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
d61d0349b8
Fix mju_eig3 declarations.
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PiperOrigin-RevId: 571296456
Change-Id: Ic05f44c8c0883fe96e5671d71fe9b447c2e91162
2023-10-06 04:10:44 -07:00
071af3b015
Implement threading for island constraint solving.
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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
06670155c4
Add MJX training colab.
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PiperOrigin-RevId: 571066455
Change-Id: I8b0638181cdc751cf9fbacfb84c1ac551d7ce4bd
2023-10-05 10:45:36 -07:00
991aa97bc4
Make the doc search text readable in dark theme.
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Currently it's dark blue text on dark grey background.
PiperOrigin-RevId: 570985075
Change-Id: I7dc97163babd4d6c2f99fa600b259274e69fdd8b
2023-10-05 05:33:55 -07:00
22fab04c02
Add keyframe to golden data test model, start simulation from that keyframe.
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0. Keyframe was generated by simulating passively for 64 timesteps and then saving from `simulate`.
1. This makes forward.data much more informative. There are more contacts, velocities are not 0.
2. Added non-zero controls to forward.data.
3. 70 timesteps is a lot to integrate, things can change a lot. Since we now start at time = 0.128 = after 64 steps of passive simulation, we continue to integrate for only 6 timesteps.
PiperOrigin-RevId: 570966233
Change-Id: I9538aa44619393ff05ed8c3177e73993e222150a
2023-10-05 03:52:57 -07:00
e9613f0cc9
Rename simulate.fully_managed_ to simulate.is_passive_ with flipped semantics.
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PiperOrigin-RevId: 570815258
Change-Id: Iaffdb0e52bcdb31cff7bd29cb820913e3838f0ee
2023-10-04 14:49:52 -07:00
3e12f0d50c
Add history scrubbing mechanism to simulate.
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[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.
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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.
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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.
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PiperOrigin-RevId: 570054949
Change-Id: If0046df382e67ad3a48e7138a75e9e200c0626b9
2023-10-02 07:05:50 -07:00
639e77876d
Improved unpause behavior in simulate.
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PiperOrigin-RevId: 570030315
Change-Id: I5822f8686ba2fd7c5c59a9fa73fc29000a8406ec
2023-10-02 05:00:40 -07:00
e1549376f6
Use body AABB for torque perturbation visualisation, if available.
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PiperOrigin-RevId: 569579715
Change-Id: I62c1083fb868520832746ca1f28fab2bf1d679cc
2023-09-29 13:50:02 -07:00
ebded4747f
Replace fruitfly image with a more dynamic pose.
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PiperOrigin-RevId: 569481337
Change-Id: I00246c4ed8264252a89b979a118463d8b35fa8ce
2023-09-29 07:01:00 -07:00
c2f73ee755
Fix broken Bash substitution on macOS and only nofify failures.
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PiperOrigin-RevId: 569428932
Change-Id: Id23501c3e8dd8b615dc6f2677fb7e21a1b0b0b34
2023-09-29 02:08:47 -07:00
d70266fd55
Fix chat notification in GitHub Actions workflow.
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PiperOrigin-RevId: 569337051
Change-Id: I510ddebc5b08858eb3a40903659c9868f67f4da5
2023-09-28 17:38:58 -07:00
d223f40eef
Fix broken build.yml.
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PiperOrigin-RevId: 569232412
Change-Id: Ic8d9dc96284825595461bbf9396d6525673efb1f
2023-09-28 11:01:38 -07:00
7e5711ad36
Notify team chat of GitHub Actions runs.
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PiperOrigin-RevId: 569231063
Change-Id: I9e66b90ff944e9a6a0898e336c7f049a07c3609d
2023-09-28 10:57:30 -07:00
8e00f8029e
Disable -Wmaybe-uninitialized in GCC versions 12 and later.
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https://gcc.gnu.org/bugzilla/show_bug.cgi?id=109561
PiperOrigin-RevId: 569204628
Change-Id: I34ccb84a0afc60ccfcc47c820438d15dfa0a5f42
2023-09-28 09:25:27 -07:00
107b76490a
Update GitHub Actions config.
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PiperOrigin-RevId: 569154469
Change-Id: Ifc208d2e7a900359b5926002a31a15ba01787659
2023-09-28 05:59:04 -07:00
36d2ffe4f2
Specify camera parameters using standard robotics conventions.
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PiperOrigin-RevId: 569147555
Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
2023-09-28 05:19:19 -07:00
ca60de79c8
Change sz to 64-bit integer in mj_setPtrData.
