 Taylor Howell
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0f381a9ebd
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Add muscle actuators to MJX.
PiperOrigin-RevId: 695334356
Change-Id: I6590ed6bdd4a8adc53d5c4e2641f472f7439cedc
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2024-11-11 07:46:20 -08:00 |
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Taylor Howell
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554641060b
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Add support for computing elliptic cone contact forces to MJX. Fixes #2153.
PiperOrigin-RevId: 691829630
Change-Id: I862ac9c7db07d0a74b718d2a41e19d5ae636a260
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2024-10-31 09:22:59 -07:00 |
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Taylor Howell
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3c21abc0e5
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Add ray intersection with ellipsoid to MJX.
PiperOrigin-RevId: 690557087
Change-Id: Icd2f0be1243574720baeac82b8bdd92e57c6a61c
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2024-10-28 04:25:11 -07:00 |
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Taylor Howell
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1c424644dd
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Fix MJX touch sensor.
PiperOrigin-RevId: 690544118
Change-Id: Ic909c6f6ce0e31237cbe317fbbfbb1fd267bd462
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2024-10-28 03:39:53 -07:00 |
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Taylor Howell
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b00a7c6705
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Add touch sensor to MJX.
PiperOrigin-RevId: 688056696
Change-Id: I50b0ebf3141aab0a5b07e5ae770101ff8b7737d4
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2024-10-21 02:48:36 -07:00 |
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Taylor Howell
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096853e192
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Add JOINTINPARENT actuator transmission type to MJX.
PiperOrigin-RevId: 686083761
Change-Id: I5159d050812d32e15ced06df132d3e434fced814
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2024-10-15 06:38:02 -07:00 |
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Taylor Howell
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ac91a7639d
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Add tendon velocity sensor to MJX.
PiperOrigin-RevId: 685689974
Change-Id: Ib5e65b19c20b74e20cffa66c6baca0d8faaaf3ae
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2024-10-14 06:47:59 -07:00 |
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Taylor Howell
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223892c051
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Add tendon position sensor to MJX.
PiperOrigin-RevId: 684851437
Change-Id: Ica0a30762a9cb3d612357b40b6f87cd2fc544fdb
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2024-10-11 08:47:52 -07:00 |
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Baruch Tabanpour
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22e4f7fc31
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Fix bug in MJX frictionloss.
PiperOrigin-RevId: 684198925
Change-Id: I5f6575759729712550bcb8d7659aaa7a657c66fc
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2024-10-09 15:50:58 -07:00 |
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Taylor Howell
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160ed9bfe2
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Add pulley support to spatial tendons in MJX.
PiperOrigin-RevId: 683103659
Change-Id: I22544071a3fc6fbd09f9a59690106701b101ee6a
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2024-10-07 03:00:53 -07:00 |
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Taylor Howell
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c7c2edf758
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Add external sphere and cylinder wrapping for spatial tendons to MJX.
PiperOrigin-RevId: 681808698
Change-Id: I37612e2c6b781b759f9009e1bc6ae10b4e861c8d
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2024-10-03 03:56:24 -07:00 |
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Baruch Tabanpour
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1a9d307042
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Use mocap pos/quat in smooth.kinematics.
PiperOrigin-RevId: 681136974
Change-Id: I0ece009ed1e68b61b0b96da2e685e86000f7f6b8
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2024-10-01 13:12:33 -07:00 |
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Baruch Tabanpour
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b09c1a977e
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Add jit flag to viewer (easier debugging). Make convex.xml stable.
PiperOrigin-RevId: 678312872
Change-Id: I0d65d7c2d05a7b5103fa0be2233cbc5ba232817c
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2024-09-24 10:49:34 -07:00 |
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Taylor Howell
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76b48b8e61
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Add site semantics to weld constraint in MJX.
PiperOrigin-RevId: 677823461
Change-Id: Iab20e042695dfad416d61fa7cc938faba8c7a6b6
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2024-09-23 09:25:08 -07:00 |
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Taylor Howell
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f9401776d4
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Add framelinacc and frameangacc sensors to MJX.
PiperOrigin-RevId: 675141513
Change-Id: Ie38dba3e8be82e0554c7c9e47c6d07f3cdad29b8
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2024-09-16 07:34:16 -07:00 |
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Taylor Howell
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9d73211757
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Add force and torque sensors to MJX.
PiperOrigin-RevId: 675130978
Change-Id: I8a3b925c57f317aebc0c345578cebeb4210dc11d
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2024-09-16 06:57:00 -07:00 |
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Taylor Howell
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e3d3a24b36
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Add spatial tendons with site wrapping to MJX.
