32df8a515a
Fix typos. fixes #2139
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PiperOrigin-RevId: 691429879
Change-Id: I929b7a387ec41f68b8d85fe20de83083216da36a
2024-10-30 08:34:39 -07:00
7c2b2d353c
Merge pull request #2190 from jjyyxx:patch-2
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PiperOrigin-RevId: 691384670
Change-Id: I28c69eac4f51f1c41bd4f88540c516d0f628d197
2024-10-30 05:43:04 -07:00
e1cb43819a
Fix typo in MJDATA_VECTOR definition
2024-10-30 14:27:32 +08:00
03d04f6096
Add texture fields to mjx.Model for madrona collaborators.
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PiperOrigin-RevId: 691170517
Change-Id: Icb8e2d6ed65a13d17dc2565d3d84de629a10c37a
2024-10-29 14:49:12 -07:00
f47840e57c
Add mju_dense2sparse to public API.
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PiperOrigin-RevId: 691125900
Change-Id: Id9b7c739ee14bff2317168da258b1a3acbdafdbe
2024-10-29 12:47:48 -07:00
e835f139c8
Add sibling traversal for tree elements.
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PiperOrigin-RevId: 691057957
Change-Id: I3f30cf175b5ad0842f3fbbf7fdb42ba7a2212682
2024-10-29 09:55:08 -07:00
b941e994d9
Move keyframe resizing from compilation to attach (mjCModel::operator+=).
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This allows to resize parent keyframes also when the child has no keyframes.
PiperOrigin-RevId: 691045299
Change-Id: I3ab6509b13b5754e937ec77daf9efe697cabf1bc
2024-10-29 09:17:55 -07:00
e889cffe23
Clarify in mju_boxQP test that for the synthetic test set, the average number of factorizations is expected to be 5 or less, while the worst case is expected to be 6 or less.
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PiperOrigin-RevId: 691037804
Change-Id: Id0bc8bedf08d623efcacbe696775f0ef0f6781b9
2024-10-29 08:55:50 -07:00
1336e99d88
Remove test annotation from mjspec notebook
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PiperOrigin-RevId: 690987516
Change-Id: Ia99b65278609166ecec9002e5290c44a54255d80
2024-10-29 06:02:06 -07:00
0995af83f9
Add documentation for SdfLib plugin.
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Fixes #2182 .
PiperOrigin-RevId: 690980373
Change-Id: Ifc94f928e9cfbdbef3cb6f11ad4bffed542bf49a
2024-10-29 05:32:13 -07:00
71cfcc5432
Use assertIn instead of assertContainsSubsequence for substring checks.
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A contained subsequence must not necessarily be continuous, so the check only
checked if the individual letters were appearing in order within the message,
possibly interspersed with other characters.
PiperOrigin-RevId: 690977874
Change-Id: I36bd5a0105b979a9b0d6d04ca5239245d4f8d041
2024-10-29 05:20:52 -07:00
6703a40fcf
Improve plugin documentation.
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PiperOrigin-RevId: 690974299
Change-Id: Iadaabafb7434ada9579d6e2f64aae435cdfedbd8
2024-10-29 05:07:31 -07:00
ce5f8b4728
Fix typo in mju_muscleDynamics comments.
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PiperOrigin-RevId: 690949399
Change-Id: I8102fb72cce909786eab0771467c7f6f751792bf
2024-10-29 03:31:28 -07:00
f1d4b23e48
mjSpec tutorial backwards compatibility with the latest MuJoCo release.
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PiperOrigin-RevId: 690747714
Change-Id: Ib8894a1dc2a68e30a110e773c77fbd2baee87efd
2024-10-28 14:19:17 -07:00
d01fb81b50
Use eq_active0 in MJX.
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PiperOrigin-RevId: 690727109
Change-Id: If60a99d7644e0376a27039478319ff5300b15cc1
2024-10-28 13:21:05 -07:00
13f11d4c45
Fit typo in mjSpec tutorial link.
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PiperOrigin-RevId: 690676376
Change-Id: I5f082f5703488403aa65be76d208def68ccc3eb9
2024-10-28 11:00:09 -07:00
0be0896bec
Add mjSpec tutorial.
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PiperOrigin-RevId: 690670950
Change-Id: I68de7ad57a75d6c1a443fa2cd427e59799ddd830
2024-10-28 10:45:30 -07:00
864b805a6e
Fix multiple bugs related to connect and weld constraints with site semantics. Fixes #2179
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The introduction of site specification to connects and welds in 3.2.3 conditionally changed the semantics of `mjData.eq_obj1id` and `mjData.eq_obj2id`. These changes were not properly propagated in several places leading to incorrect computations of constraint inertia, readings of affected force/torque sensors and runtime enabling/disabling of such constraints.
