090c25988a
Split API reference pages into Data Structures and Functions pages.
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PiperOrigin-RevId: 510422950
Change-Id: I6b2eebab0c0020b80fec83094aa65c6a412e277e
2023-02-17 07:06:20 -08:00
2607e67f8d
Add contact labels showing which geom pairs are in contact.
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PiperOrigin-RevId: 510422404
Change-Id: Ia73570098752e7c7175e4b5a5f2a0f8b08a6c006
2023-02-17 07:03:19 -08:00
a6730aa740
Keep only immediate parent in XMLreference TOC header names.
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PiperOrigin-RevId: 510095682
Change-Id: I72973c955cce14a90f5af0037b2abc5f2ee3644c
2023-02-16 03:29:02 -08:00
9f79acd7da
Remove redundant space from XMLreference TOC titles
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PiperOrigin-RevId: 510076364
Change-Id: I59e0e7fd2f6eae9b89f5bb00f2192358da8abf7a
2023-02-16 01:47:38 -08:00
1552b988ff
Fix typo.
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PiperOrigin-RevId: 509919399
Change-Id: Idd1845a81b073e99d98148ffe73699af3cedcc6c
2023-02-15 13:41:50 -08:00
d26d7babe9
Merge pull request #734 from hyarion:fix/unity-load-balloons.xml
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PiperOrigin-RevId: 509832074
Change-Id: Ia8505b4ea83d8903052e72a12b914a8fd94a13df
2023-02-15 07:51:34 -08:00
6a85b5db45
Improve cartesian actuator example model.
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Significantly reduced joint-level damping, introduced damping in the actuators themselves. This reduces dynamics artifacts by matching the space in which damping and actuation forces are applied.
PiperOrigin-RevId: 509574523
Change-Id: Id99b69aea4562509c48ed1a24fb9ea3e008c0b69
2023-02-14 10:41:21 -08:00
ace5b74f83
Rename inteval attribute in mjLROpt to interval.
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PiperOrigin-RevId: 509275105
Change-Id: I0ffb9cf485a504843ed255f0b4f24e9285a1c273
2023-02-13 10:54:25 -08:00
db28c31f05
Rename <required> tag to <plugin>.
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PiperOrigin-RevId: 509237786
Change-Id: I35e812830b479004ac5025cbd9477888f51fb43e
2023-02-13 08:41:52 -08:00
239e00e3b1
Fix typo in the error message for distance equality constraints.
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PiperOrigin-RevId: 509227257
Change-Id: Ibf501f267e513c504e527f3fe7a26d4f29e78273
2023-02-13 07:58:03 -08:00
87bc8d0ed2
Fix spelling in MjcfImporter
2023-02-13 12:02:55 +01:00
8599d80b4d
Apply tendon defaults on fixed and spatial tendons
2023-02-13 12:02:29 +01:00
7ed632cb9e
Add support for arbitrary default node lookup name
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Makes it possible to apply modifiers to elements even if the name doesn't match.
This is necessary to support default values for tendons.
2023-02-13 12:02:10 +01:00
5228ad1b2e
Change default wind to the value from the doc
2023-02-13 10:21:30 +01:00
e7a9447c03
Add gravcomp to body in unity plugin
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The unity plugin is missing gravcomp which makes it impossible for buoyancy
2023-02-13 10:21:09 +01:00
9971993cdb
Add support for implicit integrator type
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The `implicit` option was added in the IntegratorType enum.
Using `@` prefix to avoid collision with reserved keyword.
2023-02-13 10:20:42 +01:00
5e989d18c3
Enable compiler errors for implicit switch case fallthroughs.
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Also unify warning options across Clang and GCC and fix minor issues that was surfaced by this.
PiperOrigin-RevId: 508619655
Change-Id: I59b777bf2dfea4422485670e2427c7d3f5cf6405
2023-02-10 03:49:00 -08:00
8a53a33fd1
Convert tabs to spaces in doc/images/banner.svg.
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PiperOrigin-RevId: 508345625
Change-Id: Ie97d46327670929aa4254efb5ae257069b309c1b
2023-02-09 05:22:09 -08:00
49c939eaf0
Document 48e95817e4 in the changelog.
