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Author SHA1 Message Date
Yuval Tassa 1fb3ab26f0 Tweaks to LQR tutorial notebook: 
- Unify all imports in one cell.
- Make final motion more interesting by adding more noise to joints which are not critical to balancing.

PiperOrigin-RevId: 615100505
Change-Id: I8302e441b3ca52d5134c317a35f99c5f74bac36b
 2024-03-12 10:52:34 -07:00
Alessio Quaglino c418139fec Add copy constructor to mjCBody. 
PiperOrigin-RevId: 615050891
Change-Id: I420e19a0444e93e5ec99da10f5cc20b429802d3e
 2024-03-12 08:33:35 -07:00
Alexis Fraudita a2a770453e Copybara import of the project: 
--
1fcff13dfdc70519c4d33e17ade4be6afb2960a2 by Alexis <cuatroalejandro@gmail.com>:

add multipleBodies test for mj_loadXML

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34270fa57946e68a82fa55313b64a5a56e5aa080 by Alexis <cuatroalejandro@gmail.com>:

add some space

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3594020eb9be57cb6a2eef0baeca97cee8f25aab by Alexis <cuatroalejandro@gmail.com>:

remove TODO comment in xml_api_test

COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1487 from alefram:alexis-test 3594020eb9be57cb6a2eef0baeca97cee8f25aab
PiperOrigin-RevId: 615033458
Change-Id: I05fe5659b07b3226b82d2562e31bcd73f150b089
 2024-03-12 07:31:11 -07:00
Alessio Quaglino 93cbdaee07 Move mjC objects attributes to parent classes in user_objects. 
This is in preparation of adding copy constructors for all of the objects.

PiperOrigin-RevId: 615014168
Change-Id: I24801d71d74dd6756167a6c438f9573825a396b5
 2024-03-12 06:06:51 -07:00
Silvio Traversaro d90d57609e Copybara import of the project: 
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4883e8aacd531d8dbc3551ba7cb4e3b4694dda1e by Silvio Traversaro <silvio@traversaro.it>:

Fix plugin related comment in simulate

The comment was outdated after https://github.com/google-deepmind/mujoco/commit/2ebc5f097b1a5fbbe276250ad1d13966510d1291 .

COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1499 from traversaro:patch-37 4883e8aacd531d8dbc3551ba7cb4e3b4694dda1e
PiperOrigin-RevId: 615005350
Change-Id: I93d746f996de25b871cc1bc5651308d44382feef
 2024-03-12 05:33:33 -07:00
Baruch Tabanpour a49f3f63fc Remove disable_jit in test. 
PiperOrigin-RevId: 614824680
Change-Id: I15f1441dfb1a70b98e5a221c0e15b06572860748
 2024-03-11 16:03:40 -07:00
Alessio Quaglino 8413a615d7 Add copy constructors to body subelements. 
PiperOrigin-RevId: 614665384
Change-Id: I1ad2b644cf9816fb9490b5634c16e95f360a8684
 2024-03-11 08:00:10 -07:00
Yuval Tassa b1a941db8b Add special handling for perturbations applied to static bodies. 
These bodies have `body_invweight0 == 0` (infinite mass) and no degrees of freedom (identically 0 Jacobians). This was breaking some assumptions of the perturbation code which assumed perturbation applied only to moving bodies and led to very large forces/torques being applied. While these huge forces had no effect on the dynamics, they were reported by sensors, leading to unreasonable sensor readings.

PiperOrigin-RevId: 614398354
Change-Id: If5efe1c9e57e2be28af33d109679db8b3129da7f
 2024-03-10 05:34:55 -07:00
Copybara-Service 2ba80206ab Merge pull request #1479 from jmargeta:fix-record-command-docs 
PiperOrigin-RevId: 613927858
Change-Id: I8fe30db8677811c98ed4f881b51a0f430d93dd3b
 2024-03-08 07:29:57 -08:00
Alessio Quaglino 655e3d0914 Renamed Model to Spec in C API function names. 
PiperOrigin-RevId: 613922860
Change-Id: Ic47a83aa33b57ef96bd742088442e6237282ee92
 2024-03-08 07:05:44 -08:00
Yuval Tassa b97110967f Add Performance Tuning section. 
Fixes #1471.

