33e56ccb88
Remove edge length computations from elasticity plugins.
...
Read the lengths from mjModel and mjData flex arrays.
PiperOrigin-RevId: 673116608
Change-Id: Iffa209abb7443707effaffb5bda99345399fac1c
2024-09-10 14:54:53 -07:00
e4d4153352
Move sanitizer instrumentation to a separate header file. Fixes #2049 .
...
PiperOrigin-RevId: 672986547
Change-Id: I42522f4925237a73168e965364a2dd65c0f067cb
2024-09-10 09:05:35 -07:00
8fa7fe7f5b
Add a tutorial section on multiple frames in the same scene. Fixes #1757 , #1356 .
...
PiperOrigin-RevId: 672902542
Change-Id: Ie9fae2151354206b1418c129e2bd2ab016695ec3
2024-09-10 04:22:07 -07:00
dd45e67ec4
MJX documentation update. Fixes #1703 .
...
PiperOrigin-RevId: 672667174
Change-Id: I528a16c4233c1448cbca660bd6c7ab2e70d0c6ee
2024-09-09 14:07:16 -07:00
be00fafc43
Various documentation improvements.
...
- Replace two "below" instances in `XMLreference.rst` with proper links (there are many more that need fixing).
- Discuss friction cones and 32-bit floats in Performance Tuning.
- Delete Damping subsection in Tips and Tricks, no longer relevant after the introduction of the implicit/fast integrators.
- Simplify discussion of free bodies, mention free joint alignment.
- Clarify frame used by kinematic Jacobians.
PiperOrigin-RevId: 672615057
Change-Id: Ib59b71e3c09cdd13415519fc4a964131b155718f
2024-09-09 11:36:07 -07:00
4862b9e765
Remove plugin support from Composite particles.
...
This functionality is replaced by FlexComp.
PiperOrigin-RevId: 672503965
Change-Id: I58953267de285f82e416f9f60576a336b7d0da4c
2024-09-09 04:58:26 -07:00
44145742a7
Exit GJK early if geom distance doesn't need to be recovered.
...
PiperOrigin-RevId: 672334991
Change-Id: I4af582c799140ccf3ac4d51952e547b08ab5d55e
2024-09-08 14:57:50 -07:00
61721f8d3c
Set tolerance in GJK to zero for colliding discrete geoms.
...
PiperOrigin-RevId: 672326091
Change-Id: Iddec335272461c9aee13c1960640a453ff59f841
2024-09-08 13:49:58 -07:00
56bb3ca5de
Merge pull request #1901 from abhihjoshi:usd-fixes
...
PiperOrigin-RevId: 671815757
Change-Id: I8a08385b63401c743253545d89389ab8aaac91bc
2024-09-06 10:31:09 -07:00
e3cda3e0e3
Fix alignment in mjxmacro.h
...
PiperOrigin-RevId: 671759410
Change-Id: I4f92d8b60a64d89016af4c717beddf8b4b844996
2024-09-06 08:04:12 -07:00
4fc6fb179b
Remove libccd compatibility layer from native ccd.
...
PiperOrigin-RevId: 671740643
Change-Id: If3c1097df5c505f70c2dc0c090a7f5a93a43c683
2024-09-06 06:56:01 -07:00
fa156ed22f
Add accelerometer to MJX.
...
PiperOrigin-RevId: 671355424
Change-Id: I8593bcad6ba311f3c555b118889e2a5c6b367ec7
2024-09-05 06:57:09 -07:00
20296466b1
Add subtreelinvel and subtreeangmom sensors to MJX.
...
PiperOrigin-RevId: 671347528
Change-Id: I8a32590c650ca6d0bb6df43d0347f707ffc05f12
2024-09-05 06:21:50 -07:00
7b073b60c4
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
2024-09-05 05:35:26 -07:00
cd8ff4401d
Add eq_objtype to mjx.Model and support for connect constraint using sites in MJX.
...