PiperOrigin-RevId: 690670420
Change-Id: I55ee8a013cbee8457f8d6c7f33c2981aedafbab6
2024-10-28 10:44:04 -07:00
2c86136dd6
Merge pull request #2160 from traversaro:patch-40
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PiperOrigin-RevId: 690660035
Change-Id: Id4dc7eb53b7c6cda050d1e6b385eec16d66d077e
2024-10-28 10:17:13 -07:00
3d920e6a70
Update build documentation to include instructions on how to build the docs locally.
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PiperOrigin-RevId: 690616910
Change-Id: I717988e3adc67cb6d65488d39bc804c3d4f0e3b5
2024-10-28 08:17:16 -07:00
a4a6248a06
Move AsVector utility to fixture.h
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PiperOrigin-RevId: 690577546
Change-Id: I2cebcffa1f2e3b0789f43e772e364c4762719ab3
2024-10-28 05:52:25 -07:00
d95befaddd
Merge pull request #2180 from pschmutz:schmutz/error_handling_when_loading_plugins
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PiperOrigin-RevId: 690567811
Change-Id: I2d2c4e37e74ab4d97c0add5633feb766ef66dd08
2024-10-28 05:11:14 -07:00
ca45041049
MjSpecs.copy should return an MjSpec rather than a raw::MjSpec*
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raw::MjSpec* is not a good python object.
PiperOrigin-RevId: 690564198
Change-Id: I3a5dd525a3a9acc67bb0e598dd508572dc4c687f
2024-10-28 04:55:38 -07:00
d8494fef3b
Remove deprecated mjv_makeConnector function.
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PiperOrigin-RevId: 690563333
Change-Id: Ice9c6b6cf41de8a55fa361477f9aee9181d50184
2024-10-28 04:51:47 -07:00
3c21abc0e5
Add ray intersection with ellipsoid to MJX.
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PiperOrigin-RevId: 690557087
Change-Id: Icd2f0be1243574720baeac82b8bdd92e57c6a61c
2024-10-28 04:25:11 -07:00
a36f2cccb6
Add nnz argument for size of allocated memory to mju_dense2sparse and check if this number is too small for number of non-zeros.
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PiperOrigin-RevId: 690545825
Change-Id: I0e31cb907a1151cb2e4766d5f0cdfecb5629a2a6
2024-10-28 03:46:50 -07:00
1c424644dd
Fix MJX touch sensor.
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PiperOrigin-RevId: 690544118
Change-Id: Ic909c6f6ce0e31237cbe317fbbfbb1fd267bd462
2024-10-28 03:39:53 -07:00
7dc8aef807
Remove the convexhull compiler option.
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PiperOrigin-RevId: 690307675
Change-Id: I62d8213579ad07296ca96de004d39ae012174aa4
2024-10-27 04:31:10 -07:00
61cb552f8a
Refactor PBR texture layers from separate sub-elements to a single layer sub-element.
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Add new element to PyMJCF schema.
PiperOrigin-RevId: 690115286
Change-Id: I7bb3f184cb321ca96037b2ca0ee160efef37469d
2024-10-26 07:41:38 -07:00
7cf457286d
Print error instead of failing silently when loading plugins
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Previously the return value of dlopen was ignored, meaning a failed load of a shared library would stay unnoticed
2024-10-26 16:22:47 +02:00
078c7bb42e
internal change
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PiperOrigin-RevId: 689931872
Change-Id: Icc7b261b6d98e181a6bf0845f44a050af2833db2
2024-10-25 15:29:39 -07:00
1201db8050
Do not test python bindings in python/dist directory
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This will permit to early catch tests that rely on files not
installed in the wheel, i.e. catch if pytest --pyargs mujoco fails in a vanilla environment.
2024-10-25 13:24:21 +02:00
455116466b
Fix running tests out of a installed mujoco python package
2024-10-25 13:24:21 +02:00
f24de91cc9
Use eq_active in MJX. Fixes #2173 .
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PiperOrigin-RevId: 689549368
Change-Id: I14d9817c5ca5dfc2a735ab8bacfb11b75c9feadc
2024-10-24 16:08:14 -07:00
2de430a61f
Use newton by default in benchmark.