PiperOrigin-RevId: 613867065
Change-Id: I947284300709e0fd6633068d9690a4b19812141f
 2024-03-08 02:31:07 -08:00
Alessio Quaglino ef3cb7ec2e Renamed mjmModel to mjSpec. 
PiperOrigin-RevId: 613516063
Change-Id: I09e360d3eba2accba2e260ec4754b0879b12892f
 2024-03-07 02:48:32 -08:00
Baruch Tabanpour 22cd96fbbc Speed up convex-convex collisions. 
PiperOrigin-RevId: 613450874
Change-Id: Ie66e0a078e2ff51a136b949dd9459847e1fe957d
 2024-03-06 21:48:51 -08:00
Jan Margeta 32dc89b425 Rename depthoverlay to adddepth 2024-03-06 21:17:43 +01:00
Jan Margeta f287372467 Add url to relevant offscreen buffer attributes 2024-03-06 19:46:51 +01:00
Jan Margeta 548177d46c Rename depthoverlay argument 2024-03-06 19:14:32 +01:00
Jan Margeta 39edea3a6c Add an explicit note on recording resolution 2024-03-06 19:01:25 +01:00
Jan Margeta be68f90190 Make depth overlay in video recording optional 
Add docs for the record arguments
 2024-03-06 18:47:14 +01:00
Jan Margeta fe2215384b Update docs on the video recordings's resolution 
This fixes the the ffmpeg command to correspond to the default humanoid.xml resolution (2560x1440).
 2024-03-06 18:47:14 +01:00
Meghha Dhoke 106453fa2b Updated version number to be (v3.1.4) ahead of current release (v3.1.3) 
PiperOrigin-RevId: 613236845
Change-Id: I3ee759493f27cfa1e367c71e3e073b54738b73d4
 2024-03-06 09:07:25 -08:00
Alessio Quaglino 9ac048e262 Add recompilation test to user_api_test. 
PiperOrigin-RevId: 613192683
Change-Id: Ibb44e1c2d63ac0afb7b5f3a15dff26378deb6c82
 2024-03-06 06:27:28 -08:00
Jan Margeta b475337e02 Update docs of ffmpeg raw video conversion 
Makes it work well with the given humanoid example
 2024-03-06 14:34:15 +01:00
Nimrod Gileadi a00f1b5f30 Tidy up Colab notebook files. 
PiperOrigin-RevId: 613163325
Change-Id: Iec56375bb7631b8a3035f884b3aad6b54fb7b88b
 2024-03-06 04:14:11 -08:00
Jan Margeta 8e0998dcbd Fix docs for the record command 
Renames the non-existent "render" command to "record"
 2024-03-06 01:36:13 +01:00
Meghha Dhoke e2c14188ad Updated abseil for release version v3.1.3 
PiperOrigin-RevId: 612939979
Change-Id: I0e5c5301d6d6f2139a71d8df95966124e584e14d
 2024-03-05 12:57:23 -08:00
Copybara-Service 827cdfd7d5 Merge pull request #1413 from awesome-aj0123:usd-integration 
PiperOrigin-RevId: 612933036
Change-Id: Ia29230b1d91508dbc8b1cf7c76ff48c17448bf89
 2024-03-05 12:33:58 -08:00
Meghha Dhoke 7e87c6ac44 Updated Eigen3 hash in below files for Mujoco release version v3.1.3 
- CMakeLists.txt
- MujocoDependencies.cmake

PiperOrigin-RevId: 612910476
Change-Id: I67ec8b4550abde82378a875809552fa10d4924cd
 2024-03-05 11:26:16 -08:00
Meghha Dhoke eb2e064915 Updated version number to match the latest release v3.1.3 and date for mujoco release v3.1.3 
PiperOrigin-RevId: 612899279
Change-Id: I891a2a86a3d03491210e1dc259549d6484041928
 2024-03-05 10:55:21 -08:00
Baruch Tabanpour 224fbd00c8 Fix egregious bug in broadphase. 
PiperOrigin-RevId: 612856292
Change-Id: I622ca00509c27f351ce5efefc139b2f2e141c8e9
 2024-03-05 08:48:09 -08:00
Copybara-Service 0631a406c4 Merge pull request #1470 from Balint-H:bugfix/unity-tendon-rendering 
PiperOrigin-RevId: 612839845
Change-Id: Idf5b5cec4adc350b3ed36e902e2e52fbe9080281
 2024-03-05 07:49:57 -08:00
Copybara-Service 6b7d714291 Merge pull request #1450 from v-r-a:angmomMat 
PiperOrigin-RevId: 612835207
Change-Id: I8e7b01cc433563556a3ae4bbdd0c53612cc15e97
 2024-03-05 07:35:15 -08:00
Alessio Quaglino 49ddb7ca2e Update changelog for 3.1.0. 
Fixes #1472.