PiperOrigin-RevId: 671225109
Change-Id: I8e2e6eb4c539d318658d3d7dfe0a7f03b411aabc
2024-09-04 22:00:36 -07:00
fe1d6dad02
Using temp directory for usd exporter test
2024-09-04 18:18:37 -04:00
81618f95f9
Update doc for mj_addFileVFS and mj_addBufferVFS as VFS is no longer memory limited.
...
PiperOrigin-RevId: 671087960
Change-Id: I0b022554f4f47fe2e64c8201cd855b63d514c344
2024-09-04 13:51:43 -07:00
621ea29382
Improve error message for keyframe size mismatch. Fixes #2041
...
PiperOrigin-RevId: 671069582
Change-Id: Ie63d3bf2b543f7bb5e3c123093095e76a95b7b48
2024-09-04 12:58:31 -07:00
4a4db13eba
Update documentation to reflect that multi-threading is now used when loading meshes.
...
PiperOrigin-RevId: 671063740
Change-Id: I77f2e028c3e9e9801c03e8e107eb6d8830becf22
2024-09-04 12:38:29 -07:00
b9822e4347
Check hexahedron in polytope3 to make sure it contains the origin. Otherwise, EPA can return invalid results.
...
PiperOrigin-RevId: 671057312
Change-Id: Ieb21a77ea679ee5c18972d3a0375578d9a98405e
2024-09-04 12:17:54 -07:00
b502ceef00
Add note that XML saving requires that the spec first be compiled. Fixes #1832
...
PiperOrigin-RevId: 671046666
Change-Id: If5885545d5316537147d293fbe854caa568558b2
2024-09-04 11:47:34 -07:00
79a5bd0915
Add better boundary tests in polytope3 for EPA.
...
PiperOrigin-RevId: 671038835
Change-Id: I259260a7b40e825678b52187bee4791266ae10c4
2024-09-04 11:25:44 -07:00
8954a088ce
Add automatic free-joint alignment.
...
PiperOrigin-RevId: 671010083
Change-Id: Ib7d60f75c7f545b1886703715663db8de77feeef
2024-09-04 10:07:33 -07:00
ae4987026c
Add tree element support to mjs_firstElement() and mjs_nextElement().
...
PiperOrigin-RevId: 671003046
Change-Id: I9e07d7c85c7218e9bded0f50af9db62d0f1e21e1
2024-09-04 09:46:24 -07:00
d3dfa6f970
Add mjs_findElement() to find any element in a spec by name.
...
Also, remove mjs_findMesh() and mjs_findKeyframe().
PiperOrigin-RevId: 670978980
Change-Id: Id88b800eb8a4c5efc40866f72a4442bf1d1437d0
2024-09-04 08:24:22 -07:00
0e8c0b80eb
add content_type to model in the XML schema.
...
PiperOrigin-RevId: 670961443
Change-Id: I98cd6bb61b50029cdd4f5b31e23d268989d136da
2024-09-04 07:25:55 -07:00
9a27fc14c2
Raise appropriate errors for mj_addBufferVFS in Python bindings.
...
When loading models in the XML bindings, different issues with the asset dictionary were all reported as "assets dict is too big".
PiperOrigin-RevId: 670960339
Change-Id: I2e47d91a6b433fd90ebdf9960a9b5b47413af410
2024-09-04 07:20:25 -07:00
e9a85764ea
Native CCD: Replace mju_malloc with C standard malloc, fix bug in computing v5 in polytope3, and add another warning in EPA.
...
PiperOrigin-RevId: 670939250
Change-Id: Ia0d8b7c78ed2ef7019f2a691c066b20e98dc1889
2024-09-04 05:53:31 -07:00
3437361bfb
Add reduced sparse dof-dof matrix structures to mjData.
...
PiperOrigin-RevId: 670919263
Change-Id: I3592de802ae84648d97230115c2e9c3437424968
2024-09-04 04:24:02 -07:00
42eb669e4e
Precompute mappings between M <-> D sparse representations.
...
PiperOrigin-RevId: 670898353
Change-Id: I4b15477b1b6eb4a64cf7d4a0bb5af8fcb95d4e45
2024-09-04 02:57:13 -07:00
303e5e7718
Fix test threshold for external tests.
