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
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
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
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
395129bbd3
Improvements to lighting and replication logic in humanoid.xml and 22_humanoids.xml.
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Minor fix to memory usage printing in simulate.
PiperOrigin-RevId: 683787943
Change-Id: I0a42dacc8af0e659c3817df57bceb76d9e4d5ae3
2024-10-08 15:36:22 -07:00
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
b15de2c951
Add elasticity parameters to the schema.
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PiperOrigin-RevId: 675115200
Change-Id: Ic6608ce61cbb857dca71b3d9cbdac057e8f1ac7a
2024-09-16 05:56:36 -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
70d70bc3b7
Fix typos in MuJoCo documentation.
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PiperOrigin-RevId: 656068822
Change-Id: I5ebbb3701148ea4d978a6a1ad3f762ffcc7e57cb
2024-07-25 13:31:13 -07:00
27b9ddda5b
Add attach tag to MJCF.
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PiperOrigin-RevId: 651117953
Change-Id: I57b0e53ed44607d479b3785d908e0837c0804cf3
2024-07-10 12:41:43 -07:00
393895bb29
Explicitly specify actdim on PID plugin actuators, to allow them to be used with keyframes.
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Support actdim attribute on plugin actuators.
Remove the actuator_actdim callback. This callback leads to crashes when loading keyframes for models that have a stateful plugin.
PiperOrigin-RevId: 650649505
Change-Id: I40d1994d02ae4e20ce631b2702a984766cf2628e
2024-07-09 09:08:48 -07:00
19d505d847
Remove unused texture attribute in some models.
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PiperOrigin-RevId: 648497401
Change-Id: I9f9a843abfb710afaf25798fa659efd92bcd7007
2024-07-01 15:05:02 -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
8f1ea05bef
Add disc mesh generation to user_flexcomp.
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PiperOrigin-RevId: 611462985
Change-Id: I0fc195d8733172f5f4347b04b5de0edfdd12613d
2024-02-29 07:24:47 -08:00
7c534a066c
Sort humanoid actuators in the same order as the joints.
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PiperOrigin-RevId: 608558353
Change-Id: I84015a92c39c187f65d59623f2793c29bf24b8ef
2024-02-20 04:41:17 -08:00
8d1b05bbd2
Fix markdown hyperlink.
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PiperOrigin-RevId: 595383191
Change-Id: Ia11b962c68ed33cc0fd6c5279f571f4b21d81570
2024-01-03 06:19:32 -08:00
cd972bbeee
Document humanoid model changes in changelog section of its README + minor cosmetic improvements.
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PiperOrigin-RevId: 595367344
Change-Id: I17483de71c6cbcf6a66e2fad762cc32f8cbee8b5
2024-01-03 04:47:05 -08:00
e07ea625ac
Add keyframes to humanoid model.
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PiperOrigin-RevId: 595175659
Change-Id: I2aae405a5dfbd9b14253d6330cb12003bd4f6c08
2024-01-02 12:00:46 -08:00
7d8d4d398e
Make elasticity plugins compatible with flex pins. Fixes #1235 .
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Before change:
poncho 18.20s
poncho_flex 44.60s
floppy 4.70s
floppy_flex 6.43s
After change:
poncho 18.23s
poncho_flex 44.62s
floppy 4.67s
floppy_flex 6.57s
PiperOrigin-RevId: 585952587
Change-Id: I0e7c1513f64c7ab1e6ad71e2168b4467c042b46f
2023-11-28 06:13:43 -08:00
37bb03f435
Move humanoid geoms to group 1
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PiperOrigin-RevId: 585632746
Change-Id: I832804b9c0d090506c3b4ed5c0eeeb5e4cae412a
2023-11-27 06:23:54 -08:00
002b427a32
PID Controller as an actuator plugin.
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Implement a configurable PID controller.
PiperOrigin-RevId: 585282014
Change-Id: I2d884554629101a0a25b5e0979ffb1ff8ed9cab4
2023-11-25 08:41:01 -08:00
8ca51b5318
Backtracking line search for SDF collisions.