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PiperOrigin-RevId: 689538944
Change-Id: I99b5588ae5980eee43fb33ac390122ce38000dd3
2024-10-24 15:35:01 -07:00
bebec52869
Add find_all with string input.
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PiperOrigin-RevId: 689487165
Change-Id: I48511aec1610b2112f9456e8f410d077c57c7a95
2024-10-24 13:01:49 -07:00
a3ea01e57e
Remove deprecated mju_rotVecMat and mju_rotVecMatT functions.
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PiperOrigin-RevId: 689405782
Change-Id: I0281376d5d6f5c31ea2603d61c03c7b94aaa6312
2024-10-24 09:15:23 -07:00
159f23e6b4
Remember compiler options during attach.
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Note:
- Move compiler options into `mjsCompiler` struct.
- The compiler options from the attached model are not written by mj_SaveXML.
PiperOrigin-RevId: 689391440
Change-Id: I1d63c146a32f87c737b7a55b64a54b0ffe3aecc9
2024-10-24 08:31:15 -07:00
1043633cc3
Remove arbitrary limit of a 1000 elements from certain attributes. Fixes #2166 .
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PiperOrigin-RevId: 689343609
Change-Id: I7cbf5007884433807c76c6c309cb4a858479d34d
2024-10-24 05:37:17 -07:00
ca348632a9
Change tolerances for ellipsoid-capsule and ellipsoid-sphere collision tests in MJX.
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PiperOrigin-RevId: 689301610
Change-Id: I86be65524d13a19abd0b378b0933a5fbbe0ecab8
2024-10-24 02:42:16 -07:00
7620aef530
Fix typo in the changelog.
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PiperOrigin-RevId: 689058361
Change-Id: I479efa8fc0b8d31030d3f6444b874a14419f3518
2024-10-23 12:17:32 -07:00
ed7655cf97
Store a copy of the attached specs in the destination spec.
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PiperOrigin-RevId: 689013340
Change-Id: I2cb7a1f3850f0e3592834b355d35dcc2cd8f150f
2024-10-23 10:20:42 -07:00
d17d9e835c
Do not delete attached specs after compilation.
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Also, copy them when copying the spec.
PiperOrigin-RevId: 688998464
Change-Id: I7229fd8032eafede582194ccf73ab4160fe06768
2024-10-23 09:42:05 -07:00
e14aebfd16
Expose mju_sparse2dense to public API.
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PiperOrigin-RevId: 688985153
Change-Id: I9559f1d47363d0afada80c86abdc729cd1910b63
2024-10-23 09:01:25 -07:00
b598d79b3f
Move mesh inertia specification from global <compiler> to <asset/mesh>.
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Three options:
- Convex: Use convex hull
- Exact: Use exact geometry (requires watertight mesh)
- Legacy: Legacy approximation (deprecated)
Fixes #2152
PiperOrigin-RevId: 688949900
Change-Id: I4537f343db917195c6fd58d517b189d5ee3be1cd
2024-10-23 07:06:31 -07:00
0c97dcf1fd
Avoid overflowing the stack when allocating memory for polytope in EPA.
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PiperOrigin-RevId: 688641864
Change-Id: I3eef7e821ffbfa8d97a946ecf86d098cb4f0c233
2024-10-22 12:11:22 -07:00
4a3f77dd1f
Add missing default namespaces.
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Fixes #2162 .
PiperOrigin-RevId: 688575676
Change-Id: I6c43e33ebead68dece0f779e6f031e90a5e19096
2024-10-22 09:16:31 -07:00
708fd83a49
Remove goto statement from engine collision code.
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PiperOrigin-RevId: 688539516
Change-Id: I29b5dd39acccde59df2dbcaf5e866eb6a0406c43
2024-10-22 07:22:18 -07:00
bfa78614c8
Require prefix for the attach tag.
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For `mjs_attachFrame` and `mjs_attachBody`, require either a prefix or suffix.
It is tempting for users to not use a prefix (see #2162 ), but this causes issues. For example, it creates a duplicate "main" default class in the parent as a child of the already existing "main" default.
PiperOrigin-RevId: 688535755
Change-Id: I653181ca35943f1e4eb89c70fca8b5289818324e
2024-10-22 07:08:33 -07:00
94e9912d28
Add mju_mulMatTVecSparse to multiply transposed sparse matrix and dense vector.
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PiperOrigin-RevId: 688535240
Change-Id: I0bacf1e911cde99014b2dcb0a1434e61a4f41d51
2024-10-22 07:06:29 -07:00
Yuval Tassa