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PiperOrigin-RevId: 569123159
Change-Id: If16777f06a2b0ea08083261d1b77c95fc14f2751
2023-09-28 03:20:18 -07:00
772326e9eb
Fix potential out-of-range write in solver statistics saving.
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PiperOrigin-RevId: 569094007
Change-Id: I2e596a7c03d76523359cae7ae7f4501b06256a38
2023-09-28 00:58:13 -07:00
b8a91a00ce
Merge pull request #1070 from aftersomemath:simulate-load-message
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PiperOrigin-RevId: 568995214
Change-Id: Iac7644c4b35a916aa6a7d1bb158ba15a024b43ac
2023-09-27 16:36:40 -07:00
ac74c72657
Fix issue where unpausing the simulation (especially under slowdown) causes a jump in simulation time, in both native simulate and Python viewer.
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PiperOrigin-RevId: 568948943
Change-Id: I2f401508555e272f348e97627aeb85cb3e9cf017
2023-09-27 13:46:19 -07:00
e7d1f2f110
simulate: fix display of loading message
2023-09-27 16:04:36 -04:00
8ed321d469
Rename mesh_assetpathadr to mesh_pathadr and move it to the end of the mesh section.
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PiperOrigin-RevId: 568911603
Change-Id: I8f21c3d1cc9c73b6a95292a50f262b1a199d0898
2023-09-27 11:32:10 -07:00
0dfeedb320
fix open source build failure by switching C's _Alignof for C++'s alignof
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PiperOrigin-RevId: 568400917
Change-Id: I90eff5e149d491f181370d72e43fdee9d4a3a20e
2023-09-25 20:43:59 -07:00
ff4158efff
Modify memory allocation in MuJoCo to be thread safe:
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1) protect mj_arenaAllocBytes with mutexes
2) create shards for each thread in the stack and update mj_stackAllocBytes to allocate memory within each shard for a given thread
PiperOrigin-RevId: 568315726
Change-Id: I0dee6694f2a5200fa4df22ade0e68dfaebf637fc
2023-09-25 13:53:28 -07:00
dff0bc2683
Copybara import of the project:
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--
3add02bc2e20eb2895fdcaedfdf6be271decb448 by Chengrui Zhu <jewelry.zju@gmail.com >:
correct spelling "Bunding" to "Bounding"
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1068 from JewelryForge:main 3add02bc2e20eb2895fdcaedfdf6be271decb448
PiperOrigin-RevId: 568207690
Change-Id: I3262d459bfdbac6ebf097ddffc10c4d74b388946
2023-09-25 07:06:59 -07:00
d3d46e16a4
Remove cloth and rope composites and deprecate loop.
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PiperOrigin-RevId: 568168329
Change-Id: Ida4a5236bef74828c7bf59affdc28adea3db53b1
2023-09-25 03:38:43 -07:00
cbb07a4c32
Bump Python dependencies.
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PiperOrigin-RevId: 567908445
Change-Id: I6be821afda655e3461c9904cfdcbcdcb11ef23b6
2023-09-23 15:24:24 -07:00
81c5e61b1e
Correct OpenGL library path on macOS.
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Although the path doesn't exist on disk, dlopen seems to be previously redirecting to the correct file, but this stopped working in macOS 14.
PiperOrigin-RevId: 567684115
Change-Id: I21894302e87803d06bfd27ba123eacbdfec0ec56
2023-09-22 12:09:31 -07:00
7f8018a3f3
Update XML parsing to store asset path so that assets can be recovered and sent to external renderers
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PiperOrigin-RevId: 567347908
Change-Id: I4d8e1abe35be3a67643ff925af709921280856f8
2023-09-21 10:27:52 -07:00
4f34cacf35
Add maxuse_threadstack to mjData
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PiperOrigin-RevId: 567334177
Change-Id: Ifd772350042e548a63ab269fd68fb5e5fef55831
2023-09-21 09:41:00 -07:00
be75dda8d1
Fix arena memory leak in _realloc_con_efc.
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PiperOrigin-RevId: 567093603
Change-Id: I0a00da461b495cc13e54381862d740333a43f82b
2023-09-20 15:16:04 -07:00
dd5a7115cf
Add shell plugin.
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- 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.
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PiperOrigin-RevId: 566957533
Change-Id: I39ebafaf3ad938837d864b3272ae2c4af6510583
2023-09-20 07:29:16 -07:00
Saran Tunyasuvunakool