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PiperOrigin-RevId: 508342626
Change-Id: I8505d3c3168d0ebffaff87dc687a831d278a8fcb
2023-02-09 05:03:31 -08:00
71c5f1794d
Remove efc_ fields from joint indexers.
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Since the introduction of arena memory, these fields now have dynamic sizes that change between time steps depending on the number of active constraints. This breaks strict correspondence between joints and `efc_` rows.
Note that these fields can still be accessed directly as attributes on the `MjData` object.
PiperOrigin-RevId: 508342388
Change-Id: I610ae6ca462f6bb5cf8bc199a3436bed3d1a5371
2023-02-09 05:02:11 -08:00
df87a85b84
De-duplicate vertices in mug.obj.
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PiperOrigin-RevId: 508334141
Change-Id: If63e0923392b1ad11d4c9c295a511f929fc4be6d
2023-02-09 04:12:06 -08:00
2f10a7cb3b
Update legacy memory specification in some example models.
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PiperOrigin-RevId: 508330060
Change-Id: I16a5e70c5950178826a2a52a7a2005ef7f39ccfb
2023-02-09 03:47:43 -08:00
7d8e810ab1
Fix IPython history corruption when using launch_repl.
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PiperOrigin-RevId: 508064761
Change-Id: I58fa2e4f35b57a1ab68c3172ba5c0d4495e40ced
2023-02-08 06:37:42 -08:00
48e95817e4
Don't compute sensors in mjd_transitionFD, if not requested.
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PiperOrigin-RevId: 507878658
Change-Id: I97ece521fd177d97fa5758dda1eb012ba26bcabe
2023-02-07 14:02:45 -08:00
15b6e6f060
Remove remarks in the documentation that suggest mj_name2id is inefficient.
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`mj_name2id` has been replaced by a hash map lookup in 2.3.2.
PiperOrigin-RevId: 507816210
Change-Id: I3ee038fa6ec3258d51218588a43398f98a0f6de2
2023-02-07 10:13:45 -08:00
e4b094732b
Update dependency versions in Python requirements files.
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PiperOrigin-RevId: 507791787
Change-Id: I2f87842c118ab6ee25857c52b7c02ca3012e964c
2023-02-07 08:40:52 -08:00
95a07e85cc
Fix Windows stack overflow problem in the simulate app.
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PiperOrigin-RevId: 507763611
Change-Id: I199910142d9165710c48b41a842ab9aef01ff5c2
2023-02-07 06:34:10 -08:00
dd632b7ccc
Bump MuJoCo version to 2.3.2.
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PiperOrigin-RevId: 507720557
Change-Id: I7a5b577094ac1a7f468a84c484f62f61dc6b409f
2023-02-07 02:35:17 -08:00
36836d8e42
Merge pull request #636 from traversaro:fixextglfw
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PiperOrigin-RevId: 507618773
Change-Id: I74362535e9840c97b7c4c3fbff29e06bcdcaf41a
2023-02-06 16:50:54 -08:00
6b80b010af
Merge pull request #705 from hartikainen:bug/mj_deleteFileVFS-infinite-loop
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PiperOrigin-RevId: 507544780
Change-Id: Ie5819d4cc567dce44ceb59624a889a06ecdd7c1b
2023-02-06 12:01:11 -08:00
10c5d6a1e5
Add missing entries to 2.3.2 changelog.
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PiperOrigin-RevId: 507522863
Change-Id: Id6c094a8054440de4aa918575f6e45d49519861c
2023-02-06 10:44:18 -08:00
9a7f4a768a
Remove control plugin API.
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This is a rollback of f937ffd93326b2964e33689b0dc6024124776a9e.
PiperOrigin-RevId: 507456400
Change-Id: I2026510e6065eb440c0c899fcc5a2cc8ff5afd49
2023-02-06 05:52:17 -08:00
dc3a900809
Apply body pair filtering at broadphase.
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mj_contactFilter removed geom pairs where their bodies share the same weldid, but this check can be applied at broadphase instead of at geom-geom level.
PiperOrigin-RevId: 507435848
Change-Id: Ia37c741071dc5e1c26686dd319f42c9bd334d305
2023-02-06 03:46:20 -08:00
79fffdc0ae
Draw body label at the body frame rather than inertial frame, unless inertia is being visualised.
