069708a599
Fix link to least-squares tutorial in the README.
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PiperOrigin-RevId: 615604395
Change-Id: If19e7d3eefb4b17b60d328aa3a62e48b8c92b227
2024-03-13 18:05:28 -07:00
f2e107f7aa
Fix deep penetration for sphere/capsule-convex.
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PiperOrigin-RevId: 615539264
Change-Id: I6a5aac0574ddcb39bae8aafaf63f9561ca69288b
2024-03-13 14:12:42 -07:00
adc4b92c1b
Document nonlinear least-squares tutorial.
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PiperOrigin-RevId: 615496587
Change-Id: I97975a4dc99a599afd1eb6964d0ca0cf3d9fcc0e
2024-03-13 11:56:42 -07:00
bda03af49a
Add childclass support to frames.
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PiperOrigin-RevId: 615487831
Change-Id: I0e4d2efd52211701b4286a0b0de84424470a3a47
2024-03-13 11:31:22 -07:00
0d16587135
Don't read from file until mju_readResource is called.
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PiperOrigin-RevId: 615434757
Change-Id: I96a1e77f74203e91bc62dc24ac9225810fcacb20
2024-03-13 08:55:54 -07:00
40baa51072
Add tutorial notebook for mujoco.minimize module.
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PiperOrigin-RevId: 615410341
Change-Id: If9748ab56fb04e5203024327e2422a3737d2aab8
2024-03-13 07:34:36 -07:00
693e3c66c8
Add copy constructors and assignments to user_objects.
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All of the constructors and assignments operators are declared by this CL, but only those that are currently used are implemented here.
PiperOrigin-RevId: 615369559
Change-Id: I9f8cc4a7cd2070362baba04f2af4c5567a696596
2024-03-13 04:50:05 -07:00
e42f9c6490
Tweaks to basic tutorial notebook.
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PiperOrigin-RevId: 615368113
Change-Id: I888b252c75a1f6253dc78494e8348d00e8283ed7
2024-03-13 04:42:45 -07:00
b61a09aa95
Delete redundant blank lines.
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PiperOrigin-RevId: 615359482
Change-Id: If1f850d560938b0c8cf6dd13c83ed72d1faae4cc
2024-03-13 04:03:30 -07:00
c4562ac61b
Cleanup asset/mesh in XML doc.
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PiperOrigin-RevId: 615156721
Change-Id: Ia2a6051506f9b3f4f2d7919893381f40f3e037df
2024-03-12 13:40:40 -07:00
1fb3ab26f0
Tweaks to LQR tutorial notebook:
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- Unify all imports in one cell.
- Make final motion more interesting by adding more noise to joints which are not critical to balancing.
PiperOrigin-RevId: 615100505
Change-Id: I8302e441b3ca52d5134c317a35f99c5f74bac36b
2024-03-12 10:52:34 -07:00
c418139fec
Add copy constructor to mjCBody.
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PiperOrigin-RevId: 615050891
Change-Id: I420e19a0444e93e5ec99da10f5cc20b429802d3e
2024-03-12 08:33:35 -07:00
a2a770453e
Copybara import of the project:
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--
1fcff13dfdc70519c4d33e17ade4be6afb2960a2 by Alexis <cuatroalejandro@gmail.com >:
add multipleBodies test for mj_loadXML
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34270fa57946e68a82fa55313b64a5a56e5aa080 by Alexis <cuatroalejandro@gmail.com >:
add some space
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3594020eb9be57cb6a2eef0baeca97cee8f25aab by Alexis <cuatroalejandro@gmail.com >:
remove TODO comment in xml_api_test
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1487 from alefram:alexis-test 3594020eb9be57cb6a2eef0baeca97cee8f25aab
PiperOrigin-RevId: 615033458
Change-Id: I05fe5659b07b3226b82d2562e31bcd73f150b089
2024-03-12 07:31:11 -07:00
93cbdaee07
Move mjC objects attributes to parent classes in user_objects.
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This is in preparation of adding copy constructors for all of the objects.