PiperOrigin-RevId: 673783473
Change-Id: I09b13787e3e0914c8de21d81db0347c4638b2f1d
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2024-09-12 04:17:16 -07:00 |
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Taylor Howell
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8710126d08
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Raise NotImplementedError for unsupported sensors in MJX. Update MJX feature parity docs to include fully supported sensors.
PiperOrigin-RevId: 673325233
Change-Id: Ib262bdd37937c5230765c11d1f61581e55e8c397
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2024-09-11 03:50:46 -07:00 |
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Taylor Howell
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fa156ed22f
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Add accelerometer to MJX.
PiperOrigin-RevId: 671355424
Change-Id: I8593bcad6ba311f3c555b118889e2a5c6b367ec7
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2024-09-05 06:57:09 -07:00 |
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Taylor Howell
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20296466b1
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Add subtreelinvel and subtreeangmom sensors to MJX.
PiperOrigin-RevId: 671347528
Change-Id: I8a32590c650ca6d0bb6df43d0347f707ffc05f12
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2024-09-05 06:21:50 -07:00 |
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Taylor Howell
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7b073b60c4
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Add rne_postconstraint function to MJX. This function matches mj_rnePostConstraint and computes cacc, cfrc_ext, and cfrc_int.
PiperOrigin-RevId: 671336319
Change-Id: I263b46c56a7609b9a8a30895c012798579d3dffa
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2024-09-05 05:35:26 -07:00 |
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Taylor Howell
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cd8ff4401d
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Add eq_objtype to mjx.Model and support for connect constraint using sites in MJX.
PiperOrigin-RevId: 671225109
Change-Id: I8e2e6eb4c539d318658d3d7dfe0a7f03b411aabc
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2024-09-04 22:00:36 -07:00 |
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Yuval Tassa
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8954a088ce
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Add automatic free-joint alignment.
PiperOrigin-RevId: 671010083
Change-Id: Ib7d60f75c7f545b1886703715663db8de77feeef
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2024-09-04 10:07:33 -07:00 |
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Baruch Tabanpour
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49711fa14f
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Add support for joint and tendon frictionloss to MJX.
PiperOrigin-RevId: 670679777
Change-Id: I2eb56d013c11d4e1851f1c2edd6d98faaf854db9
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2024-09-03 13:17:41 -07:00 |
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Taylor Howell
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9805df616b
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Add framelinvel and frameangvel sensors to MJX.
PiperOrigin-RevId: 669647542
Change-Id: I612230e81b456c26f29173d1cb5a60975791875a
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2024-08-31 06:12:37 -07:00 |
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Taylor Howell
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5391e6011a
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Add sensor cutoff to MJX.
PiperOrigin-RevId: 669363779
Change-Id: Ia5c3f913c1b84e1893aa6072268a334123f00aeb
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2024-08-30 10:09:17 -07:00 |
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Taylor Howell
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cf02171bf8
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Add velocimeter and gyro sensors to MJX.
PiperOrigin-RevId: 669337697
Change-Id: I5e7f245b96eb334ffddd01757a9f631d9ad862cd
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2024-08-30 08:39:40 -07:00 |
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Taylor Howell
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b2174a7ec3
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Add framequat sensor to MJX.
PiperOrigin-RevId: 666254481
Change-Id: I50be8574e1e4677ef5dc23a2bdcbc296f301d7fc
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2024-08-22 02:21:20 -07:00 |
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Taylor Howell
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806b8c8e2e
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Add support for actuatorfrc and jointactfrc sensors in MJX.
PiperOrigin-RevId: 665804850
Change-Id: I99371fc4da055382f1564b2c67d25f7b30a0a0cf
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2024-08-21 03:46:26 -07:00 |
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Erik Frey
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a68141eeff
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Implicitfast integration for MJX.
PiperOrigin-RevId: 664889120
Change-Id: Id3bd3916fe821ab2af79c52e53e14837ae829b2a
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2024-08-19 11:12:36 -07:00 |
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Taylor Howell
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6241814ad7
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Add velocity-dependent sensors to MJX. Includes: joint velocity, actuator velocity, and ball joint angular velocity.
PiperOrigin-RevId: 664461284
Change-Id: I5063f662d707fbe342493f9cd7993f009fac9c76
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2024-08-18 08:47:35 -07:00 |
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Taylor Howell
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6a12787a32
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Add camera projection sensor to MJX.
PiperOrigin-RevId: 664426007
Change-Id: I0f2681c156b12ab62503d45beb2cd8752e7202d6
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2024-08-18 05:57:33 -07:00 |
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Taylor Howell
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51733c2a8a
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Add rangefinder sensor to MJX.
PiperOrigin-RevId: 664417458
Change-Id: I1ad7720e48541349f155984584314b2b49ccbf36
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2024-08-18 05:15:58 -07:00 |
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Taylor Howell
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ce9c0ea351
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Modify MJX sensor_pos to handle unsupported sensors.