PiperOrigin-RevId: 612787350
Change-Id: Ia5609266462b5d537ce0c03efa764f1f32bc9389
 2024-03-05 04:13:52 -08:00
Kyle Bayes 31384bdfeb Speed up String2Vector. 
PiperOrigin-RevId: 612767185
Change-Id: I4a4de5e03bbd6653be7ccb3e730ad64a335e17b0
 2024-03-05 02:50:26 -08:00
Alessio Quaglino 9efa4ebe0b Move CompareModel to fixture. 
PiperOrigin-RevId: 612759913
Change-Id: Ia5741a858003211c58c47a20d447dcbc041c8b5d
 2024-03-05 02:24:32 -08:00
Yuval Tassa e142bca7f2 Remove special handling of mjModel and mjData strings in autogenerated functions.rst 
PiperOrigin-RevId: 612714709
Change-Id: Ie6c139d2c41488cd19c9bf5152b912a51b2f3a34
 2024-03-04 23:00:35 -08:00
Balint-H f70db6b0ee Remove unnecessary using 2024-03-04 13:51:08 +00:00
Balint-H 2f64cf36c5 Conditional compilation for Tendon visualization 2024-03-04 13:49:00 +00:00
Balint-H 1baa478b64 Fix rendering of tendons 2024-03-04 13:41:50 +00:00
Alessio Quaglino edc4db6898 Update sdflib version. 
PiperOrigin-RevId: 612389341
Change-Id: Id3e7a4fb51e63b7fef7e9ca7f94a0bc7e54e8413
 2024-03-04 03:41:58 -08:00
Yuval Tassa 3d24bdb217 Small improvements to MJX performance tuning section. 
PiperOrigin-RevId: 612377295
Change-Id: I542aba7a33372556b62e3cdb4bf0c1c4d97dc98a
 2024-03-04 02:49:11 -08:00
Copybara-Service 73f65ec408 Merge pull request #1428 from Balint-H:feature/unity-plugins 
PiperOrigin-RevId: 612144507
Change-Id: Ie355c0da2b4a51331aadcfce865a1edd720381b5
 2024-03-03 02:16:08 -08:00
Alessio Quaglino 1bd44e73bb Replace mjCModel with mjmModel in mjXBase. 
PiperOrigin-RevId: 611762880
Change-Id: I22254689b6cbf10fe7b61f9742b6ffd6c2074477
 2024-03-01 03:38:28 -08:00
Baruch Tabanpour 419be4c605 Add crude broadphase impl. 
PiperOrigin-RevId: 611643683
Change-Id: Id7816dadd7e9f1b8855268b815353c61540c4e0c
 2024-02-29 17:12:58 -08:00
Alessio Quaglino 8f1ea05bef Add disc mesh generation to user_flexcomp. 
PiperOrigin-RevId: 611462985
Change-Id: I0fc195d8733172f5f4347b04b5de0edfdd12613d
 2024-02-29 07:24:47 -08:00
Copybara-Service f9c46e2abb Merge pull request #1447 from jaro-sevcik:mjx-factor-m-parallel 
PiperOrigin-RevId: 611348280
Change-Id: I19ef25c732d43bba0b0a8c296b197948c69d5b52
 2024-02-28 22:31:01 -08:00
Alessio Quaglino 9e1d7d6ab8 Fix typo in flex and composite error message. 
PiperOrigin-RevId: 611115238
Change-Id: Iadb9b4b078e60bca15184f3435380eb67b2da8a9
 2024-02-28 08:45:11 -08:00
Kyle Bayes b2bd377bad Clean up mjCModel definition. 
PiperOrigin-RevId: 611102699
Change-Id: I64a3927c30f16764742966f4c5e1e0e579af5f50
 2024-02-28 07:58:31 -08:00
Copybara-Service 789188d51d Merge pull request #1434 from traversaro:patch-32 
PiperOrigin-RevId: 611046247
Change-Id: I05fa95c13c9c0a9bf5b6b50bb3d201ffbc556dd6
 2024-02-28 03:30:02 -08:00
Jaroslav Sevcik 803f0cb0d9 Clean up factor_m 2024-02-28 01:19:12 -08:00
Yuval Tassa 982760a63b Improve bindings for mjd_subQuat. 
- Accept `None` for optional arguments.
- Accept 3x3 matrices for matrix arguments.

PiperOrigin-RevId: 611000820
Change-Id: Id28cdb2ae574f372ff251f94ab4557d9d2eaa80b
 2024-02-27 23:55:19 -08:00