814deb0e9f
Fix bug in hyperlink.
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PiperOrigin-RevId: 639255722
Change-Id: I0419169ac6d82e2fa64a36a33538ee33a2e22c50
2024-05-31 22:33:27 -07:00
16e9db3ad6
Add Franka Robotics FR3 robot.
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PiperOrigin-RevId: 639104288
Change-Id: Ib8c834f9f07f36bcbb62d92cbeba8c28ffd8da67
2024-05-31 11:49:12 -07:00
5c71c7de5d
Add Boston Dynamics Spot.
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PiperOrigin-RevId: 639086847
Change-Id: I8ef6d87d93dc730135a46ce361efbee1bf68c6c8
2024-05-31 10:58:03 -07:00
0d1c92b20a
Add documentation on pipeline stages and mjData self-consistency. Fixes #1667
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PiperOrigin-RevId: 638619787
Change-Id: Ic8dd0fbd178c4946757a07d74fca3b2c905f9080
2024-05-30 05:38:05 -07:00
c511d02265
Add hfield. Fixes #1655 #1491 #1695
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PiperOrigin-RevId: 638447127
Change-Id: Ib1e5020a8407bc100145a6b382e985c03dd4a848
2024-05-29 16:21:34 -07:00
255a59487c
Corrects function reference in class comments.
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PiperOrigin-RevId: 637070006
Change-Id: I0d9dcf0401a107de67cd0a663df6c876287ba772
2024-05-24 16:53:56 -07:00
9e0a437e2a
fixed minimal example shown at mjx.rst
2024-05-21 16:32:54 +09:00
f2732c336e
Add Unitree G1 to model docs.
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PiperOrigin-RevId: 635464942
Change-Id: I970351ebc3723bff6ae14e08595a7365c861004e
2024-05-20 08:34:43 -07:00
292745000a
Merge pull request #1675 from peterdavidfagan:pr-fix-mjx-put-data-docs
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PiperOrigin-RevId: 635177941
Change-Id: I1f2685a8b0574929c2625a7ba2e70c5568a364fd
2024-05-19 00:40:23 -07:00
727893f0f2
Add timeconst attribute to position actuator.
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PiperOrigin-RevId: 635018979
Change-Id: I919573f4241ecb4a4c61c3b8b6641b31aa79eca4
2024-05-18 03:38:20 -07:00
848c33e16b
fix put_data function signature
2024-05-17 12:22:58 +01:00
6e58cedb47
Fix typo in sensor documentation.
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PiperOrigin-RevId: 633872551
Change-Id: I033a8227c19da2feebf286f4b3c24635f5625372
2024-05-15 03:03:40 -07:00
b8a8d811e1
Update documentation for URDF parsing, noting different default values for compiler attributes.
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PiperOrigin-RevId: 633556582
Change-Id: Ibf99b034706afc14f54bfc34e082465d025719d2
2024-05-14 06:01:38 -07:00
3809951172
Add sensor to replicate example model. Fixes #1654
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PiperOrigin-RevId: 633213086
Change-Id: I1672cf31871637497bcb0f26880e0a41a9f510bc
2024-05-13 08:06:44 -07:00
65d4f04cd4
Add some missing const qualifiers.
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PiperOrigin-RevId: 632463634
Change-Id: Id3e3e53371f8ed53d970ad7c471bbefd2a70cf5a
2024-05-10 05:20:37 -07:00
02d015458c
Add mj_geomDistance API function and sensors for geometric distance, normal direction and segment between between two geoms. Fixes #51
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PiperOrigin-RevId: 632458301
Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
2024-05-10 04:52:43 -07:00
1d181786a2
Prevent visualization of SDF iterations from writing outside the maximum allocated vector. Fixes #1539 .
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PiperOrigin-RevId: 632071103
Change-Id: Idf91ede1661e717ad338f601a5482ab171d7f625
2024-05-09 01:42:35 -07:00
96844db926
Update BVH during fusestatic. Fixes #1069 and #1577 .