PiperOrigin-RevId: 663768186
Change-Id: I2e7600e77855a96a47f012fb64b6cc43abbf6f64
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2024-08-16 10:10:37 -07:00 |
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Taylor Howell
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6db96e07e4
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Add position-dependent sensors to MJX: magnetometer, ballquat, subtreecom, framepos, framexaxis, frameyaxis, framezaxis, and clock.
PiperOrigin-RevId: 663668212
Change-Id: Ifc9adc6bff4544172ab22572da04a093aebfdbd4
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2024-08-16 03:10:24 -07:00 |
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Taylor Howell
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ebf887e14d
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Add sensors to MJX. Implements jointpos and actuatorpos as examples.
PiperOrigin-RevId: 660891329
Change-Id: Ie6c282a397de2f52843775ec747495e9be46d307
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2024-08-08 10:33:19 -07:00 |
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Erik Frey
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2d24c58819
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Adds support for fixed tendons to MJX.
PiperOrigin-RevId: 654816559
Change-Id: I16ab379b0dc96d62a530e1c3ccd98a76b78c7f5a
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2024-07-22 10:49:13 -07:00 |
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Erik Frey
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4c3d9461ae
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Elliptic friction in MJX.
PiperOrigin-RevId: 641384367
Change-Id: I510c565940324fbbf392ce537ce27e0cb9af3eb1
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2024-06-07 16:05:58 -07:00 |
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Baruch Tabanpour
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c511d02265
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Add hfield. Fixes #1655 #1491 #1695
PiperOrigin-RevId: 638447127
Change-Id: Ib1e5020a8407bc100145a6b382e985c03dd4a848
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2024-05-29 16:21:34 -07:00 |
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Baruch Tabanpour
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86e6fc6de7
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Fixes #1668
PiperOrigin-RevId: 634483090
Change-Id: I30b55bbf419e57a7b2966dfca4da6bb57d5879ad
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2024-05-16 11:58:09 -07:00 |
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Baruch Tabanpour
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c6b1293e58
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Add contact force support function. #1555
PiperOrigin-RevId: 632591177
Change-Id: I15aa00686d9f885330506d2d63443c700cc029f6
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2024-05-10 13:41:45 -07:00 |
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Baruch Tabanpour
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e9709900b4
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Add gravcomp.
PiperOrigin-RevId: 627791303
Change-Id: I87c9254967eb492d0c38153ff41d7458ffb69136
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2024-04-24 11:19:34 -07:00 |
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Erik Frey
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71333938ec
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Add support for condim to MJX.
PiperOrigin-RevId: 627136131
Change-Id: Ia62eb20cb80395b569c7fc7f4d4ef87e12eaaf40
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2024-04-22 13:20:57 -07:00 |
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Baruch Tabanpour
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d258d5e152
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Check all edge pairs in convex-convex.
PiperOrigin-RevId: 620004680
Change-Id: I5d75c0fd21ed3d3e420eed762cfc5a7e04896032
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2024-03-28 11:33:46 -07:00 |
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Erik Frey
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9b86329797
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Add 01-10 humanoids for benchmarking.
PiperOrigin-RevId: 617318016
Change-Id: Ic5dc0623266d4d6bef6da97d03370010e2817a2a
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2024-03-19 15:48:48 -07:00 |
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Baruch Tabanpour
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22cd96fbbc
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Speed up convex-convex collisions.
PiperOrigin-RevId: 613450874
Change-Id: Ie66e0a078e2ff51a136b949dd9459847e1fe957d
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2024-03-06 21:48:51 -08:00 |
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Baruch Tabanpour
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419be4c605
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Add crude broadphase impl.
PiperOrigin-RevId: 611643683
Change-Id: Id7816dadd7e9f1b8855268b815353c61540c4e0c
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2024-02-29 17:12:58 -08:00 |
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Baruch Tabanpour
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2e43f18bee
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Update barkour notebook.
PiperOrigin-RevId: 610906071
Change-Id: Ie67b86888e195bbd8a8e879547e65fbc2c864534
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2024-02-27 16:09:20 -08:00 |
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Baruch Tabanpour
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2067e2083a
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Add cameras to MJX. Fixes #1422
PiperOrigin-RevId: 610870732
Change-Id: Iaa39bd00f56046c595dc961281ac23446ca5bdf2
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2024-02-27 14:17:21 -08:00 |
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Erik Frey
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6a346c42e8
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Adds support for mjOption.impratio to MJX.
PiperOrigin-RevId: 607456034
Change-Id: I7f6549a4332fd2bc0331d76a8906b971ce28dbcf
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2024-02-15 14:28:36 -08:00 |
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