0a0de6615d
Back out of gjkIntersect when convergence fails due to algorithm oscillating between two support points. Also, fix related bug in box support function.
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PiperOrigin-RevId: 696482893
Change-Id: Icedaf5489b761b8bf03ec30558b5d1128668a647
2024-11-14 05:12:32 -08:00
536c60a0ac
Print arena usage percentage in mjData print.
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PiperOrigin-RevId: 696464274
Change-Id: Ib794148e037521118138bd72c021dbe086c9681a
2024-11-14 03:52:41 -08:00
9f51ba50db
Fix field ordering in mjModel.
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`nnames_map` is not required for `mjModel` construction, it is set during construction.
PiperOrigin-RevId: 696462793
Change-Id: Ie722e2a04d7fd7ed96634d3304cc94e895ed713b
2024-11-14 03:45:34 -08:00
0e8cca93e1
Refactor nativeccd interface.
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- Update mj_ccd interface for multi-contacts,
- Support GJK cutoff distance, and
- Remove mjc_fixNormal from nativeccd (causes bug with cylindar box collisions).
PiperOrigin-RevId: 696185362
Change-Id: I4828b7ee1bde078268220172a4937cd553f6187e
2024-11-13 10:28:45 -08:00
c68ee8055e
Fix ordering in mjxmacro.h.
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PiperOrigin-RevId: 696058596
Change-Id: I6359c082e528c1f53591033ea61c352ba5e13763
2024-11-13 03:12:24 -08:00
45f908c165
Enable attaching plugins not instantiated in the extension section.
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Fixes #2217 .
PiperOrigin-RevId: 695766524
Change-Id: I534b63400810bd6ef888f39f6665213280fd93ac
2024-11-12 09:36:06 -08:00
eb77d5b933
Fix bug in mesh hillclimbing support function.
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PiperOrigin-RevId: 695710616
Change-Id: I2127aee584c13efb44d70cc4e267354ca0b80bf0
2024-11-12 06:36:55 -08:00
f7cc1c2e5b
Read solref from jnt_solref when the user calls model.joint.solref.
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Same for solimp. Fixes #2221 .
PiperOrigin-RevId: 695416121
Change-Id: I962dc12b13fa4d02dc349ecad1a1ddc7085565db
2024-11-11 11:15:00 -08:00
0f381a9ebd
Add muscle actuators to MJX.
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PiperOrigin-RevId: 695334356
Change-Id: I6590ed6bdd4a8adc53d5c4e2641f472f7439cedc
2024-11-11 07:46:20 -08:00
414b677eb8
print memory footprint of model and data
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PiperOrigin-RevId: 694088011
Change-Id: I3b743df2a59f554414b440aebfa6bf0d0e29b2d8
2024-11-07 05:56:02 -08:00
d6d3d6bb25
Fix typo in changelog.
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PiperOrigin-RevId: 694009875
Change-Id: I0ecafe467347a54b54c29c486b98516d1a53e5ea
2024-11-07 00:19:42 -08:00
18f88efe17
Contact visualization: if penetration is deeper than height, extend cylinder to show computed depth.
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PiperOrigin-RevId: 693869892
Change-Id: I1c873e3803286d6a636336246f498552617e978b
2024-11-06 14:46:31 -08:00
a2a0b95de0
Print arena memory usage in testspeed
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PiperOrigin-RevId: 693681047
Change-Id: Ica5b516d0141199f701567d64e2ea1446491e232
2024-11-06 04:50:42 -08:00
276f5b04cd
Bump MuJoCo version to 3.2.6.
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PiperOrigin-RevId: 693472991
Change-Id: Ic202f52dd42c55c43ba05ca21b5cc6a4024b0c72
2024-11-05 14:13:08 -08:00
f9569cdab0
Fix #2212 .
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PiperOrigin-RevId: 693294401
Change-Id: Ifef2b268f61b90f557580f61316786c50dc9698d
2024-11-05 04:17:48 -08:00
b7bbb2b25c
Update the MuJoCo changelog for the 3.2.5 release
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PiperOrigin-RevId: 693032354
Change-Id: I675424a3feeda8037a9559753dc93c05b812257c
2024-11-04 11:19:46 -08:00
298ce31e39
Update docs to highlight nativeccd
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PiperOrigin-RevId: 692918061
Change-Id: I9e44bc3123fe6b8a41b769c7de01b20e3c56d758
2024-11-04 04:34:53 -08:00
c168ac3397
Add source code links in docs for remaining API functions.