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PiperOrigin-RevId: 631748750
Change-Id: I4e1ae01207568c90fc49bcd7d9f760f5187f1afa
2024-05-08 04:13:16 -07:00
4eca3b048d
Bumping mjVERSIONSTRING from 3.1.5 to version 3.1.6
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PiperOrigin-RevId: 631544334
Change-Id: Iadf8fa25e30da5b00172c8212786b1f9edb22e1a
2024-05-07 14:11:38 -07:00
e001975f08
Update changelog for MuJoCo 3.1.5
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PiperOrigin-RevId: 631497384
Change-Id: I04bf6d0a4e744ab61becda5212e76b30c392f5b2
2024-05-07 11:47:15 -07:00
24bc1c8b52
Add new differentiable physics tutorial to readme.
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PiperOrigin-RevId: 631458983
Change-Id: Ic0ef9e93397a974be50f0616571a4a5fea6f2b21
2024-05-07 10:00:45 -07:00
ad0459680d
Enable compiler asset cache for public use, and add changelog entry.
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PiperOrigin-RevId: 631352810
Change-Id: If6208327499e3e4bd37cbb2a1b0cdcfb912c1056
2024-05-07 02:50:50 -07:00
93b57c1421
Update Python documentation.
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PiperOrigin-RevId: 631189628
Change-Id: I17d0fbe476fc14bbad525a302f588bf773a2244b
2024-05-06 14:40:59 -07:00
3e35eebbb9
Documentation updates:
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- Added a section on preventing slip in the modeling chapter.
- Added more intuitive descriptions of friction coefficients in the Computation chapter.
- Fixed some en-dashes and em-dashes.
PiperOrigin-RevId: 630856003
Change-Id: I8e767e6c5a95affdeb72ef9bc424bdd18f58e4df
2024-05-05 12:10:06 -07:00
131b1745db
Added support for GMSH22 surface loading
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PiperOrigin-RevId: 629734063
Change-Id: I6a250b81de4e7c8f7520795bfe74a81d719dfb50
2024-05-01 08:44:05 -07:00
26f23066d1
Add replicate element to MJCF. Fixes #553
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PiperOrigin-RevId: 629393578
Change-Id: Ia1db1b9e47eba8868117b0f7b85edcd0cc1b6d79
2024-04-30 06:29:18 -07:00
719476c274
Fix bug in `mjx.ray` and speed up ray-mesh by ~30% for large meshes.
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PiperOrigin-RevId: 629209303
Change-Id: I39466e9a2dc55ec48dcca1780e8abef903d1c754
2024-04-29 15:48:00 -07:00
e9709900b4
Add gravcomp.
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PiperOrigin-RevId: 627791303
Change-Id: I87c9254967eb492d0c38153ff41d7458ffb69136
2024-04-24 11:19:34 -07:00
68e33f4c4e
Merge pull request #1601 from Andrew-Luo1:main
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PiperOrigin-RevId: 627779916
Change-Id: I656984b53556360b1ba88ca6adc8ea1cf2e9d215
2024-04-24 10:49:13 -07:00
b56d7d6e30
Add more info to doc about static fields. Fixes #1615 .
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PiperOrigin-RevId: 627528282
Change-Id: I88aa1ece0e530a53a3ae18c8dc935d3ea9c56c09
2024-04-23 15:47:49 -07:00
d15db54537
Add support functions for id2name and name2id.
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PiperOrigin-RevId: 627525330
Change-Id: Ic8069f64c94ef4b8f96f62b88ece62a8b296d870
2024-04-23 15:35:59 -07:00
938a62f476
update apg diagram
2024-04-23 08:10:11 +02:00
e6b95f3cfc
Merge branch 'google-deepmind:main' into main
2024-04-23 06:12:20 +02:00
71333938ec
Add support for condim to MJX.
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PiperOrigin-RevId: 627136131
Change-Id: Ia62eb20cb80395b569c7fc7f4d4ef87e12eaaf40
2024-04-22 13:20:57 -07:00
8ebc9ed2c8
Add mjModel.ngravcomp, number of bodies with nonzero gravcomp attribute.