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PiperOrigin-RevId: 507424290
Change-Id: I72ca68e2e47f76c0f70959a1a2c8b5f4b6b6b290
2023-02-06 02:38:51 -08:00
7251e7b900
Remove superfluous TINYXML2_LIB declaration.
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PiperOrigin-RevId: 506867694
Change-Id: I701def961046c46f3cffe4fad2b1b9436bc1deef
2023-02-03 04:24:36 -08:00
ffe27d9680
Extract AVX code from sparse utils.
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PiperOrigin-RevId: 506851218
Change-Id: I23cc3ffb26face97fc2380bc9cb702cc41b8b29d
2023-02-03 02:42:39 -08:00
bc0184d67e
Increase precision of simulate sensor plot y-axis by 1 digit.
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- Before this change, the y-axis scale had only one digit, leading to user confusion. Small changes in senor values could appear as if the values remained at the nearest integer value, while in fact the y-axis itself was changing, but this was not evident in the GUI due to the reduced precision.
- Fixes #719 .
PiperOrigin-RevId: 506841881
Change-Id: I583036bba389cef8d9ecf1c1bbcfb573ef2285e6
2023-02-03 01:48:18 -08:00
e2691f58a5
Update mjd_transitionFD documentation.
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Fixes #713
PiperOrigin-RevId: 506248062
Change-Id: I1fbf8b378f500a6463a07eb5da5349c4f01ccb88
2023-02-01 01:53:05 -08:00
a7888d473c
mju_transposeSparse: extract local integer, remove extra blank line.
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PiperOrigin-RevId: 506243573
Change-Id: Ia573c9289ef1deb1cc7b5477d441752370caa470
2023-02-01 01:27:46 -08:00
7feecf6e94
Improve behaviour of set-pose mouse interactions with free and mocap bodies.
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PiperOrigin-RevId: 506051745
Change-Id: If666757deb743f7bf3af4113d10976c3294e0879
2023-01-31 10:57:19 -08:00
f1af86cf82
Fix msan failure in __repr__ when upgraded to NumPy 1.24.
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PiperOrigin-RevId: 505661236
Change-Id: I37ea339679870d23886e3c95f51451349fa1de2c
2023-01-30 05:11:25 -08:00
929e09f84a
Improve URDF geom name loading API.
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PiperOrigin-RevId: 505112774
Change-Id: I866e58e664089256a41908dddab9ad79745fb1da
2023-01-27 07:29:45 -08:00
c741dfce7d
Implement a more performant mju_transposeSparse that doesn't require dense memory allocation.
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PiperOrigin-RevId: 505044194
Change-Id: Ibe0e39e3ad711b2b5bdad45180ca4f83b5c8fc82
2023-01-27 00:20:01 -08:00
4b4ee27f64
Turn off reflection and shadow in simulate when a GPU is not present.
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Note that The GLFW adapter currently assumes that a GPU is always present, so this new code path is never reached at the moment.
PiperOrigin-RevId: 504617048
Change-Id: I04a323c33d9cff73686d39e4a6676ca6a4484c98
2023-01-25 11:33:20 -08:00
d35670932f
Fix for-loop syntax to match style convention
2023-01-25 19:11:13 +00:00
cd99fbd59d
Fix test failures under NumPy 1.24.
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The use of `np.empty` triggers an msan use-of-uninitialized-value error when upgraded.
PiperOrigin-RevId: 503975799
Change-Id: I337c8227c8c1e3bd415d7a798fc5e764c88c0875
2023-01-23 07:04:33 -08:00
436fc6e77c
Fix infinite loop in mj_deleteFileVFS
2023-01-21 17:26:01 +00:00
d7844aa5be
Fix links to documentation.
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1. Links to the programming chapter were broken after 69c74f850e
2023-01-18 02:55:41 -08:00
6ba4d6f0de
Fix a bug that was causing a mismatch between the orientation of the mesh frame and the vertex coordinates.
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PiperOrigin-RevId: 502624466
Change-Id: Ib28fd2a118b6572be98fadb078fa2262b21cbfc0
2023-01-17 10:31:50 -08:00
06557c1489
Set time correctly in mjd_transitionFD, to support time-dependent user code.
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PiperOrigin-RevId: 502380864
Change-Id: Ief36135a900c091d95e4450992c7c73e86de267c
2023-01-16 07:52:17 -08:00
Kyle Bayes