18e4e10142
Mention fluid force documentation in the changelog.
...
PiperOrigin-RevId: 574206986
Change-Id: Ia5246f369070c463c10a2d63cf2ae29b40317724
2023-10-17 11:08:49 -07:00
65e66d0fc9
Fluid force documentation: Rename d to r, update description of passive viscous forces.
...
PiperOrigin-RevId: 574195315
Change-Id: Ic045a2d1606c85a7d87b0000f505c792b6477917
2023-10-17 10:35:12 -07:00
139a8ae298
Add flex and elasticity documentation. Fixes #873 .
...
PiperOrigin-RevId: 574179040
Change-Id: Iaf90bbf2b2c3fe075c940c2b66b7b841f256e653
2023-10-17 09:46:07 -07:00
110ade1435
Update Solid and Shell plugins to use FlexComp.
...
PiperOrigin-RevId: 573755821
Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
2023-10-16 03:03:06 -07:00
93d1c3c92e
Add GitHub link to the docs sidebar
...
PiperOrigin-RevId: 573621667
Change-Id: Iac0fe218267dd8691bc503f5c8ea31c62ba216a9
2023-10-15 07:58:24 -07:00
a1b6026b8c
Delete derivative code sample.
...
PiperOrigin-RevId: 573477509
Change-Id: I0e619e36dd3fe677a27bbbdac87a15f04670cc13
2023-10-14 08:38:37 -07:00
c0357ef3d0
Improve documentation related to engine-internal threading.
...
PiperOrigin-RevId: 573346658
Change-Id: I112eba10b8f71b3a0aa27fa162a4a589be7ec3a7
2023-10-13 16:32:38 -07:00
fb4cf472ed
Delete testxml code sample.
...
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".
...
PiperOrigin-RevId: 573184793
Change-Id: I24075a8d953d0a3c3ddf65c67e1e18075cd029b6
2023-10-13 05:05:24 -07:00
389e13938e
Fix typos in docs.
...
PiperOrigin-RevId: 573172715
Change-Id: I0073d0872597b01d84151b9eea578cc0ae0a5013
2023-10-13 04:05:30 -07:00
36de0cc084
Tweak CSS selector
...
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
...
PiperOrigin-RevId: 572961667
Change-Id: I69011ddf835ae286e30e7f84cca67867cfe94fa4
2023-10-12 11:18:36 -07:00
5a70ad08ab
Add Flex component.
...
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
2023-10-12 10:49:35 +01:00
2842245ca9
Multithread parallelizable operations in mj_fwdPosition
...
PiperOrigin-RevId: 572576240
Change-Id: I70eb518385366a0027c5dad44ac15e3904d1b4a3
2023-10-11 08:01:53 -07:00
742f15fb18
Add redirects for {computation,programming,APIreference}.html.
...
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
a1d0cbd654
Add show_{left,right}_ui kwarg to viewer.launch(_passive).
...
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.
...
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.
...
PiperOrigin-RevId: 572276016
Change-Id: Ic985a342777aca976f5c4bc781133fb4a8976e3f
2023-10-10 09:34:34 -07:00
8af09eb70d
Add timing of collision phases.
...
PiperOrigin-RevId: 572273621
Change-Id: Ib9440a996a05e42e00dcf4f1ce487a12f65e999b
2023-10-10 09:27:45 -07:00
7cd6b3db73
Fix typo in changelog
...
PiperOrigin-RevId: 572264830
Change-Id: Ifbbb9d7ee06a73c768b4c13aad843146e8aa9dde
2023-10-10 08:55:59 -07:00
95fec9f84e
Add derivation of ellipsoid projection lemma in collapsible element.
...
PiperOrigin-RevId: 572243118
Change-Id: I7b6c97dcf046f1bec85a0970bc018411d3009ae7
2023-10-10 07:34:59 -07:00
77d0400733
Accelerate inertia computation for simple bodies.
...
PiperOrigin-RevId: 571411319
Change-Id: I82732e95795cc0f0645f8273a1b084f2a9187a75
2023-10-06 12:51:14 -07:00
7b7cf5e86c
Add cards.xml model.
...
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.
...