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PiperOrigin-RevId: 692728907
Change-Id: I145eb47453e6aa017505d53d3e17215959252e3d
2024-11-03 11:09:56 -08:00
efa5709c94
Fix broken link in XMLreference.
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PiperOrigin-RevId: 692669798
Change-Id: I8f61d1032d11c63945264a1b9dc1c034b7401d98
2024-11-03 04:18:43 -08:00
831d9881d3
Remove box, cylinder and ellipsoid composite types.
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Also, fix a bug with Flex textures that was causing an incorrect allocation of the textures in mjModel. Fixes #2013 .
PiperOrigin-RevId: 692510858
Change-Id: If781716216974e085244da27bc3aa57d91c3458c
2024-11-02 11:14:13 -07:00
ebe60b9ad5
Add const to mjsDefault when used as function argument.
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Fixes #2197 .
PiperOrigin-RevId: 692346264
Change-Id: Iddb9be1377a7d59c86911802d8c5563f6bf6b043
2024-11-01 18:18:42 -07:00
47ebb0614e
Set some visual params as jax.Arrays for visual domain rando.
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PiperOrigin-RevId: 692273879
Change-Id: I80475aa65744de06a6bfebbfb95a44faa751595f
2024-11-01 13:24:29 -07:00
b6037d1759
Improve mjSpec documentation. Fixes #2074 .
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PiperOrigin-RevId: 692251710
Change-Id: Ia46bbbe5b7eaa890433b38fed66824f716cc9ea0
2024-11-01 12:06:14 -07:00
a51f346059
Use sparse (uncompressed) actuator_moment in mj_transmission.
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PiperOrigin-RevId: 692179704
Change-Id: Ic30ac5a98dc13de2028e378df65dc88ba3912bf5
2024-11-01 08:06:28 -07:00
1d58576d28
Fetch source code line links for API functions on docs client side.
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PiperOrigin-RevId: 692115441
Change-Id: Ifbedf6a4998000f99e2275cb43293b3050daf0ee
2024-11-01 03:28:53 -07:00
09212a9541
Merge pull request #2159 from Andrew-Luo1:main
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PiperOrigin-RevId: 691868879
Change-Id: If34d40aef885970895aa2e1dd11ce2206fa729be
2024-10-31 11:11:08 -07:00
c9f78ad8a8
Rename nnzJ to nJ in mjData.
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This naming is more consistent.
PiperOrigin-RevId: 691858223
Change-Id: Ife3db822afa0b51b30d0792548b35b3742da388a
2024-10-31 10:43:10 -07:00
554641060b
Add support for computing elliptic cone contact forces to MJX. Fixes #2153 .
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PiperOrigin-RevId: 691829630
Change-Id: I862ac9c7db07d0a74b718d2a41e19d5ae636a260
2024-10-31 09:22:59 -07:00
18682aac6a
Fix function definition formatting.
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PiperOrigin-RevId: 691782530
Change-Id: Ib1611285e77e274b17074d5f09ede00cdc0c6f0f
2024-10-31 06:45:41 -07:00
94bbf297fc
Replace flex_xvert0 with flex_vert0
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`flex_xvert0` stored the Cartesian position of the vertices in `qpos0`. This array was unused, so it is now replaced with `flex_vert0`, which still contains the positions of the vertices, but normalized on the bounding box of the flex so that the coordinates are in `[0,1]^m->flex_dim`. This will be useful in the future for using different interpolation methods for computing flex deformations.
PiperOrigin-RevId: 691779361
Change-Id: I5c4223103cd4558f4e268fe3e8d8177541e4754f
2024-10-31 06:30:36 -07:00
26ccaeb78e
Don't populate _qM_sparse, _qLD_sparse, _qLDiagInv_sparse fields if they were never set via _full_compat. Fixes #2188
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PiperOrigin-RevId: 691538016
Change-Id: Ib0385166af2dfbbb46cf1986cb692e1fda467a0b
2024-10-30 13:43:02 -07:00
a9737c60e8
Copybara import of the project:
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--
5b525ccaef3d7184d3167815be63ed630781a064 by Kevin Zakka <kevinarmandzakka@gmail.com >:
Add command line scripts to MJX docs.
