4998e7b392
Move flex damping to the engine and remove membrane and solid plugins.
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PiperOrigin-RevId: 676434954
Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
2024-09-19 09:01:30 -07:00
ebcffaf121
Improve wording of changelog item.
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PiperOrigin-RevId: 675176166
Change-Id: I3b902efcc618e5121fea33f9a746df57a3979710
2024-09-16 09:22:26 -07:00
f9401776d4
Add framelinacc and frameangacc sensors to MJX.
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PiperOrigin-RevId: 675141513
Change-Id: Ie38dba3e8be82e0554c7c9e47c6d07f3cdad29b8
2024-09-16 07:34:16 -07:00
9d73211757
Add force and torque sensors to MJX.
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PiperOrigin-RevId: 675130978
Change-Id: I8a3b925c57f317aebc0c345578cebeb4210dc11d
2024-09-16 06:57:00 -07:00
60a1921b34
Add site semantics to weld constraint. Fixes #1896
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PiperOrigin-RevId: 675112981
Change-Id: Ie4c01440d54116075df89f480591700762892cbd
2024-09-16 05:46:01 -07:00
dde25d039b
Update Mujoco dependencies to latest versions.
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PiperOrigin-RevId: 674003245
Change-Id: Ib758fa361cb34a786dcd3d55fbf3e5a459b75a3f
2024-09-12 14:10:21 -07:00
577afd1e28
Improve wording of some items in the changelog.
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PiperOrigin-RevId: 673890612
Change-Id: I731f9afcd5ec5f54f7ddc318dcea238f08d7a6bf
2024-09-12 09:54:15 -07:00
e3d3a24b36
Add spatial tendons with site wrapping to MJX.
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PiperOrigin-RevId: 673783473
Change-Id: I09b13787e3e0914c8de21d81db0347c4638b2f1d
2024-09-12 04:17:16 -07:00
567793c26f
Store model paths in assets.
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This enables to preserve the paths of the child spec during `attach`.
PiperOrigin-RevId: 673349237
Change-Id: Ibf075c7ec037ff5d540bc60d6e77c12f60269791
2024-09-11 05:20:14 -07:00
4e3dc14f8e
Remove model/humanoid100/humanoid100.xml (used <include>), replace with model/humanoid/humanoid100.xml (uses <attach>)
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PiperOrigin-RevId: 673123895
Change-Id: I0c3c6dac69d9fc12a6ea76d586c34503fc167bad
2024-09-10 15:14:04 -07:00
4862b9e765
Remove plugin support from Composite particles.
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This functionality is replaced by FlexComp.
PiperOrigin-RevId: 672503965
Change-Id: I58953267de285f82e416f9f60576a336b7d0da4c
2024-09-09 04:58:26 -07:00
fa156ed22f
Add accelerometer to MJX.
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PiperOrigin-RevId: 671355424
Change-Id: I8593bcad6ba311f3c555b118889e2a5c6b367ec7
2024-09-05 06:57:09 -07:00
20296466b1
Add subtreelinvel and subtreeangmom sensors to MJX.
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PiperOrigin-RevId: 671347528
Change-Id: I8a32590c650ca6d0bb6df43d0347f707ffc05f12
2024-09-05 06:21:50 -07:00
cd8ff4401d
Add eq_objtype to mjx.Model and support for connect constraint using sites in MJX.
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PiperOrigin-RevId: 671225109
Change-Id: I8e2e6eb4c539d318658d3d7dfe0a7f03b411aabc
2024-09-04 22:00:36 -07:00
8954a088ce
Add automatic free-joint alignment.
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PiperOrigin-RevId: 671010083
Change-Id: Ib7d60f75c7f545b1886703715663db8de77feeef
2024-09-04 10:07:33 -07:00
d3dfa6f970
Add mjs_findElement() to find any element in a spec by name.
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Also, remove mjs_findMesh() and mjs_findKeyframe().
PiperOrigin-RevId: 670978980
Change-Id: Id88b800eb8a4c5efc40866f72a4442bf1d1437d0
2024-09-04 08:24:22 -07:00
9a27fc14c2
Raise appropriate errors for mj_addBufferVFS in Python bindings.
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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
49711fa14f
Add support for joint and tendon frictionloss to MJX.
