13490962a8
Merge pull request #1015 from aikkala:update-readme-myoconverter
...
PiperOrigin-RevId: 556826813
Change-Id: I8f2abff550c2a5ce74db38cb7eb521f9711158a6
2023-08-14 09:59:50 -07:00
f34cb22bd3
Reuse sparse Dof-Dof matrix to make compressed sparse M in mj_addM.
...
PiperOrigin-RevId: 556823353
Change-Id: I650ac83767d60c69859aae6e38aa331f43814378
2023-08-14 09:49:34 -07:00
7e1c65b10e
Improve CRB code:
...
- remove mj_crbSkip since this was only utilized during compile time to compute m->dof_m0, replaced with mj_crbDiag to compute only the diagonals for dof_m0,
- change row backward pass to forward pass to optimize processing diagonal blocks,
- and various code refactoring.
PiperOrigin-RevId: 556799924
Change-Id: I0a18d7a45862860fdddd7150540ddc8d64b01b29
2023-08-14 08:32:12 -07:00
8ddef7007f
Disable convex hull visualization for visual geoms.
...
This additional check in engine_vis_visualize is necessary for meshes that are shared between visual and colliding geoms.
PiperOrigin-RevId: 556786969
Change-Id: I8270d3f2c0ce497c79b24b282f2f15ece44a423b
2023-08-14 07:45:53 -07:00
a276c49c30
Rename `actuatorforcerange and actuatorforcelimited, to actuatorfrcrange and actuatorfrclimited`, respectively.
...
PiperOrigin-RevId: 556780590
Change-Id: Ide12cf390920f9efe6f79cc9f864a480ce5f256d
2023-08-14 07:18:57 -07:00
abfa08f6cd
Improve schema order in XML reference
...
PiperOrigin-RevId: 556726473
Change-Id: I157dd170d66708a59510e5656468aef498bff7be
2023-08-14 03:17:01 -07:00
81d0e56185
Reduce font size in schema reference, make 4 columns
...
PiperOrigin-RevId: 556719771
Change-Id: Ie1cf7ef02dab7fdd1eed40ce77ddaa71918a9754
2023-08-14 02:45:59 -07:00
6862cd7d1b
Fix broken link in README
...
PiperOrigin-RevId: 556158264
Change-Id: Ib9292b384b50c4116d490992df2f8d443cff478f
2023-08-11 18:01:27 -07:00
70952f5f1c
Updates to README
...
PiperOrigin-RevId: 556018026
Change-Id: I1feee93727a92079905d80288b5fd706e3ce800c
2023-08-11 11:07:15 -07:00
5b65f91bb9
Replace O2MConverter with improved MyoConverter
2023-08-11 10:02:14 +03:00
93012bf164
Remove legacy MacOS support in mju_alignedMalloc. As of MuJoCo 2.3.7, MacOS 11 is the oldest supported version of MacOS.
...
PiperOrigin-RevId: 555090388
Change-Id: I57d7abf17952da250f1165f24dfcbb112aea92f9
2023-08-09 01:58:10 -07:00
631b16e7ad
Add better user error messages to Python renderer update_scene along with missing unit tests.
...
PiperOrigin-RevId: 554482720
Change-Id: Ief3ba496fb5720668f98fb9d44a5c82e6a14b9cc
2023-08-07 08:22:34 -07:00
2d7d5319f7
Rework sparse addM function to support compressed sparse matrices.
...
Note:
- M is still a nv x nv uncompressed sparse matrix.
- NNZ precounting still needs to be implemented using the combineSparseCount helper function.
PiperOrigin-RevId: 554452710
Change-Id: I14adf58fc3acd4ed82d864d7c2e9e96ee6b0377d
2023-08-07 06:07:24 -07:00
6d7b49ccf5
Remove collision pruning statistics from simulate info panel.
...
PiperOrigin-RevId: 554452244
Change-Id: I4f9f1d5e38d4b4bc37b5a2f0980b352db04a73c6
2023-08-07 06:05:13 -07:00
574ae6ab91
Add an actuator with actearly and dyntype="filterexact" to the test model.
...
PiperOrigin-RevId: 554441792
Change-Id: Ibd67b2516bf0f01417936ce183856756885002c2
2023-08-07 05:08:46 -07:00
2c3297b3e7
Add filterexact and actearly options to MuJoCo.
...
When filterexact is a new dyntype which is just like the existing `filter`, but the activation state is integrated with exact integration, instead of simple Euler integration.
When actearly is specified on a general actuator, `qfrc_actuator` is computed using the next timestep's `act` value, instead of the current value.
PiperOrigin-RevId: 554438423
Change-Id: If901e4988fa6b518d6f3097f149770665a189a4b
2023-08-07 04:50:33 -07:00
f0f535ed04
Improve order and clarify declarations of arena variables in mjdata.h
...
