16e9db3ad6
Add Franka Robotics FR3 robot.
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PiperOrigin-RevId: 639104288
Change-Id: Ib8c834f9f07f36bcbb62d92cbeba8c28ffd8da67
2024-05-31 11:49:12 -07:00
5c71c7de5d
Add Boston Dynamics Spot.
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PiperOrigin-RevId: 639086847
Change-Id: I8ef6d87d93dc730135a46ce361efbee1bf68c6c8
2024-05-31 10:58:03 -07:00
b38998eff2
Replace mjs_deleteBody with mjs_delete.
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PiperOrigin-RevId: 639058333
Change-Id: I9ac9ca8c6b8c0219f0130cd65dc83602f1829684
2024-05-31 09:24:59 -07:00
f616975e28
Forward fix for MJCF parsing: A recent libc++ update does not natively accept ".x" float format ('.' being the first character) but rather requires "0.x".
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PiperOrigin-RevId: 638946382
Change-Id: I3ccb1b5fedc6749a3459916b41148629933fb8c4
2024-05-31 01:17:52 -07:00
0d1c92b20a
Add documentation on pipeline stages and mjData self-consistency. Fixes #1667
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PiperOrigin-RevId: 638619787
Change-Id: Ic8dd0fbd178c4946757a07d74fca3b2c905f9080
2024-05-30 05:38:05 -07:00
c511d02265
Add hfield. Fixes #1655 #1491 #1695
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PiperOrigin-RevId: 638447127
Change-Id: Ib1e5020a8407bc100145a6b382e985c03dd4a848
2024-05-29 16:21:34 -07:00
dec55b59fa
Allow detaching from a compiled model.
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PiperOrigin-RevId: 638299270
Change-Id: I944d2a24578b63463eddfa55d89f39fcfbafd2b4
2024-05-29 08:47:30 -07:00
195bd32aa6
Add a check for mesh dimension in the elasticity.solid plugin. Fixes #1647 .
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PiperOrigin-RevId: 637905358
Change-Id: I1432a8fe054752bc962174548da3c1f81deb6555
2024-05-28 08:18:12 -07:00
7ca8a629a2
Speed up primitive sdf slightly.
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PiperOrigin-RevId: 637105250
Change-Id: Iec73b0b30d5222617d01622771afbc95a646da45
2024-05-24 20:01:54 -07:00
255a59487c
Corrects function reference in class comments.
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PiperOrigin-RevId: 637070006
Change-Id: I0d9dcf0401a107de67cd0a663df6c876287ba772
2024-05-24 16:53:56 -07:00
2a9067a6b3
Replace dt with opt.timestep.
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PiperOrigin-RevId: 636984197
Change-Id: I2b5eaae0c5e5be840f93c4fe8f725884959703cd
2024-05-24 11:35:22 -07:00
50aab2dd48
Move engine/engine_vfs.{c,h} to user/user_vfs.{c,h}.
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PiperOrigin-RevId: 636219666
Change-Id: I820de511948e82256784edb0893f209a73b221e6
2024-05-22 10:44:53 -07:00
0108b7b569
Group CCD common initialization options together.
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PiperOrigin-RevId: 635896664
Change-Id: Ib3135b1137484df5606a0377052c7db001b746c9
2024-05-21 12:45:58 -07:00
d4afdd8583
Merge pull request #1681 from lgkimjy:dev/mjxdoc_minimal_example_issue
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PiperOrigin-RevId: 635887142
Change-Id: Id3c39cacb5db9a1d2ff3a926a5a532839b05586c
2024-05-21 12:14:56 -07:00
2f19941fcf
Move mj_loadModel to xml_api.cc.
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PiperOrigin-RevId: 635748029
Change-Id: Ie4c7d34c9738e5497ec700089d4dba780ba7d5ed
2024-05-21 03:37:24 -07:00
9e0a437e2a
fixed minimal example shown at mjx.rst
2024-05-21 16:32:54 +09:00
f0b633de6a
Fix typos in least_squares notebook.
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PiperOrigin-RevId: 635696410
Change-Id: Iba9a2c8f121ca4994678ba933e19dce5323da27b
2024-05-20 23:48:39 -07:00
f2732c336e
Add Unitree G1 to model docs.