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PiperOrigin-RevId: 670679777
Change-Id: I2eb56d013c11d4e1851f1c2edd6d98faaf854db9
2024-09-03 13:17:41 -07:00
2d3d5415b7
Add mj_jacDot: Time derivative of kinematic Jacobian.
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PiperOrigin-RevId: 670505417
Change-Id: Icf30cff5dc955e002bd2f5d5fb3a04f8388d0780
2024-09-03 04:49:47 -07:00
7abd5d427a
Restore mistakenly deleted/modified changelog items.
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PiperOrigin-RevId: 669732777
Change-Id: I473480acb06f881049c1f338e1e87ff86c30f330
2024-08-31 15:04:08 -07:00
9805df616b
Add framelinvel and frameangvel sensors to MJX.
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PiperOrigin-RevId: 669647542
Change-Id: I612230e81b456c26f29173d1cb5a60975791875a
2024-08-31 06:12:37 -07:00
cf02171bf8
Add velocimeter and gyro sensors to MJX.
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PiperOrigin-RevId: 669337697
Change-Id: I5e7f245b96eb334ffddd01757a9f631d9ad862cd
2024-08-30 08:39:40 -07:00
494e166f28
Fix a bug where mjx.make_data qLDiagInv has wrong size for sparse mass matrices.
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PiperOrigin-RevId: 669087189
Change-Id: I39e97264a192a621e67ae5e079334fc8be38a25d
2024-08-29 15:40:08 -07:00
a1036b86d3
Allow connect constraints to be specified using sites.
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PiperOrigin-RevId: 668925419
Change-Id: I10cb71e6706e617c830cd90d6d0836b94a5a8cfa
2024-08-29 07:10:51 -07:00
646455406c
Fix changelog by moving bug fix to proper section.
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PiperOrigin-RevId: 668435872
Change-Id: I9042eb3f119cc778675944e7cfb8f6be0e9379b2
2024-08-28 07:07:11 -07:00
3e701b2125
Fix tendon sphere wrapping when using external sidesite.
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PiperOrigin-RevId: 668391942
Change-Id: I78b44e1f90bb26fa6f5544eeb884c8ea22e41d33
2024-08-28 04:30:07 -07:00
088079eff0
Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations.
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PiperOrigin-RevId: 666438658
Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463
2024-08-22 12:01:54 -07:00
abe57c234b
Use bullets instead of numbering in latest changelog
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PiperOrigin-RevId: 666335980
Change-Id: Ifbeba31e34e9891f4d0791aa4b014d1fa1403398
2024-08-22 07:10:47 -07:00
8b03daa09b
Add mjtSameFrame enum to specify frame alignment of bodies with their children.
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PiperOrigin-RevId: 666303674
Change-Id: I53dc56e1ca52afa280ae5abaf4158edc465fb1e0
2024-08-22 05:17:06 -07:00
b2174a7ec3
Add framequat sensor to MJX.
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PiperOrigin-RevId: 666254481
Change-Id: I50be8574e1e4677ef5dc23a2bdcbc296f301d7fc
2024-08-22 02:21:20 -07:00
806b8c8e2e
Add support for actuatorfrc and jointactfrc sensors in MJX.
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PiperOrigin-RevId: 665804850
Change-Id: I99371fc4da055382f1564b2c67d25f7b30a0a0cf
2024-08-21 03:46:26 -07:00
a68141eeff
Implicitfast integration for MJX.
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PiperOrigin-RevId: 664889120
Change-Id: Id3bd3916fe821ab2af79c52e53e14837ae829b2a
2024-08-19 11:12:36 -07:00
6241814ad7
Add velocity-dependent sensors to MJX. Includes: joint velocity, actuator velocity, and ball joint angular velocity.
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PiperOrigin-RevId: 664461284
Change-Id: I5063f662d707fbe342493f9cd7993f009fac9c76
2024-08-18 08:47:35 -07:00
6a12787a32
Add camera projection sensor to MJX.
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PiperOrigin-RevId: 664426007
Change-Id: I0f2681c156b12ab62503d45beb2cd8752e7202d6
2024-08-18 05:57:33 -07:00
51733c2a8a
Add rangefinder sensor to MJX.