PiperOrigin-RevId: 554419319
Change-Id: I83b83c56be4b74060f4a108c35ce481b8f354c5e
2023-08-07 03:07:11 -07:00
4a519b9dd8
Raise an error if invalid camera name is provided to renderer update_scene. Fixes #870 .
...
PiperOrigin-RevId: 553211464
Change-Id: I00ab01a9929160dd40a2a789b104a8a6ed0d5a61
2023-08-02 11:46:37 -07:00
a063e2f0ef
Add private functions and associated tests related to constraint island discovery.
...
PiperOrigin-RevId: 553156672
Change-Id: Ifd73e3df443f7955359c5243d5f7756069335c05
2023-08-02 08:43:11 -07:00
efca1a76aa
Encapsulate mjCMesh data, apply Google C++ naming convention to class members (See https://google.github.io/styleguide/cppguide.html#Variable_Names ), and fix a couple of typos.
...
PiperOrigin-RevId: 553129088
Change-Id: Ic515154220af472f4fc90ca9ade92d86b205cc94
2023-08-02 16:07:44 +01:00
dac34c91bb
Set tendon_invweight0=0 for models with no dofs.
...
PiperOrigin-RevId: 551851674
Change-Id: I9d2fd1728b4b654e5bb91ac8f0d203e275b7b93a
2023-07-28 07:54:08 -07:00
455a081ee7
Cache triangles, vertices and normals from the mesh outside of the triangle loop so we don't have to request them inside the loop.
...
This is because each time we call mesh.triangles or similar, the data gets copied from the native memory to a c# structure.
PiperOrigin-RevId: 551851115
Change-Id: Ie7820f61639f0d727ecf9716044ce18b3277913b
2023-07-28 07:50:54 -07:00
5f246ef210
Add ReadAttrVec, ReadAttrArr, ReadAttrStr, and ReadAttrNum to XML utils.
...
Moving forward, the compiler objects should have encapsulated data, therefore the old ReadAttr* methods are being deprecated as they require raw pointers to read into.
No external changes other than minor improvements to ReadAttr and ReadVector.
PiperOrigin-RevId: 550880401
Change-Id: I632f40322ccd935f9af9b69e66b056c5cda6face
2023-07-25 07:31:23 -07:00
5b4b3415fa
Fix a typo: availabe -> available
...
PiperOrigin-RevId: 550529748
Change-Id: I1277e096809bc4d66c98da726aa14a0cbfe18e56
2023-07-24 05:48:33 -07:00
65c827d422
Fix typo in key_callback example.
...
PiperOrigin-RevId: 550013932
Change-Id: I418f49eee97e73d1b0218acc7e9259acaefb5edd
2023-07-21 12:12:53 -07:00
bbbf30ee47
Fix typo in docs.
...
PiperOrigin-RevId: 549594904
Change-Id: I96c3964367081a8da0324c9989c9eb5414fa411f
2023-07-20 04:46:23 -07:00
eaf78b798b
Bump dev version number to 2.3.8.
...
PiperOrigin-RevId: 549580971
Change-Id: If8be1910f0196754ce8abb8d91fe604e789ecec8
2023-07-20 03:27:50 -07:00
c9246e1f50
Release version 2.3.7.
...
PiperOrigin-RevId: 549565890
Change-Id: I56db138998e43637bdde86de6490a567f0f255ec
2023-07-20 02:13:55 -07:00
06b70832ce
Add keyboard event callback for Python passive viewer.
...
Fixes #766
Fixes #846
PiperOrigin-RevId: 549449372
Change-Id: I37d17f1162c66d0e8482d402aae22d9a16b59deb
2023-07-19 15:54:44 -07:00
f7847ba73e
Fix GLFW crash when Python exits while the passive viewer is running.
...
Fixes #790
PiperOrigin-RevId: 549440435
Change-Id: I808f6aaab6662225e5fe1131e0da72eca6011ba9
2023-07-19 15:20:46 -07:00
8386b28877
Change "MIME type" to "Media Type".
...
MIME type is the historic nomenclature for Media Type, see e.g. https://www.iana.org/assignments/media-types/media-types.xhtml .
PiperOrigin-RevId: 549394435
Change-Id: I000e044a35ec44392e9c41bab6383aa89cdefc49
2023-07-19 12:35:57 -07:00
51aa375af0
Improvements related to models where joint-actuator relationship is not one-to-one:
...
- Add `joint-actuatorforcerange` for clamping total actuator force at joints. Add `sensor-jointactuatorfrc` for sensing total actuator forces on a single joint.
See [documentation](https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping ) for justification and use cases.
- Add simple car model to `model/`.
- Move actuation-related test models into `engine/testdata/actuation/`.
PiperOrigin-RevId: 549355941
Change-Id: I27f6c1f80426d73a2811ef5ae74684a228b2fbd1
2023-07-19 10:29:32 -07:00
7603b07a20
Fix broken Linux build in 5fcdae771b.
...