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PiperOrigin-RevId: 635464942
Change-Id: I970351ebc3723bff6ae14e08595a7365c861004e
2024-05-20 08:34:43 -07:00
292745000a
Merge pull request #1675 from peterdavidfagan:pr-fix-mjx-put-data-docs
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PiperOrigin-RevId: 635177941
Change-Id: I1f2685a8b0574929c2625a7ba2e70c5568a364fd
2024-05-19 00:40:23 -07:00
727893f0f2
Add timeconst attribute to position actuator.
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PiperOrigin-RevId: 635018979
Change-Id: I919573f4241ecb4a4c61c3b8b6641b31aa79eca4
2024-05-18 03:38:20 -07:00
875823ba96
Speed up slow test.
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PiperOrigin-RevId: 635014612
Change-Id: Ifb7fe174827f59647bb254a3ece25abbd57962ca
2024-05-18 03:07:30 -07:00
848c33e16b
fix put_data function signature
2024-05-17 12:22:58 +01:00
f6f9ff537b
Wrap LibCCD MPR function in a macro and initialize ccd_t struct.
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PiperOrigin-RevId: 634556417
Change-Id: I6a980e9b86c082523758fa401fbc75fcdc798c6b
2024-05-16 16:00:23 -07:00
d58010c3b9
Update numpy sha256 hash in build requirements.txt.
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PiperOrigin-RevId: 634546683
Change-Id: I319be1fab020dff2b44658ea402684a268ec6a33
2024-05-16 15:24:14 -07:00
86e6fc6de7
Fixes #1668
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PiperOrigin-RevId: 634483090
Change-Id: I30b55bbf419e57a7b2966dfca4da6bb57d5879ad
2024-05-16 11:58:09 -07:00
e885a3dc3d
Make default class members private.
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PiperOrigin-RevId: 634288934
Change-Id: I1b7a5ec8dd51c65377b09bcb85c56a849573cac7
2024-05-16 03:22:31 -07:00
6e58cedb47
Fix typo in sensor documentation.
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PiperOrigin-RevId: 633872551
Change-Id: I033a8227c19da2feebf286f4b3c24635f5625372
2024-05-15 03:03:40 -07:00
b8a8d811e1
Update documentation for URDF parsing, noting different default values for compiler attributes.
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PiperOrigin-RevId: 633556582
Change-Id: Ibf99b034706afc14f54bfc34e082465d025719d2
2024-05-14 06:01:38 -07:00
c6e88d3a72
Add hash for jaxlib wheel.
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PiperOrigin-RevId: 633543166
Change-Id: I36df252d8fc213a3025c017bff0d706f66154cdd
2024-05-14 04:58:26 -07:00
3809951172
Add sensor to replicate example model. Fixes #1654
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PiperOrigin-RevId: 633213086
Change-Id: I1672cf31871637497bcb0f26880e0a41a9f510bc
2024-05-13 08:06:44 -07:00
c6b1293e58
Add contact force support function. #1555
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PiperOrigin-RevId: 632591177
Change-Id: I15aa00686d9f885330506d2d63443c700cc029f6
2024-05-10 13:41:45 -07:00
65d4f04cd4
Add some missing const qualifiers.
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PiperOrigin-RevId: 632463634
Change-Id: Id3e3e53371f8ed53d970ad7c471bbefd2a70cf5a
2024-05-10 05:20:37 -07:00
02d015458c
Add mj_geomDistance API function and sensors for geometric distance, normal direction and segment between between two geoms. Fixes #51
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PiperOrigin-RevId: 632458301
Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
2024-05-10 04:52:43 -07:00
31de1dad9d
Update requirements.txt for mujoco and mjx.
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PiperOrigin-RevId: 632441444
Change-Id: Ia9ff35b453476b2f1f5a7a8facc819a8925dcd8b
2024-05-10 03:30:53 -07:00
39601b0f52
Fix bug in compiler error string construction.
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PiperOrigin-RevId: 632404023
Change-Id: I79e24e44fc4eec67b76fbf62b053b169ba3070a3
2024-05-10 00:40:07 -07:00
1d181786a2
Prevent visualization of SDF iterations from writing outside the maximum allocated vector. Fixes #1539 .
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PiperOrigin-RevId: 632071103
Change-Id: Idf91ede1661e717ad338f601a5482ab171d7f625
2024-05-09 01:42:35 -07:00
d6bc8c7781
BEGIN_PUBLIC
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Replaced "shark" test models with lighter models to speed up tests.