PiperOrigin-RevId: 615014168
Change-Id: I24801d71d74dd6756167a6c438f9573825a396b5
2024-03-12 06:06:51 -07:00
d90d57609e
Copybara import of the project:
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--
4883e8aacd531d8dbc3551ba7cb4e3b4694dda1e by Silvio Traversaro <silvio@traversaro.it >:
Fix plugin related comment in simulate
The comment was outdated after https://github.com/google-deepmind/mujoco/commit/2ebc5f097b1a5fbbe276250ad1d13966510d1291 .
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1499 from traversaro:patch-37 4883e8aacd531d8dbc3551ba7cb4e3b4694dda1e
PiperOrigin-RevId: 615005350
Change-Id: I93d746f996de25b871cc1bc5651308d44382feef
2024-03-12 05:33:33 -07:00
a49f3f63fc
Remove disable_jit in test.
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PiperOrigin-RevId: 614824680
Change-Id: I15f1441dfb1a70b98e5a221c0e15b06572860748
2024-03-11 16:03:40 -07:00
8413a615d7
Add copy constructors to body subelements.
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PiperOrigin-RevId: 614665384
Change-Id: I1ad2b644cf9816fb9490b5634c16e95f360a8684
2024-03-11 08:00:10 -07:00
b1a941db8b
Add special handling for perturbations applied to static bodies.
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These bodies have `body_invweight0 == 0` (infinite mass) and no degrees of freedom (identically 0 Jacobians). This was breaking some assumptions of the perturbation code which assumed perturbation applied only to moving bodies and led to very large forces/torques being applied. While these huge forces had no effect on the dynamics, they were reported by sensors, leading to unreasonable sensor readings.
PiperOrigin-RevId: 614398354
Change-Id: If5efe1c9e57e2be28af33d109679db8b3129da7f
2024-03-10 05:34:55 -07:00
2ba80206ab
Merge pull request #1479 from jmargeta:fix-record-command-docs
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PiperOrigin-RevId: 613927858
Change-Id: I8fe30db8677811c98ed4f881b51a0f430d93dd3b
2024-03-08 07:29:57 -08:00
655e3d0914
Renamed Model to Spec in C API function names.
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PiperOrigin-RevId: 613922860
Change-Id: Ic47a83aa33b57ef96bd742088442e6237282ee92
2024-03-08 07:05:44 -08:00
b97110967f
Add Performance Tuning section.
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Fixes #1471 .
PiperOrigin-RevId: 613867065
Change-Id: I947284300709e0fd6633068d9690a4b19812141f
2024-03-08 02:31:07 -08:00
ef3cb7ec2e
Renamed mjmModel to mjSpec.
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PiperOrigin-RevId: 613516063
Change-Id: I09e360d3eba2accba2e260ec4754b0879b12892f
2024-03-07 02:48:32 -08:00
22cd96fbbc
Speed up convex-convex collisions.
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PiperOrigin-RevId: 613450874
Change-Id: Ie66e0a078e2ff51a136b949dd9459847e1fe957d
2024-03-06 21:48:51 -08:00
32dc89b425
Rename depthoverlay to adddepth
2024-03-06 21:17:43 +01:00
f287372467
Add url to relevant offscreen buffer attributes
2024-03-06 19:46:51 +01:00
548177d46c
Rename depthoverlay argument
2024-03-06 19:14:32 +01:00
39edea3a6c
Add an explicit note on recording resolution
2024-03-06 19:01:25 +01:00
be68f90190
Make depth overlay in video recording optional
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Add docs for the record arguments
2024-03-06 18:47:14 +01:00
fe2215384b
Update docs on the video recordings's resolution
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This fixes the the ffmpeg command to correspond to the default humanoid.xml resolution (2560x1440).
2024-03-06 18:47:14 +01:00
106453fa2b
Updated version number to be (v3.1.4) ahead of current release (v3.1.3)
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PiperOrigin-RevId: 613236845
Change-Id: I3ee759493f27cfa1e367c71e3e073b54738b73d4
2024-03-06 09:07:25 -08:00
9ac048e262
Add recompilation test to user_api_test.
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PiperOrigin-RevId: 613192683
Change-Id: Ibb44e1c2d63ac0afb7b5f3a15dff26378deb6c82
2024-03-06 06:27:28 -08:00
b475337e02
Update docs of ffmpeg raw video conversion
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Makes it work well with the given humanoid example
2024-03-06 14:34:15 +01:00
a00f1b5f30
Tidy up Colab notebook files.
