18e4e10142
Mention fluid force documentation in the changelog.
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PiperOrigin-RevId: 574206986
Change-Id: Ia5246f369070c463c10a2d63cf2ae29b40317724
2023-10-17 11:08:49 -07:00
50b4f0277d
Add elasticity plugin README.
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PiperOrigin-RevId: 574195554
Change-Id: Ib57614aaef66cdb26e3667c66df2426e63dacac4
2023-10-17 10:36:34 -07:00
65e66d0fc9
Fluid force documentation: Rename d to r, update description of passive viscous forces.
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PiperOrigin-RevId: 574195315
Change-Id: Ic045a2d1606c85a7d87b0000f505c792b6477917
2023-10-17 10:35:12 -07:00
317d6d9ebe
Move edge creation after element reordering in mjCFlex.
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PiperOrigin-RevId: 574193046
Change-Id: If2fb01b3494d637d4b220d03e7d7d84e4a9f7a2d
2023-10-17 10:28:43 -07:00
139a8ae298
Add flex and elasticity documentation. Fixes #873 .
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PiperOrigin-RevId: 574179040
Change-Id: Iaf90bbf2b2c3fe075c940c2b66b7b841f256e653
2023-10-17 09:46:07 -07:00
db067a3b94
Update SdfLib to latest version.
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PiperOrigin-RevId: 574140359
Change-Id: Icbbf1c863204bef45252cfd184e0d80046261dc4
2023-10-17 07:20:26 -07:00
393cfec1e8
Don't use PluginTest as the fixture name in xml_native_writer_test
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PiperOrigin-RevId: 574129298
Change-Id: I8c3e10bf271d54cb414b8d2af3724d8c81b6fc80
2023-10-17 06:32:37 -07:00
d67b8c6251
Add membrane plugin (2D Flex elastic stiffness).
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PiperOrigin-RevId: 574109411
Change-Id: I4a701d8189cecf540cd200bd30cb4582f3c7dd43
2023-10-17 04:55:33 -07:00
110ade1435
Update Solid and Shell plugins to use FlexComp.
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PiperOrigin-RevId: 573755821
Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
2023-10-16 03:03:06 -07:00
93d1c3c92e
Add GitHub link to the docs sidebar
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PiperOrigin-RevId: 573621667
Change-Id: Iac0fe218267dd8691bc503f5c8ea31c62ba216a9
2023-10-15 07:58:24 -07:00
a9ee497e33
Add spaces around comparison operators.
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PiperOrigin-RevId: 573620198
Change-Id: Icf295cc0dd381a4a7f0e2c94f2e12b499193e862
2023-10-15 07:40:10 -07:00
a1b6026b8c
Delete derivative code sample.
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PiperOrigin-RevId: 573477509
Change-Id: I0e619e36dd3fe677a27bbbdac87a15f04670cc13
2023-10-14 08:38:37 -07:00
c0357ef3d0
Improve documentation related to engine-internal threading.
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PiperOrigin-RevId: 573346658
Change-Id: I112eba10b8f71b3a0aa27fa162a4a589be7ec3a7
2023-10-13 16:32:38 -07:00
e90b347cbf
Add mesh conversion utilities.
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PiperOrigin-RevId: 573343028
Change-Id: I4b258f91a11d1994659b0129de5ddb2077689f01
2023-10-13 16:13:24 -07:00
efdc89e347
Update dependency versions.
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PiperOrigin-RevId: 573323079
Change-Id: I01fbcc582626b179ce72b2aabcac0f389801a97f
2023-10-13 14:41:48 -07:00
eb41c720d4
Restore full state in mjd_stepFD.
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Make sure that plugin state is also restored after finite-difference calculations.
PiperOrigin-RevId: 573272654
Change-Id: Ie276ecc391c463ae5c47cafa5b8de873b9345a7d
2023-10-13 11:23:52 -07:00
fb4cf472ed
Delete testxml code sample.
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PiperOrigin-RevId: 573202693
Change-Id: Ic8d284293bd5c51693415d4186bb0b72a5416dca
2023-10-13 06:33:24 -07:00
d88675a034
Change the default of <compiler autolimits> from "false" to "true".
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PiperOrigin-RevId: 573184793
Change-Id: I24075a8d953d0a3c3ddf65c67e1e18075cd029b6
2023-10-13 05:05:24 -07:00
389e13938e
Fix typos in docs.
