43 -07:00
  • 8078a45727 Add private functions mju_blockDiag and mju_blockDiagSparse Yuval Tassa 2025-04-29 11:29:41 -07:00
  • d657e628f0 Fix radius sizes of geom shapes Robin Alazard 2025-04-29 08:43:23 -07:00
  • 3e9d130092 Add mjs_getPluginAttributes. Alessio Quaglino 2025-04-29 05:18:17 -07:00
  • 2545ec5383 Don't call getchar on error. Yuval Tassa 2025-04-29 04:36:32 -07:00
  • 75f196c7ef Add missing PointToLocal call in mjCPlugin copy constructor. Alessio Quaglino 2025-04-28 16:22:55 -07:00
  • 4137a4c774 Bump version to 3.3.3 following the 3.3.2 release Google DeepMind 2025-04-28 16:08:25 -07:00
  • 1dc5bcb04a Update changelog for 3.3.2 release Google DeepMind 2025-04-28 11:45:51 -07:00
  • fb30e0e00c Add docs for mjSpec serialization. Alessio Quaglino 2025-04-28 02:57:48 -07:00
  • d3bc0544d3 Add basic support for geom rgba. Google DeepMind 2025-04-24 08:58:05 -07:00
  • 8df3614781 Add support for plane geometry. Google DeepMind 2025-04-24 07:53:58 -07:00
  • 9e72874801 Remove EPA tolerance in the discrete case in nativeccd. Kyle Bayes 2025-04-23 10:50:59 -07:00
  • 8f768be2da Remove solver_nisland field from mjData. Yuval Tassa 2025-04-23 03:26:40 -07:00
  • c2ac0d724e Add mju_gather and mju_scatter, private engine functions. Yuval Tassa 2025-04-22 10:32:42 -07:00
  • 7c8930af96 fix(notebook): corrections in python notebooks Rahul Lashkari 2025-04-21 15:38:50 +05:30
  • 99490163df Prevent NaN in cylinder SDF. Alessio Quaglino 2025-04-15 08:33:00 -07:00
  • d168135189 Remove duplicate test_tendon_force_clamp from inverse_test.py. Taylor Howell 2025-04-15 05:39:40 -07:00
  • 71a7004057 Fix array extent parsing logic for introspect. Saran Tunyasuvunakool 2025-04-15 04:02:15 -07:00
  • ec186430ef Add setting plugin config properties via Python bindings. Alessio Quaglino 2025-04-14 08:05:13 -07:00
  • f317bd17c3 Add tendon actuator force sensor to MJX. Taylor Howell 2025-04-14 03:50:16 -07:00
  • 8e7457d7c6 Initial support for writing UsdPhysics data starting with UsdPhysicsRigidbodyAPI support. The SDF_FORMAT_ARGS usdMjcfToggleUsdPhysics is introduced to toggle writing UsdPhysics or not when converting. Off by default Google DeepMind 2025-04-11 08:18:11 -07:00
  • 006c18b1d8 Update numbering in the 3.3.1 release notes to give MJX a numbered bullet in the docs. Gabe Oppenheimer 2025-04-11 07:36:20 -07:00
  • 446a8f1742 Add basic site support to Mjcf SdfFileFormat plugin. Sam Haves 2025-04-11 05:26:59 -07:00
  • 440ce5eb7a Update the version number to 3.3.2 following the 3.3.1 release. Gabe Oppenheimer 2025-04-10 13:16:35 -07:00
  • a209134315 Enable procedural plugin activation in Python bindings. Alessio Quaglino 2025-04-10 09:12:24 -07:00
  • b1f8d444f2 Fix bug in replaceSimplex3 in nativeccd. Kyle Bayes 2025-04-10 07:03:23 -07:00
  • 25126e88c7 Move mju_cholFactorCount to engine_util_solve. Yuval Tassa 2025-04-10 06:55:37 -07:00
  • 3c530976e3 Add rne_postconstraint dependence for FRAMELINACC and FRAMEANGACC sensors to MJX. Taylor Howell 2025-04-10 06:47:39 -07:00
  • 51c489fc30 Add inverse dynamics to MJX. Taylor Howell 2025-04-10 06:07:23 -07:00