PiperOrigin-RevId: 549338643
Change-Id: Icb2de7aa77ddb5d6c9bbf6a1140ef388ead5368c
2023-07-19 09:27:25 -07:00
5fcdae771b
Add content_type attribute that takes a MIME type to specify the file contents for meshes, hfields, and textures.
...
PiperOrigin-RevId: 549302344
Change-Id: I30a8adfef5b5d87bb20479329f3396892f5137ff
2023-07-19 06:51:36 -07:00
5f327b0c31
Add missing pybind definition for update_mesh.
...
PiperOrigin-RevId: 548395521
Change-Id: Id21a1ef6daa94a221062e7354db3e906611f0f36
2023-07-15 14:57:38 -07:00
ac4ed87a9f
Merge pull request #985 from thowell:main
...
PiperOrigin-RevId: 548330978
Change-Id: I3e9e8e0ae55b8b56ab41ce316a1dd129029cea93
2023-07-15 03:11:56 -07:00
e695a95efb
fix mjd_transitionFD comment
2023-07-14 13:50:57 -07:00
0ccfef7314
Add update_{hfield,mesh,texture} methods to the passive viewer.
...
Fixes #812 .
Fixes #958 .
Fixes #965 .
PiperOrigin-RevId: 548181282
Change-Id: I6eb0cd2ce52c66083e83dd08d69e0cfb4178dbba
2023-07-14 11:43:36 -07:00
b5bef1b639
Describe c-frame variables.
...
Fixes #982 .
PiperOrigin-RevId: 548060614
Change-Id: I2164afc07c02e657b1b924a5afc59209356b57eb
2023-07-14 01:59:43 -07:00
8f3c488de8
allow specifying static bodies when parsing URDF
...
PiperOrigin-RevId: 547664406
Change-Id: I4b555431d1877fb7547c6b550387cd4230c2b0c4
2023-07-12 19:42:09 -07:00
242aea93c6
Bump oldest supported MacOS to version 11.
...
PiperOrigin-RevId: 547479684
Change-Id: Idb6a432af0e7872ca087a0c571aafa72e9528818
2023-07-12 06:38:26 -07:00
77b3533d90
Improve mju_cross implementation.
...
- Allow in-place cross product a = a x b using `mju_cross(a, a, b)`.
- Easier for compiler to optimize since tmp cannot alias a or b (verified with godbolt).
PiperOrigin-RevId: 547265908
Change-Id: If965867e08c1bc980e71729e38f6855e32de18b2
2023-07-11 12:35:02 -07:00
e2677d6057
Check references for BVH data structure.
...
PiperOrigin-RevId: 547175700
Change-Id: I10e47f0c81ad25563d1f149bf4d2310ee515b1be
2023-07-11 06:49:20 -07:00
24c1ec9aec
Add support for printing to stdout in mj_saveLastXML.
...
PiperOrigin-RevId: 546849864
Change-Id: I799ea3fcd723cf036f82ef5c1ef8152c314072dc
2023-07-10 06:08:10 -07:00
5cfbb6ac8b
Add mjd_quatIntegrate, expose mjd_subQuat.
...
PiperOrigin-RevId: 546252926
Change-Id: I7d6b2bd6536e7e8afc368f3c46037c20f6a1cb5e
2023-07-07 05:33:24 -07:00
7401d6786a
Add a test to check that mjData values for the world body are initialized.
...
PiperOrigin-RevId: 545493742
Change-Id: I502b57450ca858b0e96823a416cd7d930fd34489
2023-07-04 12:56:56 -07:00
761649c3a3
Improvements to testspeed.cc:
...
- Turn on internal profiling by default, adding "other" category.
- Print step timing in microseconds.
PiperOrigin-RevId: 545493349
Change-Id: I0cd5fea1206b3f86f1c757130169975d6862733d
2023-07-04 12:53:59 -07:00
46e06c4cac
Add elasticity plugins to xml_native_writer_test. Fixes #961 .
...
PiperOrigin-RevId: 545454207
Change-Id: I4e93499eaa53e5bc8c8afa682986657cef3ac20f
2023-07-04 08:30:30 -07:00
2b38148d24
Explicitly zero out cinert of the world body.
...
Values of `cinert` are only set by `mj_comPos` for body 1 and above, which leaves the values for body 0 uninitialized. This triggers a `use-of-uninitialized-value` error under msan when the entire `cinert` array is read.
PiperOrigin-RevId: 545453619
Change-Id: I7bfdb4e4e33677903fc90c6ad070490aa65bf464
2023-07-04 08:26:02 -07:00
95167fab2d
Add utility function for merging directory names with filenames, and fix issue in mj_addfileVFS where directory names without trailing filesystem separators won't append correctly.
...
PiperOrigin-RevId: 545450158
Change-Id: I550394f11ac2837d35f3d869f8718a119a9eac38
2023-07-04 08:09:01 -07:00
Copybara-Service