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PiperOrigin-RevId: 573172715
Change-Id: I0073d0872597b01d84151b9eea578cc0ae0a5013
2023-10-13 04:05:30 -07:00
36de0cc084
Tweak CSS selector
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PiperOrigin-RevId: 572980162
Change-Id: Ic4d4e58f20c4324d24824fd2b62f4138e5384a5d
2023-10-12 12:25:58 -07:00
59164702ab
Merge pull request #978 from aftersomemath:depth-precision-in-place
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PiperOrigin-RevId: 572961667
Change-Id: I69011ddf835ae286e30e7f84cca67867cfe94fa4
2023-10-12 11:18:36 -07:00
493ae95d69
Add stack leak test to WriteReadCompare
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PiperOrigin-RevId: 572953669
Change-Id: Id6cad3fc86777d68f218119f67c9dc473bdcfcc8
2023-10-12 10:53:24 -07:00
86859ad382
Restore shadows when flex is present.
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PiperOrigin-RevId: 572936749
Change-Id: I57f8d486810767422bc2874433497eb5073bf63b
2023-10-12 09:58:59 -07:00
60fd6a3298
Check if there's enough data in the buffer before reading fields while loading MJB.
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Before this change, loading a truncated MJB file would crash with mjERROR. After this change it will just return NULL.
PiperOrigin-RevId: 572928724
Change-Id: I9611eaffcc2e5ef1b957f48162ce2ef29619e087
2023-10-12 09:30:00 -07:00
6f8128dc6a
Fix benchmark label for plugin flag test.
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PiperOrigin-RevId: 572891541
Change-Id: I442e31f7e4164789759be0d2c71275fdb1398955
2023-10-12 06:53:38 -07:00
386b65086b
Reduce contact label length.
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PiperOrigin-RevId: 572868387
Change-Id: Icedec0792516b05d083068b9a3dad7e47e4ccc41
2023-10-12 05:10:03 -07:00
3addd490a4
Increase contact label length.
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PiperOrigin-RevId: 572856066
Change-Id: I9d68481644b5a67720c055461607c95de8ec16ac
2023-10-12 04:10:25 -07:00
5a70ad08ab
Add Flex component.
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PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
2023-10-12 10:49:35 +01:00
649a474788
Migrate to pyproject.toml.
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PiperOrigin-RevId: 572726851
Change-Id: Iad254df70d15c962a5e58c8caf82b32530d26b06
2023-10-11 16:55:34 -07:00
f32219c37c
Install locally built wheels with --no-deps --no-index.
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PiperOrigin-RevId: 572665469
Change-Id: I65c93e42155024d8dbfb42e45fd5b4be09f3528e
2023-10-11 13:13:59 -07:00
bad6bee64f
Improve component printout in testspeed
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PiperOrigin-RevId: 572610538
Change-Id: I28745840e457ccef7276c3d37ecf3055d0f594da
2023-10-11 10:12:32 -07:00
2842245ca9
Multithread parallelizable operations in mj_fwdPosition
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PiperOrigin-RevId: 572576240
Change-Id: I70eb518385366a0027c5dad44ac15e3904d1b4a3
2023-10-11 08:01:53 -07:00
ba03ebdadd
Fix a segfault in the passive viewer on macOS.
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The segfault is caused by a call to mjui_update outside of the macOS main thread, introduced in 3e12f0d50c
2023-10-11 04:06:23 -07:00
742f15fb18
Add redirects for {computation,programming,APIreference}.html.
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This prevents us from breaking existing URLs pointing to computation.html before we turned it into a directory.
PiperOrigin-RevId: 572522650
Change-Id: Ib0e6679099be38b002777c08ffa647c9902439a9
2023-10-11 03:21:40 -07:00
7e549495d9
Fix macOS mjpython launcher to suppoer show_{left,right}_ui.
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PiperOrigin-RevId: 572377315
Change-Id: Iee734a6e49821b42e94dc19d9ed92a45ee605ea7
2023-10-10 15:04:02 -07:00
a84499e904
Fix non-graceful exiting behaviour in launch_passive.
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The viewer currently hard crashes when the user script loops on the passive viewer handle without paying attention to `is_running`. This is considered user error, however this change makes the user script hang on the loop rather than hard crashing.