  • d3664b5d01 Avoid square root in mju_makeFrame Yuval Tassa 2025-04-10 04:40:21 -07:00
  • 3429a4881a Detect mismatch between maxNodes and Nodes in a gmsh block. Fixes #2342 Mohammad Hamid 2025-04-10 04:14:34 -07:00
  • eadd13038a Move Mujoco struct wrappers definitions into library separate from pybind module. Sam Haves 2025-04-09 09:27:40 -07:00
  • da1850760a Prepare for v3.3.1 release. Gabe Oppenheimer 2025-04-09 08:39:27 -07:00
  • 5c12ea871f Split MjSpec out into header to allow use by other pybind modules. Sam Haves 2025-04-09 07:29:44 -07:00
  • 85b323c7fb Remove square roots when possible in EPA improving numerical precision. Kyle Bayes 2025-04-09 06:17:58 -07:00
  • 8fc616bf8f Add tendon actuator force limits to MJX. Taylor Howell 2025-04-09 04:27:48 -07:00
  • 5031f88158 In minimize.least_squares, compute values at the solution at full verbosity. Yuval Tassa 2025-04-08 14:54:51 -07:00
  • 699ad13a72 Merge pull request #2503 from Andrew-Luo1:rscope Copybara-Service 2025-04-08 13:21:47 -07:00
  • 55e3ca3acf Improvements to minimize.least_squares. Yuval Tassa 2025-04-08 11:21:15 -07:00
  • fc516ee3c1 revert import order andrew 2025-04-08 14:06:17 -04:00
  • 96dda6ea75 Add tendon actuator force limits and tendon actuator force sensor. Taylor Howell 2025-04-08 05:15:27 -07:00
  • 16e49f2761 Advertise the Model Editing tutorial Yuval Tassa 2025-04-08 03:24:24 -07:00
  • 4e0a4f4d39 Defer device puts to the end of make_data. Fixes #2461. Baruch Tabanpour 2025-04-07 15:42:51 -07:00
  • 606f00f802 Remove contact pruning with box-box collisions in nativeccd and add benchmarks. Kyle Bayes 2025-04-07 08:32:58 -07:00
  • d7027fb1c0 Do not skip mjSpec's with repeated model names when attaching a new mjSpec. Alessio Quaglino 2025-04-07 06:51:21 -07:00
  • 58234b2217 Replace mjMAXVAL with numerical max limit where necessary in nativeccd. Kyle Bayes 2025-04-07 05:58:00 -07:00
  • cc2f57d820 Change mjSpec and mjModel signature mechanism. Alessio Quaglino 2025-04-07 04:20:17 -07:00
  • 93251f07d9 Install timers by default in Python bindings Yuval Tassa 2025-04-07 03:53:42 -07:00
  • 26c14c500e Fix bug in testspeed.cc for models that do not invoke the constraint solver. Yuval Tassa 2025-04-07 03:00:34 -07:00
  • d05251af2a Add tendon armature Yuval Tassa 2025-04-04 07:42:40 -07:00
  • e1f5ceb65a Add mjModel.tendon_armature (in preparation, not yet implemented) Yuval Tassa 2025-04-03 12:05:30 -07:00
  • f96f3e1c22 Add XML compiler/saveinertial flag. Fixes #2405 Yuval Tassa 2025-04-03 10:11:35 -07:00
  • 8941f56e86 Copy UIDs during mj_copySpec. Alessio Quaglino 2025-04-03 06:28:05 -07:00
  • 54f132f3f0 Resolve discrepancy in RK4 between MJX and MJ. Baruch Tabanpour 2025-04-02 10:15:12 -07:00
  • 40393f460a Fix shadow flickering artefacts on platforms that do not support ARB_clip_control. Google DeepMind 2025-04-02 06:33:26 -07:00
  • b839fe79e1 Allow to attach an entire mjSpec in mjs_attach. Alessio Quaglino 2025-04-01 09:50:42 -07:00
  • e5912c3ce4 Use tolerance to compare quaternion components in UserObjectsTest.Inertial Yuval Tassa 2025-04-01 08:11:08 -07:00