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PiperOrigin-RevId: 613163325
Change-Id: Iec56375bb7631b8a3035f884b3aad6b54fb7b88b
2024-03-06 04:14:11 -08:00
8e0998dcbd
Fix docs for the record command
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Renames the non-existent "render" command to "record"
2024-03-06 01:36:13 +01:00
e2c14188ad
Updated abseil for release version v3.1.3
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PiperOrigin-RevId: 612939979
Change-Id: I0e5c5301d6d6f2139a71d8df95966124e584e14d
2024-03-05 12:57:23 -08:00
827cdfd7d5
Merge pull request #1413 from awesome-aj0123:usd-integration
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PiperOrigin-RevId: 612933036
Change-Id: Ia29230b1d91508dbc8b1cf7c76ff48c17448bf89
2024-03-05 12:33:58 -08:00
7e87c6ac44
Updated Eigen3 hash in below files for Mujoco release version v3.1.3
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- CMakeLists.txt
- MujocoDependencies.cmake
PiperOrigin-RevId: 612910476
Change-Id: I67ec8b4550abde82378a875809552fa10d4924cd
2024-03-05 11:26:16 -08:00
eb2e064915
Updated version number to match the latest release v3.1.3 and date for mujoco release v3.1.3
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PiperOrigin-RevId: 612899279
Change-Id: I891a2a86a3d03491210e1dc259549d6484041928
2024-03-05 10:55:21 -08:00
224fbd00c8
Fix egregious bug in broadphase.
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PiperOrigin-RevId: 612856292
Change-Id: I622ca00509c27f351ce5efefc139b2f2e141c8e9
2024-03-05 08:48:09 -08:00
0631a406c4
Merge pull request #1470 from Balint-H:bugfix/unity-tendon-rendering
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PiperOrigin-RevId: 612839845
Change-Id: Idf5b5cec4adc350b3ed36e902e2e52fbe9080281
2024-03-05 07:49:57 -08:00
6b7d714291
Merge pull request #1450 from v-r-a:angmomMat
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PiperOrigin-RevId: 612835207
Change-Id: I8e7b01cc433563556a3ae4bbdd0c53612cc15e97
2024-03-05 07:35:15 -08:00
49ddb7ca2e
Update changelog for 3.1.0.
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Fixes #1472 .
PiperOrigin-RevId: 612787350
Change-Id: Ia5609266462b5d537ce0c03efa764f1f32bc9389
2024-03-05 04:13:52 -08:00
31384bdfeb
Speed up String2Vector.
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PiperOrigin-RevId: 612767185
Change-Id: I4a4de5e03bbd6653be7ccb3e730ad64a335e17b0
2024-03-05 02:50:26 -08:00
9efa4ebe0b
Move CompareModel to fixture.
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PiperOrigin-RevId: 612759913
Change-Id: Ia5741a858003211c58c47a20d447dcbc041c8b5d
2024-03-05 02:24:32 -08:00
e142bca7f2
Remove special handling of mjModel and mjData strings in autogenerated functions.rst
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PiperOrigin-RevId: 612714709
Change-Id: Ie6c139d2c41488cd19c9bf5152b912a51b2f3a34
2024-03-04 23:00:35 -08:00
f70db6b0ee
Remove unnecessary using
2024-03-04 13:51:08 +00:00
2f64cf36c5
Conditional compilation for Tendon visualization
2024-03-04 13:49:00 +00:00
1baa478b64
Fix rendering of tendons
2024-03-04 13:41:50 +00:00
edc4db6898
Update sdflib version.
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PiperOrigin-RevId: 612389341
Change-Id: Id3e7a4fb51e63b7fef7e9ca7f94a0bc7e54e8413
2024-03-04 03:41:58 -08:00
3d24bdb217
Small improvements to MJX performance tuning section.
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PiperOrigin-RevId: 612377295
Change-Id: I542aba7a33372556b62e3cdb4bf0c1c4d97dc98a
2024-03-04 02:49:11 -08:00
Yuval Tassa