END_PUBLIC.
- procedurally generated light cube
- replaced shark GMSH with cube for all tests with extension GMSH
- Reduced size of shark model used for tests with extension Ftetwild
PiperOrigin-RevId: 631776421
Change-Id: I66f6b4058b86338a10d06c39bc93bef1c6fbdab6
2024-05-08 06:15:18 -07:00
13bf9ae6bd
Encapsulate mjCModel internal lists.
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PiperOrigin-RevId: 631760335
Change-Id: I9b67f6ed2e65a01877de15a92a04a1b31a6b3ff4
2024-05-08 05:02:21 -07:00
96844db926
Update BVH during fusestatic. Fixes #1069 and #1577 .
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PiperOrigin-RevId: 631748750
Change-Id: I4e1ae01207568c90fc49bcd7d9f760f5187f1afa
2024-05-08 04:13:16 -07:00
4eca3b048d
Bumping mjVERSIONSTRING from 3.1.5 to version 3.1.6
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PiperOrigin-RevId: 631544334
Change-Id: Iadf8fa25e30da5b00172c8212786b1f9edb22e1a
2024-05-07 14:11:38 -07:00
e001975f08
Update changelog for MuJoCo 3.1.5
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PiperOrigin-RevId: 631497384
Change-Id: I04bf6d0a4e744ab61becda5212e76b30c392f5b2
2024-05-07 11:47:15 -07:00
efbcd86e29
Update abseil to LTS 20240116.2.
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This is a minor update to the previous version, LTS 20240116.1. The only change is a fix for a bug in the `absl::StrFormat` function.
PiperOrigin-RevId: 631495397
Change-Id: I28aec52fb526a2168900a4ee93ffc6e11650a3be
2024-05-07 11:40:44 -07:00
24bc1c8b52
Add new differentiable physics tutorial to readme.
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PiperOrigin-RevId: 631458983
Change-Id: Ic0ef9e93397a974be50f0616571a4a5fea6f2b21
2024-05-07 10:00:45 -07:00
8d896529f0
Replace .copy() with list() in minimize.py
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PiperOrigin-RevId: 631413376
Change-Id: I06dd3e3897078b57b0a0668b2182fa62dcd4a74e
2024-05-07 07:16:30 -07:00
4647f79c55
Update MarchingCubeCpp to version f03a1b3ec29b1d7d865691ca8aea4f1eb2c2873d.
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PiperOrigin-RevId: 631401047
Change-Id: I3e82f7f1188470f8c40bd2e6ce1df2bd813c96c5
2024-05-07 06:22:49 -07:00
dbb258eb69
Fix compile-time size_t narrowing to bool.
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PiperOrigin-RevId: 631381101
Change-Id: I5188c352354573476decb8ae6bc007faf623a884
2024-05-07 05:00:15 -07:00
ad0459680d
Enable compiler asset cache for public use, and add changelog entry.
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PiperOrigin-RevId: 631352810
Change-Id: If6208327499e3e4bd37cbb2a1b0cdcfb912c1056
2024-05-07 02:50:50 -07:00
a40de1b230
Move notebook copyright notice into HTML comment.
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PiperOrigin-RevId: 631222581
Change-Id: I2fe86425677cf14cbfb72cb9d32b645682edc47f
2024-05-06 16:36:45 -07:00
34e537e557
Updates to minimize.least_squares. Fixes #1585
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- Residual callable is vectorized for easy multithreading by the user. Internally all vectors are now explicitly column vectors.
- Removed central findiff option, it wasn't applicable at the bounds anyway and just complicated the code.
- Added optional user-provided norm function for non-quadratic (robust) norms.
- Added an iter_callback callable for user convenience.
- Added option to internally check user-provided Jacobian and norm against finite differences.
- Updated the notebook accordingly.
PiperOrigin-RevId: 631205889
Change-Id: I3b9f8893756e329640de464e6f2e26a39e7dbd9e
2024-05-06 15:36:01 -07:00
93b57c1421
Update Python documentation.
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PiperOrigin-RevId: 631189628
Change-Id: I17d0fbe476fc14bbad525a302f588bf773a2244b
2024-05-06 14:40:59 -07:00
Kevin Zakka