PiperOrigin-RevId: 571304907
Change-Id: Ie726f3d703421f9d13a5d16f2282123c71c2b530
2023-10-06 05:01:09 -07:00
071af3b015
Implement threading for island constraint solving.
...
Humanoids22 No threads:
Benchmark Execution Time: 9.475905812s
Humanoids22 with 10 Threads:
Benchmark Execution Time: 4.871352s
PiperOrigin-RevId: 571214307
Change-Id: I1f4f2c761b4ae6bc8fac1f28c6c695f6c499f339
2023-10-05 21:05:19 -07:00
991aa97bc4
Make the doc search text readable in dark theme.
...
Currently it's dark blue text on dark grey background.
PiperOrigin-RevId: 570985075
Change-Id: I7dc97163babd4d6c2f99fa600b259274e69fdd8b
2023-10-05 05:33:55 -07:00
3e12f0d50c
Add history scrubbing mechanism to simulate.
...
[screen capture](https://www.youtube.com/watch?v=YSvWn_poqWs )
PiperOrigin-RevId: 570676968
Change-Id: Id9a1fccc9418b851e007ddcf3fa89acd4edff3e9
2023-10-04 06:36:34 -07:00
1e94c12cdd
Fix typos in docs.
...
PiperOrigin-RevId: 570643723
Change-Id: I20a999c7a5ff79bdb67ced209105cca6751a50dc
2023-10-04 03:32:49 -07:00
ee78b8f76b
Added mjData.eq_active user input variable, for enabling/disabling the state of equality constraints.
...
Renamed `mjModel.eq_active` to `mjModel.eq_active0`, which now has the semantic of "initial value of `mjData.eq_active`".
Fixes #876 .
PiperOrigin-RevId: 570410643
Change-Id: Id03171e751377c7cc453f143abee64239ee2e2ed
2023-10-03 09:32:24 -07:00
177aec68dc
Add overlay positions in the center of viewport edges, move PAUSE and LOADING... overlays to the top center.
...
PiperOrigin-RevId: 570054949
Change-Id: If0046df382e67ad3a48e7138a75e9e200c0626b9
2023-10-02 07:05:50 -07:00
9868486af0
Add changelog.rst entry for reversed Z rendering
2023-09-29 20:52:31 -04:00
ebded4747f
Replace fruitfly image with a more dynamic pose.
...
PiperOrigin-RevId: 569481337
Change-Id: I00246c4ed8264252a89b979a118463d8b35fa8ce
2023-09-29 07:01:00 -07:00
36d2ffe4f2
Specify camera parameters using standard robotics conventions.
...
PiperOrigin-RevId: 569147555
Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
2023-09-28 05:19:19 -07:00
8ed321d469
Rename mesh_assetpathadr to mesh_pathadr and move it to the end of the mesh section.
...
PiperOrigin-RevId: 568911603
Change-Id: I8f21c3d1cc9c73b6a95292a50f262b1a199d0898
2023-09-27 11:32:10 -07:00
d3d46e16a4
Remove cloth and rope composites and deprecate loop.
...
PiperOrigin-RevId: 568168329
Change-Id: Ida4a5236bef74828c7bf59affdc28adea3db53b1
2023-09-25 03:38:43 -07:00
7f8018a3f3
Update XML parsing to store asset path so that assets can be recovered and sent to external renderers
...
PiperOrigin-RevId: 567347908
Change-Id: I4d8e1abe35be3a67643ff925af709921280856f8
2023-09-21 10:27:52 -07:00
4f34cacf35
Add maxuse_threadstack to mjData
...
PiperOrigin-RevId: 567334177
Change-Id: Ifd772350042e548a63ab269fd68fb5e5fef55831
2023-09-21 09:41:00 -07:00
dd5a7115cf
Add shell plugin.
...
- Add bending passive force
- Add two examples (plate and poncho)
- Add stretching constraints for particles using tendons on mesh edges
PiperOrigin-RevId: 566980584
Change-Id: Id0cd8e1084c05560f1008518a8afbd5311d563e2
2023-09-20 09:00:20 -07:00
c54aba15f9
Fix typo in docs.
...
