0e7d2ef6df
Fix bug in box-sphere collider. Fixes #2206
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PiperOrigin-RevId: 702627603
Change-Id: Ie6015b7fa6f8507459325d692581b0f5f83aa159
2024-12-04 01:19:27 -08:00
ec9986dcb7
Clean up changelog.
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PiperOrigin-RevId: 702369712
Change-Id: I44293f18de54ddc65af31f64c40dfbe608278b6d
2024-12-03 09:39:14 -08:00
bbedc7f339
Update the chancelog for the v3.2.6 release
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PiperOrigin-RevId: 702021093
Change-Id: I1c748581ad63ae934b043f56b929d7a5a362bb23
2024-12-02 10:56:29 -08:00
300450f8b8
Add circle to flexcomp and remove rope and loop from composite.
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Add pulley example to show a circle use case.
Switch on flex edge rendering by default (no effect when flex skin is rendered).
PiperOrigin-RevId: 700738379
Change-Id: I8469bbf194de01c8dab66c9a51c49879013df141
2024-11-27 10:14:25 -08:00
e6eab04dd0
rollout fixups and correctly initialize unspecified controls
2024-11-27 07:04:23 -05:00
bd361447bb
merge items in changelog
2024-11-26 08:22:28 -05:00
943eb6bc7e
rollout accepts a list of models of length nroll
2024-11-25 21:29:14 -05:00
96a8f002bc
Remove nroll argument from rollout
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nroll can always be implied from the other arguments of rollout.
Add tests for nroll inference.
2024-11-25 14:10:42 -05:00
c6ba8f27fd
Add bind() method to MjModel and MjData.
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This method allows users to bind a spec to a model or data object, making it less verbose to access its arrays.
PiperOrigin-RevId: 699952211
Change-Id: I6b71a88d5a6968bc0f902bd49db7c568b46a4dfb
2024-11-25 05:53:58 -08:00
3a12db9ad2
Remove id attribute from mjSpec objects in Python bindings.
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Using ids is error prone in scenarios of repeated attachment and detachment. Python users are encouraged to use names for unique identification of model elements.
PiperOrigin-RevId: 699227286
Change-Id: Ifd83e6d85d36ff72ea43caf8b82eab9e4d552440
2024-11-22 11:05:14 -08:00
74dcd51d83
Update changelog with Python 3.13 support (upcoming release)
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PiperOrigin-RevId: 699127095
Change-Id: I098d1e91e59642f27a764d055c6ae9b77a8b1000
2024-11-22 04:34:33 -08:00
5c23ae11ef
Fix bug in material texrepeat attribute, fixes #2223 .
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Was mistakenly cast from float to int, bug introduced in 3.2.0
PiperOrigin-RevId: 697993181
Change-Id: I643a07e2b0866a4af56d7cbd3344e764a7caf56f
2024-11-19 06:30:55 -08:00
0f381a9ebd
Add muscle actuators to MJX.
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PiperOrigin-RevId: 695334356
Change-Id: I6590ed6bdd4a8adc53d5c4e2641f472f7439cedc
2024-11-11 07:46:20 -08:00
d6d3d6bb25
Fix typo in changelog.
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PiperOrigin-RevId: 694009875
Change-Id: I0ecafe467347a54b54c29c486b98516d1a53e5ea
2024-11-07 00:19:42 -08:00
f9569cdab0
Fix #2212 .
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PiperOrigin-RevId: 693294401
Change-Id: Ifef2b268f61b90f557580f61316786c50dc9698d
2024-11-05 04:17:48 -08:00
b7bbb2b25c
Update the MuJoCo changelog for the 3.2.5 release
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PiperOrigin-RevId: 693032354
Change-Id: I675424a3feeda8037a9559753dc93c05b812257c
2024-11-04 11:19:46 -08:00
298ce31e39
Update docs to highlight nativeccd
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PiperOrigin-RevId: 692918061
Change-Id: I9e44bc3123fe6b8a41b769c7de01b20e3c56d758
2024-11-04 04:34:53 -08:00
831d9881d3
Remove box, cylinder and ellipsoid composite types.
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Also, fix a bug with Flex textures that was causing an incorrect allocation of the textures in mjModel. Fixes #2013 .
PiperOrigin-RevId: 692510858
Change-Id: If781716216974e085244da27bc3aa57d91c3458c
2024-11-02 11:14:13 -07:00
b6037d1759
Improve mjSpec documentation. Fixes #2074 .
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PiperOrigin-RevId: 692251710
Change-Id: Ia46bbbe5b7eaa890433b38fed66824f716cc9ea0
2024-11-01 12:06:14 -07:00
1d58576d28
Fetch source code line links for API functions on docs client side.
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PiperOrigin-RevId: 692115441
Change-Id: Ifbedf6a4998000f99e2275cb43293b3050daf0ee
2024-11-01 03:28:53 -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
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
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
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
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
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
7620aef530
Fix typo in the changelog.
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PiperOrigin-RevId: 689058361
Change-Id: I479efa8fc0b8d31030d3f6444b874a14419f3518
2024-10-23 12:17:32 -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
aa91f3c047
Fix bug in slider-crank transmission.
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The associated row in `actuator_moment` was not cleared before being updated.