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/2196 from kevinzakka:typo-fixes 5b525ccaef3d7184d3167815be63ed630781a064
PiperOrigin-RevId: 691497203
Change-Id: I7c5d6a8fcbd2a42939673cee5eadb30bebdad833
2024-10-30 11:41:11 -07:00
70d944b458
micro-optimization to mju_mulMatTVecSparse
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PiperOrigin-RevId: 691431137
Change-Id: I95f94ff38ae911194b21aa220af35c7374af9739
2024-10-30 08:41:18 -07:00
32df8a515a
Fix typos. fixes #2139
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PiperOrigin-RevId: 691429879
Change-Id: I929b7a387ec41f68b8d85fe20de83083216da36a
2024-10-30 08:34:39 -07:00
7c2b2d353c
Merge pull request #2190 from jjyyxx:patch-2
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PiperOrigin-RevId: 691384670
Change-Id: I28c69eac4f51f1c41bd4f88540c516d0f628d197
2024-10-30 05:43:04 -07:00
e1cb43819a
Fix typo in MJDATA_VECTOR definition
2024-10-30 14:27:32 +08:00
03d04f6096
Add texture fields to mjx.Model for madrona collaborators.
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PiperOrigin-RevId: 691170517
Change-Id: Icb8e2d6ed65a13d17dc2565d3d84de629a10c37a
2024-10-29 14:49:12 -07:00
f47840e57c
Add mju_dense2sparse to public API.
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PiperOrigin-RevId: 691125900
Change-Id: Id9b7c739ee14bff2317168da258b1a3acbdafdbe
2024-10-29 12:47:48 -07:00
e835f139c8
Add sibling traversal for tree elements.
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PiperOrigin-RevId: 691057957
Change-Id: I3f30cf175b5ad0842f3fbbf7fdb42ba7a2212682
2024-10-29 09:55:08 -07:00
b941e994d9
Move keyframe resizing from compilation to attach (mjCModel::operator+=).
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This allows to resize parent keyframes also when the child has no keyframes.
PiperOrigin-RevId: 691045299
Change-Id: I3ab6509b13b5754e937ec77daf9efe697cabf1bc
2024-10-29 09:17:55 -07:00
e889cffe23
Clarify in mju_boxQP test that for the synthetic test set, the average number of factorizations is expected to be 5 or less, while the worst case is expected to be 6 or less.
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PiperOrigin-RevId: 691037804
Change-Id: Id0bc8bedf08d623efcacbe696775f0ef0f6781b9
2024-10-29 08:55:50 -07:00
1336e99d88
Remove test annotation from mjspec notebook
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PiperOrigin-RevId: 690987516
Change-Id: Ia99b65278609166ecec9002e5290c44a54255d80
2024-10-29 06:02:06 -07:00
0995af83f9
Add documentation for SdfLib plugin.
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Fixes #2182 .
PiperOrigin-RevId: 690980373
Change-Id: Ifc94f928e9cfbdbef3cb6f11ad4bffed542bf49a
2024-10-29 05:32:13 -07:00
71cfcc5432
Use assertIn instead of assertContainsSubsequence for substring checks.
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A contained subsequence must not necessarily be continuous, so the check only
checked if the individual letters were appearing in order within the message,
possibly interspersed with other characters.
PiperOrigin-RevId: 690977874
Change-Id: I36bd5a0105b979a9b0d6d04ca5239245d4f8d041
2024-10-29 05:20:52 -07:00
6703a40fcf
Improve plugin documentation.
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PiperOrigin-RevId: 690974299
Change-Id: Iadaabafb7434ada9579d6e2f64aae435cdfedbd8
2024-10-29 05:07:31 -07:00
ce5f8b4728
Fix typo in mju_muscleDynamics comments.
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PiperOrigin-RevId: 690949399
Change-Id: I8102fb72cce909786eab0771467c7f6f751792bf
2024-10-29 03:31:28 -07:00
f1d4b23e48
mjSpec tutorial backwards compatibility with the latest MuJoCo release.
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PiperOrigin-RevId: 690747714
Change-Id: Ib8894a1dc2a68e30a110e773c77fbd2baee87efd
2024-10-28 14:19:17 -07:00
d01fb81b50
Use eq_active0 in MJX.
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PiperOrigin-RevId: 690727109
Change-Id: If60a99d7644e0376a27039478319ff5300b15cc1
2024-10-28 13:21:05 -07:00
13f11d4c45
Fit typo in mjSpec tutorial link.
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PiperOrigin-RevId: 690676376
Change-Id: I5f082f5703488403aa65be76d208def68ccc3eb9
2024-10-28 11:00:09 -07:00
0be0896bec
Add mjSpec tutorial.
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PiperOrigin-RevId: 690670950
Change-Id: I68de7ad57a75d6c1a443fa2cd427e59799ddd830
2024-10-28 10:45:30 -07:00
Kyle Bayes