PiperOrigin-RevId: 566957533
Change-Id: I39ebafaf3ad938837d864b3272ae2c4af6510583
2023-09-20 07:29:16 -07:00
35e7bb354d
Add documentation of ellipsoid-based fluid drag model.
...
PiperOrigin-RevId: 566935233
Change-Id: I45980ea2def06d5ffd9091c49543b737b864701d
2023-09-20 05:41:44 -07:00
9cf1f6eba4
Remove mjOption.collision and associated option/collision attribute.
...
PiperOrigin-RevId: 566427090
Change-Id: I6e5873b8db707586820b17b53c7ab4bbff0f0b2b
2023-09-18 15:15:54 -07:00
9902b73502
Rename mj_stackAlloc to mj_stackAllocByte.
...
PiperOrigin-RevId: 566351365
Change-Id: I91541168e83b05a730113661cc9f07985ac9ff0c
2023-09-18 10:53:35 -07:00
ee8da5babe
Fix indentation bugs in docs, improve attribute order in schema.
...
PiperOrigin-RevId: 566230568
Change-Id: I0f536a2048d3e35d8ee510d86b6eba7a74c4e80a
2023-09-18 01:48:14 -07:00
63fd23a934
Remove mjTIMER_ACCELERATION, add mjTIMER_ADVANCE.
...
- mjTIMER_ACCELERATION is not very useful, it's usually very tiny (0.5% for humanoid, 1% for 22humanoids). It basically times a single call to `mj_solveM`.
- Added `mjTIMER_ADVANCE` to time `mj_Euler` and `mj_implicit` (which can be significant).
- Moved `mj_transmission` to `mjTIMER_KINEMATICS` where it belongs (and used to be).
PiperOrigin-RevId: 565936880
Change-Id: I26b8a067133594e5500ca1c809beb3518b4a8d9c
2023-09-16 08:03:45 -07:00
2cc1205498
Add island support to CG solver.
...
BEGIN_PUBLIC
Add island support to CG solver.
END_PUBLIC
PiperOrigin-RevId: 565653886
Change-Id: Ib971ae37dd011b8f2cbe1f88d8875e0ed657c7af
2023-09-15 05:47:24 -07:00
2aea61942c
Replace Humanoids with Bipeds in docs.
...
PiperOrigin-RevId: 565474154
Change-Id: If8fe4220e7e86fe251d8d83e9d5dc1023f6452bc
2023-09-14 14:13:59 -07:00
de5c3b1a09
PUBLIC: Update model gallery with new Menagerie models.
...
PiperOrigin-RevId: 565329315
Change-Id: I819ba429aacf5cd68d2b101047879319fba259be
2023-09-14 04:28:58 -07:00
976a6df78d
Fix typo in docs.
...
PiperOrigin-RevId: 565097458
Change-Id: I7a4440d72665d5db2853c18f72e83b130dde8d1a
2023-09-13 10:48:16 -07:00
86d8b912f4
Rejigged solver statistics in preparation for islanding.
...
- See public description below.
- Stopped incrementing the iteration count in saveStats().
- `sizeof(mjSolverStat) == 40`, so this ends up costing 160KB, up from 40KB.
BEGIN_PUBLIC
Changed the size of `mjData.solver`, the structure used to collect solver diagnostic information. The array is now of length `mjNISLAND * mjNSOLVER`, where each row of length `mjNSOLVER` contains separate solver statistics for each constraint island. Until solver islanding is implemented, only row 0 is used.
- The new constant `mjNISLAND` is set to 20.
- `mjNSOLVER` is reduced from 1000 to 200.
- Added `mjData.solver_nisland`, the number of islands for which the solver ran.
- `mjData.solver_niter` (renamed from mjData.solver_iter) and `mjData.solver_nnz` are now integer vectors of length `mjNISLAND`.
END_PUBLIC
PiperOrigin-RevId: 565030093
Change-Id: I773e918805c6ced79f0dab5f19ea23956760c8c5
2023-09-13 06:18:37 -07:00
b0abafe3bb
Set camera origin at top-left of the first pixel.
...
PiperOrigin-RevId: 564768176
Change-Id: Ieef632f0f6888390acca91b6de01c8951c747fe4
2023-09-12 10:44:51 -07:00
Yuval Tassa