...
PiperOrigin-RevId: 670720396
Change-Id: I28bff46535ffdd99724c75f8137834d84c3ec534
2024-09-03 15:06:42 -07:00
49711fa14f
Add support for joint and tendon frictionloss to MJX.
...
PiperOrigin-RevId: 670679777
Change-Id: I2eb56d013c11d4e1851f1c2edd6d98faaf854db9
2024-09-03 13:17:41 -07:00
2d3d5415b7
Add mj_jacDot: Time derivative of kinematic Jacobian.
...
PiperOrigin-RevId: 670505417
Change-Id: Icf30cff5dc955e002bd2f5d5fb3a04f8388d0780
2024-09-03 04:49:47 -07:00
fb38727303
Update zipp to 3.19.1 in make_sdist_requirements.txt
...
PiperOrigin-RevId: 670486730
Change-Id: I1dfabb8d5206024595a49d2421f148a284a4eac7
2024-09-03 03:37:49 -07:00
a02934a408
Merge pull request #2036 from kevinzakka:doc-fix
...
PiperOrigin-RevId: 670207735
Change-Id: I810720a41e6b770f8d7d3bacea9f5dc1433827b7
2024-09-02 07:08:56 -07:00
f60ab4492d
Remove vestigial mentions of mjOption.collision in the docs.
2024-08-31 16:49:25 -07:00
7abd5d427a
Restore mistakenly deleted/modified changelog items.
...
PiperOrigin-RevId: 669732777
Change-Id: I473480acb06f881049c1f338e1e87ff86c30f330
2024-08-31 15:04:08 -07:00
9805df616b
Add framelinvel and frameangvel sensors to MJX.
...
PiperOrigin-RevId: 669647542
Change-Id: I612230e81b456c26f29173d1cb5a60975791875a
2024-08-31 06:12:37 -07:00
c0dc787cee
Removing mujoco renderer dependency
2024-08-30 18:23:13 -04:00
651868ab05
Add GitHub Issue and Discussion templates.
...
PiperOrigin-RevId: 669365189
Change-Id: I6e14bdf68de0ddc0029937291d7258d26eb65b75
2024-08-30 10:13:38 -07:00
5391e6011a
Add sensor cutoff to MJX.
...
PiperOrigin-RevId: 669363779
Change-Id: Ia5c3f913c1b84e1893aa6072268a334123f00aeb
2024-08-30 10:09:17 -07:00
5dc9c07fa6
Removing scipy dependency
2024-08-30 12:56:25 -04:00
1d2ee40c9b
Updating pillow hashes
2024-08-30 12:32:45 -04:00
f54380206c
Adding pillow dependency
2024-08-30 12:30:15 -04:00
4a8b54c7ec
Adding backslash char
2024-08-30 12:16:16 -04:00
83c8814149
Adding new usd-core hashes
2024-08-30 12:14:26 -04:00
cf02171bf8
Add velocimeter and gyro sensors to MJX.
...
PiperOrigin-RevId: 669337697
Change-Id: I5e7f245b96eb334ffddd01757a9f631d9ad862cd
2024-08-30 08:39:40 -07:00
a94694f608
Fix formatting in mjx.rst
...
PiperOrigin-RevId: 669262462
Change-Id: I6354b152eff36923b85918e10fedf89a44c851f6
2024-08-30 03:16:46 -07:00
8272211dd5
Update MJX documentation for ellipsoid and cylinder collision support.
...
fixes #1908
PiperOrigin-RevId: 669244021
Change-Id: I5f757562be333b5b9923655d155d51ed3dbd09c4
2024-08-30 01:59:27 -07:00
494e166f28
Fix a bug where mjx.make_data qLDiagInv has wrong size for sparse mass matrices.
...
PiperOrigin-RevId: 669087189
Change-Id: I39e97264a192a621e67ae5e079334fc8be38a25d
2024-08-29 15:40:08 -07:00
Alessio Quaglino