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Increased tolerance above zero in nutbolt.xml since now the two parts lock otherwise. Measured speedup of 2x in this example.
This solves the issue of scale-dependent step sizes. Tested on gears with 10cm diameter and 2cm thickness.
PiperOrigin-RevId: 584009449
Change-Id: Ied2f62dbbbc592470b91cf910f3553802a57c752
2023-11-20 06:33:01 -08:00
40d927c9fa
Move 2d and 3d plugin force computation to elasticity.h.
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Change physical properties of `floppy_flex.xml` to resemble `floppy.xml`.
Make `Membrane` backward compatible with `Composite`.
PiperOrigin-RevId: 577190384
Change-Id: I5bc56ec62faa134156e839bec45d685c22eba5c4
2023-10-27 07:18:08 -07:00
643c1248b8
Skip flex edge Jacobian if not needed.
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When equality constraints and built-in passive forces are not present, edge Jacobians are unused. This gives a 3x speedup in `mj_kinematics` in `floppy_flex` (from 0.2ms/step to 0.06ms/step).
Changed the default options of `floppy_flex` to match those of `floppy` for a fair comparison.
PiperOrigin-RevId: 575850622
Change-Id: I4c618536fd17ef930153bbd1f1da7d9e0e44abbe
2023-10-23 10:02:00 -07:00
139a8ae298
Add flex and elasticity documentation. Fixes #873 .
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PiperOrigin-RevId: 574179040
Change-Id: Iaf90bbf2b2c3fe075c940c2b66b7b841f256e653
2023-10-17 09:46:07 -07:00
d67b8c6251
Add membrane plugin (2D Flex elastic stiffness).
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PiperOrigin-RevId: 574109411
Change-Id: I4a701d8189cecf540cd200bd30cb4582f3c7dd43
2023-10-17 04:55:33 -07:00
110ade1435
Update Solid and Shell plugins to use FlexComp.
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PiperOrigin-RevId: 573755821
Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
2023-10-16 03:03:06 -07:00
f0608648cb
Stricter swapping condition in mju_eig3.
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This solves the texture rendering issue with the Rubik's cube. The texture were specified with respect to the incorrect frame, so a default rotation of (0, 0, pi/2) is now applied to the model file.
PiperOrigin-RevId: 571715153
Change-Id: I3efae3b1fc8f64e6c9e4db90a7609506e3cbed86
2023-10-08 04:04:34 -07:00
7b7cf5e86c
Add cards.xml model.
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PiperOrigin-RevId: 571341445
Change-Id: I3a02bb01099cacb62e0c599e6198ed90b48baad0
2023-10-06 08:13:33 -07:00
d3d46e16a4
Remove cloth and rope composites and deprecate loop.
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PiperOrigin-RevId: 568168329
Change-Id: Ida4a5236bef74828c7bf59affdc28adea3db53b1
2023-09-25 03:38:43 -07:00
dd5a7115cf
Add shell plugin.
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- Add bending passive force
- Add two examples (plate and poncho)
- Add stretching constraints for particles using tendons on mesh edges
PiperOrigin-RevId: 566980584
Change-Id: Id0cd8e1084c05560f1008518a8afbd5311d563e2
2023-09-20 09:00:20 -07:00
1afd98ec4b
Add [SdfLib]( https://github.com/UPC-ViRVIG/SdfLib ) plugin to first-party SDFs.
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The following dependencies are disabled with a cmake patch file.
- Enoki
- OpenMP
- Assimp
- FCPW
PiperOrigin-RevId: 565352386
Change-Id: Icff9de68408e0afa2032bb83b24491fc4e41d181
2023-09-14 06:42:42 -07:00
8421544add
Added elasticity and sensor subfolders in model/plugin.
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PiperOrigin-RevId: 558751363
Change-Id: I15acefc88e5fead1069b58ffb722ea4dc5d53c9b
2023-08-21 04:48:45 -07:00
fdb041580c
Add Signed Distance Field to collision geometries.
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PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
2023-08-16 09:15:23 -07:00
a276c49c30
Rename `actuatorforcerange and actuatorforcelimited, to actuatorfrcrange and actuatorfrclimited`, respectively.