  • a02a27d4a4 Combine all mjs_attach functions into one. Alessio Quaglino 2025-04-01 08:04:58 -07:00
  • 08d22baea1 Fix bug in horizon code in nativeccd where parallel faces are included in horizon. Kyle Bayes 2025-04-01 07:20:17 -07:00
  • 305b68ecbf Add tests for body.find_all() of joints and geoms, fix error message. Yuval Tassa 2025-04-01 07:14:00 -07:00
  • c0a7ea1edb Added the element type mjOBJ_SPEC for mjSpec. Alessio Quaglino 2025-04-01 06:50:50 -07:00
  • 9ecec6f238 Fix bad contact from passing through polytope2 in nativeccd. Kyle Bayes 2025-04-01 06:10:30 -07:00
  • 0f456486a4 Merge pull request #2545 from maxzand:main Copybara-Service 2025-04-01 05:40:00 -07:00
  • 648a03c2cf Override inertia of body with visual geoms if discardvisual is true. Alessio Quaglino 2025-04-01 05:20:59 -07:00
  • 86c970bc23 Add error checking in mjs_setFrame. Alessio Quaglino 2025-04-01 03:33:54 -07:00
  • ebd30493c8 Allow nameless bind in MJX. Alessio Quaglino 2025-04-01 01:44:42 -07:00
  • 05f3e914b0 Improve armature documentation Yuval Tassa 2025-04-01 01:16:06 -07:00
  • 400a379b70 Update doc requirements. Yuval Tassa 2025-03-31 11:04:11 -07:00
  • 8bcfe07e14 Fix potential division by zero in mj_tendonDot. Yuval Tassa 2025-03-31 06:40:20 -07:00
  • 65500cfbdc improve variable and function names andrew 2025-03-30 22:19:55 -04:00
  • 1f590c1275 Fixed contact force legend and added legends for accel and velocity Maxime 2025-03-28 19:50:52 -04:00
  • 01d4c46753 Store the mjsCompiler -> appended mjSpec map when appending an mjSpec. Alessio Quaglino 2025-03-28 06:26:30 -07:00
  • 6e19035aab Add delete and detach docs. Alessio Quaglino 2025-03-28 01:57:56 -07:00
  • e272e46770 Rename simulate "copy pose" button to "copy state", also save "qvel', ctrl, mpos and mquat if present. SHIFT-click will save values at full precision. Kevin Zakka 2025-03-28 00:37:19 -07:00
  • 97092facd6 resolve PR comments andrew 2025-03-27 19:35:36 -04:00
  • 0abf184d49 Align comment in mjmodel.h. Taylor Howell 2025-03-27 11:04:40 -07:00
  • e8c67ca586 Allow orientation for user composite. Alessio Quaglino 2025-03-26 14:43:55 -07:00
  • 644b42bee3 Add mujoco/experimental and move USD work there. Google DeepMind 2025-03-26 05:35:54 -07:00
  • 5c955b8fe2 Add frame support to the cable composite. Alessio Quaglino 2025-03-26 05:35:33 -07:00
  • d6943731b2 Fix bug in nativeccd multiccd. Kyle Bayes 2025-03-25 14:55:25 -07:00
  • 69f8349203 Add signature error checking at the end of compilation. Alessio Quaglino 2025-03-25 14:21:52 -07:00
  • 157b074116 Add signature to mjSpec and mjModel and use it to perform safe bind to mjModel and mjData. Alessio Quaglino 2025-03-25 09:35:44 -07:00
  • c931565fdc Add internal functionmj_tendonDot: time derivative of tendon Jacobian for one tendon. Yuval Tassa 2025-03-25 09:35:14 -07:00
  • 4e206c29c1 Keep tree lists updated at all times. Alessio Quaglino 2025-03-25 08:20:14 -07:00
  • bf3843210f Merge branch 'google-deepmind:main' into vidur/3.3.0-2 vidurvij-apptronik 2025-03-24 11:19:07 -05:00
  • 744b37753b Remove trailing whitespaces Balint-H 2025-03-24 12:02:11 +00:00