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PiperOrigin-RevId: 664417458
Change-Id: I1ad7720e48541349f155984584314b2b49ccbf36
2024-08-18 05:15:58 -07:00
0bffd744f9
Add nativeccd flag. When this flag is enabled, general convex collision detection is handled natively, as opposed to using libccd.
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PiperOrigin-RevId: 663859009
Change-Id: Ife18bb1de62f2154e4725fdf764484a18586b836
2024-08-16 14:08:35 -07:00
390bce2352
Avoid placing arrays on device for unused MJX fields. Add `device` parameter to mjx.make_data.
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PiperOrigin-RevId: 663808411
Change-Id: Ic55875f87f5c36b9dfe21e5ed5891d64c7003cab
2024-08-16 12:02:21 -07:00
cfc7dc9848
Clarify that keyframes are not replicated in nested attachments.
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PiperOrigin-RevId: 663683684
Change-Id: Id180b3a6afad6809d8189a7a525c474bd3a91fc1
2024-08-16 04:22:21 -07:00
0bcaa85650
Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit integrators, wrong derivatives would be computed.
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PiperOrigin-RevId: 663680592
Change-Id: I5d72888cab19dd5e51f552f63fe0968db93f5dcd
2024-08-16 04:07:23 -07:00
6db96e07e4
Add position-dependent sensors to MJX: magnetometer, ballquat, subtreecom, framepos, framexaxis, frameyaxis, framezaxis, and clock.
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PiperOrigin-RevId: 663668212
Change-Id: Ifc9adc6bff4544172ab22572da04a093aebfdbd4
2024-08-16 03:10:24 -07:00
a74c184f9d
Add efc_pos to MJX.
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fixes #1388
PiperOrigin-RevId: 663358494
Change-Id: I63885f9208d12edbaa4b7d123ce4c6d16f40dcbe
2024-08-15 10:33:44 -07:00
4c64e6f036
Add mocap state to SaveState/RestoreState and attached keyframes.
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PiperOrigin-RevId: 662975257
Change-Id: I3edb44f34426525813033902caf31db16ad7b2ab
2024-08-14 10:42:49 -07:00
afd7c73f44
Attach multiple keyframes.
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Still missing: support for ctrl, mocap, and time.
PiperOrigin-RevId: 662871569
Change-Id: I8a418c4007663e3063d7146bd72db4eba78ddc5d
2024-08-14 04:42:54 -07:00
e3814be8e6
Remove duplicated title from the changelog.
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PiperOrigin-RevId: 662443493
Change-Id: Idf6d36aba168488f2752d7e167ed13c599acbd91
2024-08-13 03:06:31 -07:00
851bb6eef4
Add option to mjspec for creating a texture directly from a buffer.
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PiperOrigin-RevId: 662186527
Change-Id: I469c876681d52964ac971c0bb2ec3517224d3a3d
2024-08-12 12:29:08 -07:00
466368efc6
Add shellinertia support for primitives: sphere, capsule, cylinder, ellipsoid, and box.
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PiperOrigin-RevId: 661407997
Change-Id: Icddac58c540c71ea26ac7a3be874788443bd1122
2024-08-09 14:40:13 -07:00
82c27165f2
mjQUICKSORT uses std::sort with C++.
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fixes #1638
PiperOrigin-RevId: 660887790
Change-Id: Ia3b493feda98b246d963aa749bc81b96c42fddaa
2024-08-08 10:24:34 -07:00
5383d1cd44
Update changelog for MuJoCo 3.2.2 release.
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PiperOrigin-RevId: 660823679
Change-Id: I983220b7e0314bdb2476a48b68399b0921834747
2024-08-08 07:12:08 -07:00
c486f62cb7
Fix some broken links in documentation.
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Remove references to deleted sample Makefiles.
PiperOrigin-RevId: 660753375
Change-Id: Iaed2d893e1c03b1c6d348a54e7d7f834db7f6089
2024-08-08 02:41:08 -07:00
fd892ee8f5
Fix some documentation bugs
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PiperOrigin-RevId: 660010085
Change-Id: I0e4d7bef6acc4e432545266c6301f7ca08e6b883
2024-08-06 10:34:08 -07:00
Alessio Quaglino