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PiperOrigin-RevId: 556780590
Change-Id: Ide12cf390920f9efe6f79cc9f864a480ce5f256d
2023-08-14 07:18:57 -07:00
51aa375af0
Improvements related to models where joint-actuator relationship is not one-to-one:
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- Add `joint-actuatorforcerange` for clamping total actuator force at joints. Add `sensor-jointactuatorfrc` for sensing total actuator forces on a single joint.
See [documentation](https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping ) for justification and use cases.
- Add simple car model to `model/`.
- Move actuation-related test models into `engine/testdata/actuation/`.
PiperOrigin-RevId: 549355941
Change-Id: I27f6c1f80426d73a2811ef5ae74684a228b2fbd1
2023-07-19 10:29:32 -07:00
eca0df4c6c
Improve formatting of cubelet vertices.
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PiperOrigin-RevId: 533031494
Change-Id: I27b6e9eb17c3ebb1382d0e3d5ccb2402f00fbddc
2023-05-17 23:32:07 -07:00
dee9a958b4
Tweak cube XML.
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PiperOrigin-RevId: 532851091
Change-Id: Icb089b914874e940985a08f6587c390732431f92
2023-05-17 11:26:57 -07:00
3d71b160e6
Add 3x3x3 cube to model collection.
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PiperOrigin-RevId: 531224451
Change-Id: Ibdfe5b89a5b2895500265199906a364768d606f0
2023-05-11 09:28:18 -07:00
e59720833e
Add ReadVector function to touch_grid plugin, use it for size and field-of-view attributes.
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PiperOrigin-RevId: 528783871
Change-Id: Icf3d060116826b01f68c9818a5153be4ce9511b0
2023-05-02 08:01:10 -07:00
b397b3123e
Added touch grid sensor plugin.
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PiperOrigin-RevId: 527512624
Change-Id: I0f316eb6eb2c52472abbec484e5538b66ba2e82e
2023-04-27 02:03:03 -07:00
55cc9d1e95
Fix what appears to be a typo in humanoid texture size.
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Note that for builtin cube textures, MuJoCo ignores the height setting anyway.
PiperOrigin-RevId: 522000719
Change-Id: Ida34b1b2d25a59ac3f4f111aa44218aa9cd9da30
2023-04-05 03:07:22 -07:00
2607e67f8d
Add contact labels showing which geom pairs are in contact.
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PiperOrigin-RevId: 510422404
Change-Id: Ia73570098752e7c7175e4b5a5f2a0f8b08a6c006
2023-02-17 07:03:19 -08:00
db28c31f05
Rename <required> tag to <plugin>.
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PiperOrigin-RevId: 509237786
Change-Id: I35e812830b479004ac5025cbd9477888f51fb43e
2023-02-13 08:41:52 -08:00
df87a85b84
De-duplicate vertices in mug.obj.
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PiperOrigin-RevId: 508334141
Change-Id: If63e0923392b1ad11d4c9c295a511f929fc4be6d
2023-02-09 04:12:06 -08:00
2f10a7cb3b
Update legacy memory specification in some example models.
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PiperOrigin-RevId: 508330060
Change-Id: I16a5e70c5950178826a2a52a7a2005ef7f39ccfb
2023-02-09 03:47:43 -08:00
3de2873883
Add deprecation warning for the Rope Composite type.
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PiperOrigin-RevId: 494985209
Change-Id: I6ce7ca2aeae6f1e798bd4bda9b755852add26a36
2022-12-13 04:35:48 -08:00
0d52feaa94
Add updateScene callback for plugins.
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PiperOrigin-RevId: 492497689
Change-Id: I4a15cc5fa39dc7c9b85d132727f82033d4aec2c8
2022-12-02 10:11:32 -08:00
d0b1a97338
Deformable solid plugin for particles.
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Using coordinate-free formula equivalent to linear finite elements.
PiperOrigin-RevId: 491317615
Change-Id: I096b9a56075bbb630f64bfffac8a8d66457e5e2d
2022-11-28 05:32:30 -08:00
Alessio Quaglino