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PiperOrigin-RevId: 627087335
Change-Id: Ie85ae4150962463b8a8c8435fec068c44877aa16
2024-04-22 10:45:43 -07:00
546a27ca72
Fix memory allocation error when memory size is larger than 2G. Fixes #1606
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PiperOrigin-RevId: 627058355
Change-Id: Iebef647a0107d1f112a876d705f5b3ea888b4a41
2024-04-22 09:15:46 -07:00
6540289eb1
Change schema order in the docs: move option to the top, move visual down.
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PiperOrigin-RevId: 627036617
Change-Id: Icb18a4afab7d549baee8ed0df89e98dfac4d6e6c
2024-04-22 07:56:26 -07:00
caf215e342
Add metallic and roughness scalar attributes to materials.
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Rename `light_radius` -> `light_bulbradius`, make the default value 0.02.
PiperOrigin-RevId: 627032170
Change-Id: I1e01e2eca028c0aefc2e7dc384e8b34abac184aa
2024-04-22 07:39:06 -07:00
c2d0c5dd1b
Add cylinder collisions using SDFs.
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PiperOrigin-RevId: 626998709
Change-Id: I669a639b1cabf5ed522c73a07e54684d675fa396
2024-04-22 05:07:43 -07:00
f3a9d7790a
Merge branch 'google-deepmind:main' into main
2024-04-21 17:15:31 +02:00
34a61ae42f
Fix image link in model documentation.
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PiperOrigin-RevId: 626498569
Change-Id: I589257346d48e5424a6eb7d43d28561ff8c0e2d0
2024-04-19 16:32:05 -07:00
718e079cba
Fix bad changelog formatting.
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PiperOrigin-RevId: 626497821
Change-Id: I705b691b5ad985889a9b05da8c775df42b3811d6
2024-04-19 16:28:43 -07:00
3b64217b96
Remove deprecated mjx.device_* functions. They are not suited to upcoming condim support.
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PiperOrigin-RevId: 626486447
Change-Id: Ibd41874bb3903123567168ebbac563399788d2f2
2024-04-19 15:34:28 -07:00
e98a95821d
Add fruit fly model.
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PiperOrigin-RevId: 626447823
Change-Id: I2e13312364c42cf2fccf0a843f8f2661b1b2f6a1
2024-04-19 13:03:26 -07:00
a4df912018
Prepare MJX for condim.
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This is a refactor of collision_driver and some of its surrounding code in order to prepare for condim in MJX. In this change we reify types that are needed for condim: dim, efc_address, efc_type. We make explicit the way contacts are organized and grouped to guarantee that dim and efc_type are statically defined.
This change simplifies the way meshes are organized on device and slightly speeds up mesh collisions for cases where a single mesh is instanced across many geoms.
PiperOrigin-RevId: 626119500
Change-Id: Ic0c8599bcda2326f2e19cd3246a673e56097886b
2024-04-18 12:43:36 -07:00
2b4975811b
Fix bug in Python binding of mj_saveModel
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PiperOrigin-RevId: 625655183
Change-Id: I80d3390d739a8d6e280343087b79c15b543ff50a
2024-04-17 05:58:50 -07:00
b2a8ff9b24
Merge branch 'google-deepmind:main' into main
2024-04-17 14:08:51 +02:00
4b6c07cd7d
Prevent bodies from overwriting the frame names in xml_native_writer.
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PiperOrigin-RevId: 625632369
Change-Id: If3bd048ac40e116fcb97beb3dca3d99826fe4ad0
2024-04-17 04:07:50 -07:00
4ae47dd4ec
Merge branch 'google-deepmind:main' into main
2024-04-17 11:13:32 +02:00
6481a838c8
Fix monospace rendering in changelog.
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PiperOrigin-RevId: 625388305
Change-Id: I82c7cd0e221627a14f6a2b2d9285099f488b1dcb
2024-04-16 11:00:57 -07:00
Kevin Zakka