Startblock:
diffbase is submitted
PiperOrigin-RevId: 572336261
Change-Id: Id53126a158242b947584da1f946304ae8e792d4a
2023-10-10 12:39:37 -07:00
a1d0cbd654
Add show_{left,right}_ui kwarg to viewer.launch(_passive).
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Fixes #857
PiperOrigin-RevId: 572333909
Change-Id: I12247fe856afddf808eb8f386a594acac47c34b5
2023-10-10 12:31:11 -07:00
2e15574b58
Allow user-defined visualization geoms to be added to the passive viewer.
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Fixes #1023 , #1082
PiperOrigin-RevId: 572303635
Change-Id: Ia8399f816f311b38a7b137f5bd4f359f77a1da1c
2023-10-10 10:52:21 -07:00
1bd6c94e6d
Fix setting wrong value in efc_diagApprox for rotational components of weld constraints.
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PiperOrigin-RevId: 572276016
Change-Id: Ic985a342777aca976f5c4bc781133fb4a8976e3f
2023-10-10 09:34:34 -07:00
8af09eb70d
Add timing of collision phases.
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PiperOrigin-RevId: 572273621
Change-Id: Ib9440a996a05e42e00dcf4f1ce487a12f65e999b
2023-10-10 09:27:45 -07:00
7cd6b3db73
Fix typo in changelog
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PiperOrigin-RevId: 572264830
Change-Id: Ifbbb9d7ee06a73c768b4c13aad843146e8aa9dde
2023-10-10 08:55:59 -07:00
95fec9f84e
Add derivation of ellipsoid projection lemma in collapsible element.
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PiperOrigin-RevId: 572243118
Change-Id: I7b6c97dcf046f1bec85a0970bc018411d3009ae7
2023-10-10 07:34:59 -07:00
18d9f1abb0
Improvements to timing.
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- Fixed bug in timing of kinematics, was under-reported.
- Moved timing of inertia and collision into respective functions, in preparation for multi-threading.
- Detailed profiling in `testspeed` is always on, removed command-line flag.
- Improved `testspeed` self-documentation.
PiperOrigin-RevId: 571989548
Change-Id: If0e3cc17f6f3511b98fc36339f406a19968a9361
2023-10-09 11:14:44 -07:00
a1b39d5959
Fix a segfault in simulate on mouse scroll without a loaded model.
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Fixes #1089
PiperOrigin-RevId: 571985561
Change-Id: I4acc7c2a6032d678023783646c3f00cfe30641f2
2023-10-09 11:01:08 -07:00
cd06629a92
Give the test fixture a local name in elasticity_test.
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PiperOrigin-RevId: 571900967
Change-Id: Ie9bfea00dff1f9068f7fb3bf426dcbf6bfd6b4d2
2023-10-09 04:35:00 -07:00
f0608648cb
Stricter swapping condition in mju_eig3.
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This solves the texture rendering issue with the Rubik's cube. The texture were specified with respect to the incorrect frame, so a default rotation of (0, 0, pi/2) is now applied to the model file.
PiperOrigin-RevId: 571715153
Change-Id: I3efae3b1fc8f64e6c9e4db90a7609506e3cbed86
2023-10-08 04:04:34 -07:00
77d0400733
Accelerate inertia computation for simple bodies.
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PiperOrigin-RevId: 571411319
Change-Id: I82732e95795cc0f0645f8273a1b084f2a9187a75
2023-10-06 12:51:14 -07:00
df48624d0d
Place mjx tutorial correctly in copybara excludes.
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PiperOrigin-RevId: 571390140
Change-Id: I8d0b9ac7b30391e4abaa1ba03fd941e028fd2991
2023-10-06 11:29:54 -07:00
7b7cf5e86c
Add cards.xml model.
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PiperOrigin-RevId: 571341445
Change-Id: I3a02bb01099cacb62e0c599e6198ed90b48baad0
2023-10-06 08:13:33 -07:00
a9b761ee1b
Add double underscore suffix to all links in the changelog.
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PiperOrigin-RevId: 571304907
Change-Id: Ie726f3d703421f9d13a5d16f2282123c71c2b530
2023-10-06 05:01:09 -07:00
Yuval Tassa