PiperOrigin-RevId: 688207085
Change-Id: I2f925e984c5c493e64ead66667aef57c4844acfe
2024-10-21 11:21:15 -07:00
b00a7c6705
Add touch sensor to MJX.
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PiperOrigin-RevId: 688056696
Change-Id: I50b0ebf3141aab0a5b07e5ae770101ff8b7737d4
2024-10-21 02:48:36 -07:00
680fb3e5dd
Add more public support functions for MJX.
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PiperOrigin-RevId: 687469475
Change-Id: I4218cc2f6d51d3f2f63b1a9a96953d550a5503a5
2024-10-18 17:15:18 -07:00
d1e004aa97
Update version hashes in MuJoCo CMake files ahead of the 3.2.4 release.
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PiperOrigin-RevId: 686208889
Change-Id: I19d3e6566e76c44e199f427aed984b9a530f4262
2024-10-15 13:03:13 -07:00
d646ba8de1
Update MuJoCo changelog with a video of the 100_humanoids model.
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Improve the model's rendering FPS by reducing the number of shadow-casting lights from 7 to 2.
https://youtu.be/e8lUuykQPGs
PiperOrigin-RevId: 686118052
Change-Id: If376564fdc23ad8d754dac1e5825079c0b806063
2024-10-15 08:40:06 -07:00
096853e192
Add JOINTINPARENT actuator transmission type to MJX.
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PiperOrigin-RevId: 686083761
Change-Id: I5159d050812d32e15ced06df132d3e434fced814
2024-10-15 06:38:02 -07:00
6881ce2437
Remove support for Python 3.8.
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Python 3.8 has been deprecated upstream, and any tests depending on Homebrew already stopped working. Following our support policy, we are removing support for 3.8 from our packages, too.
PiperOrigin-RevId: 686012836
Change-Id: Ibd220eb9c10e9a74bbd4443c1d7286a1fde9e5e5
2024-10-15 01:54:18 -07:00
8d84b5f693
Disable hfields for collision sensors.
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PiperOrigin-RevId: 685730321
Change-Id: Ib1d4a90b7b31ca388e018076a274e25c40409080
2024-10-14 09:19:11 -07:00
ac91a7639d
Add tendon velocity sensor to MJX.
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PiperOrigin-RevId: 685689974
Change-Id: Ib5e65b19c20b74e20cffa66c6baca0d8faaaf3ae
2024-10-14 06:47:59 -07:00
1945926351
Fix computation of tangential contact forces in MJX _decode_pyramid.
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PiperOrigin-RevId: 685665382
Change-Id: Icdbba4a3ee5fec804340d73d525a36ee570c2aa8
2024-10-14 05:01:00 -07:00
223892c051
Add tendon position sensor to MJX.
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PiperOrigin-RevId: 684851437
Change-Id: Ica0a30762a9cb3d612357b40b6f87cd2fc544fdb
2024-10-11 08:47:52 -07:00
2dd518734f
Stop over-allocating memory in Newton solver.
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PiperOrigin-RevId: 684797464
Change-Id: I3389416cb69a8564b5119f6e3944b579893ea511
2024-10-11 05:09:33 -07:00
22e4f7fc31
Fix bug in MJX frictionloss.
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PiperOrigin-RevId: 684198925
Change-Id: I5f6575759729712550bcb8d7659aaa7a657c66fc
2024-10-09 15:50:58 -07:00
fa22e6d001
Add sphere-ellipsoid, sphere-cylinder. #2126
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PiperOrigin-RevId: 683747371
Change-Id: Ic11803bb395944380d25ce848d9fbcf19afaad77
2024-10-08 13:37:00 -07:00
160ed9bfe2
Add pulley support to spatial tendons in MJX.
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PiperOrigin-RevId: 683103659
Change-Id: I22544071a3fc6fbd09f9a59690106701b101ee6a
2024-10-07 03:00:53 -07:00
c7c2edf758
Add external sphere and cylinder wrapping for spatial tendons to MJX.
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PiperOrigin-RevId: 681808698
Change-Id: I37612e2c6b781b759f9009e1bc6ae10b4e861c8d
2024-10-03 03:56:24 -07:00
1a9d307042
Use mocap pos/quat in smooth.kinematics.
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PiperOrigin-RevId: 681136974
Change-Id: I0ece009ed1e68b61b0b96da2e685e86000f7f6b8
2024-10-01 13:12:33 -07:00
6832df3091
Replace mjs_setActivePlugins with mjs_activatePlugin.
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PiperOrigin-RevId: 680613007
Change-Id: Ic03e0dc42a1f5f083e313672bc6e3ccebadc58b3
2024-09-30 09:46:47 -07:00
5838f84777
Fix bug where MJX data tendon fields are incorrect after calling put_data.
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PiperOrigin-RevId: 677911639
Change-Id: I75f536fa348e2941d9ec2d454f475cd067e6d3af
2024-09-23 13:12:49 -07:00
ab3954d892
Set actuator_force in MJX. Fixes #2068 .
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PiperOrigin-RevId: 676867005
Change-Id: I80514a050ff40cb6d43a95b74c4a36c4991db588
2024-09-20 09:16:55 -07:00
Yuval Tassa