6b3d34d9be
Fix swapped params in tendons on XML import
2024-11-14 17:32:28 +00:00
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
8ab7abf5af
Use MuJoCo calculated cartesian axes for hinge and slide
2024-06-25 14:12:04 +01:00
d6712f2944
Merge pull request #1646 from Balint-H:fix/unity-sensornoise
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PiperOrigin-RevId: 639722238
Change-Id: I80a941e97923169150f665fb3411605affcc0702
2024-06-03 03:49:20 -07:00
2aa30b188c
Adjust formatting
2024-05-27 11:49:26 +01:00
adbbcc4ff5
Track separate kv property for position actuators
2024-05-27 11:48:11 +01:00
161ed22299
Fix Unity tests for sensornoise attribute
2024-05-27 11:29:04 +01:00
a9308a4420
Remove sensor noise properties
2024-05-10 16:12:51 +01:00
c2bef232b6
Handle the implicit auto value for limits now written by the compiler to the xml
2024-03-14 12:38:56 +00:00
0631a406c4
Merge pull request #1470 from Balint-H:bugfix/unity-tendon-rendering
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PiperOrigin-RevId: 612839845
Change-Id: Idf5b5cec4adc350b3ed36e902e2e52fbe9080281
2024-03-05 07:49:57 -08:00
f70db6b0ee
Remove unnecessary using
2024-03-04 13:51:08 +00:00
2f64cf36c5
Conditional compilation for Tendon visualization
2024-03-04 13:49:00 +00:00
1baa478b64
Fix rendering of tendons
2024-03-04 13:41:50 +00:00
ee071242c6
Constrain MjScene EventHandlers as events, consistently use MjStepArgs
2024-01-26 14:35:03 +00:00
3b440921df
Merge pull request #1268 from Balint-H:feature/unity-hmap-dyn
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PiperOrigin-RevId: 598652839
Change-Id: I3285f041c5c2e3e9286f1bb106825ee20e7147e3
2024-01-15 12:54:06 -08:00
2388b651e8
Unity plug-in: Fix for when xml file has no <compiler> section.
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PiperOrigin-RevId: 598646137
Change-Id: Id27635dc3064f8568ae0d86c2cdee8c2d414dd2f
2024-01-15 12:04:26 -08:00
c77f984d9b
Merge pull request #1330 from Balint-H:fix/unity-joint-limits
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PiperOrigin-RevId: 598603093
Change-Id: I441631e33e812988694f8eed48c719c6bab86148
2024-01-15 07:08:03 -08:00
66a0cd3b0b
Perform autolimit check on actuators
2024-01-11 16:29:08 +00:00
3a00450d00
Rephrase condition for default limited definition so it's more intuitive
2024-01-11 16:20:13 +00:00
56b30d9d15
Check the autolimits attribute before assigning default values for joint limitedness
2024-01-11 16:09:06 +00:00
2c024164ea
Edit hfield_data in Unity
2023-12-21 16:04:25 +00:00
d0b505c67b
Reformat scripts to better follow guidelines
2023-12-19 13:54:49 +00:00
28f19fbe7c
Merge branch 'feature/unity-hmap-dyn' of https://github.com/Balint-H/mujoco into feature/unity-hmap-dyn
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Merge in format from GitHub
2023-12-11 14:56:19 +00:00
af133f4022
Fix whitespace placements
2023-12-11 14:54:55 +00:00
d3429f97cc
Merge branch 'main' into feature/unity-hmap-dyn
2023-12-07 14:07:21 +00:00
0b413656b8
Restrict access to height range properties of the HField shape
2023-12-07 14:02:21 +00:00
2adfd09b87
Rebuild scenes on terrain changes for dynamic heighfields
2023-12-07 13:34:33 +00:00
e4359c04df
Merge pull request #1253 from Balint-H:feature/unity-hmap
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PiperOrigin-RevId: 588420615
Change-Id: I2340f2fc025017133644eeedacf94b5c83e04669
2023-12-06 07:32:45 -08:00
3e3687d022
Add functionality to synchronise rendered terrain to position of the geom
2023-12-05 18:49:32 +00:00
f5a2879f9d
Fix braces convention
2023-12-04 14:00:24 +00:00
8ec1e4e2b8
Add heightfield geom type with Unity terrain, import not yet supported
2023-12-04 13:55:38 +00:00
d37881d241
Fix wrong units indicated in ball joint tooltip.
2023-11-23 11:38:21 +00:00
4fb1787a3b
Use default value of memory option if not present in imported XML
2023-11-17 12:46:55 +00:00
9952f1708c
Remove collision option from Unity plug-in GUI.
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PiperOrigin-RevId: 582978831
Change-Id: I97275438c730655a9c942526fa410bf006189968
2023-11-16 03:24:05 -08:00
ef699d4b6d
Allow mocap bodies to be loaded by the Unity plugin.
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PiperOrigin-RevId: 558735711
Change-Id: Ibc9a81cbf8ec4b979d5b325c822c1bffc1408509
2023-08-21 03:28:45 -07:00
31c265782b
add support for implicitfast integrator from GUI.
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PiperOrigin-RevId: 532109571
Change-Id: Id9fbfad232ee7fdee8aff486b2d2b9b1b1eab258
2023-05-15 07:50:18 -07:00
139328f86e
Clarify error messages when Unity fails to step the scene.
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PiperOrigin-RevId: 527486144
Change-Id: I4e889977e035e13557c114e875ea0ba32da79002
2023-04-26 23:30:06 -07:00
42c3faa462
Add support for fluid coefficients to Unity plugin
2023-02-20 18:46:16 +01:00
09bc934f25
Add support for fluid shapes to Unity plugin
2023-02-17 13:15:29 +01:00
5228ad1b2e
Change default wind to the value from the doc
2023-02-13 10:21:30 +01:00
e7a9447c03
Add gravcomp to body in unity plugin
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The unity plugin is missing gravcomp which makes it impossible for buoyancy
2023-02-13 10:21:09 +01:00
9971993cdb
Add support for implicit integrator type
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The `implicit` option was added in the IntegratorType enum.
Using `@` prefix to avoid collision with reserved keyword.
2023-02-13 10:20:42 +01:00
f3c966796f
Allow models without numerical suffixes.
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This is important for MJPC, where some element special names (e.g., a site called "trace0", or different custom numeric fields) are used.
PiperOrigin-RevId: 502338391
Change-Id: I632b5d633c92b82b60160daeeb169693225640a3
2023-01-16 02:59:11 -08:00
eb8389fead
Find MjScene at OnEnable: ensure MuJoCo compilation happens only once at startup.
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PiperOrigin-RevId: 498655077
Change-Id: Ibed8f36a880426063b7729fc66b15c67adcc9a65
2022-12-30 18:37:59 -08:00
f78ebeab96
Add post-compile and pre-destroy events to MjScene.
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PiperOrigin-RevId: 498516529
Change-Id: I52dbf135e3260ca2999069bcb9f9b9ad648595d2
2022-12-29 22:43:11 -08:00
6a58fd1522
Clean-up test files.
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Also, don't add a Global Settings component at import if the xml doesn't have any global settings (option/size/custom).
PiperOrigin-RevId: 495950899
Change-Id: I6599e8ea3f3a82729fc5c974fd7ced8eb93b277e
2022-12-16 13:39:28 -08:00
4d91866e98
Merge pull request #652 from Balint-H:fix/unity-scene-tranisition
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PiperOrigin-RevId: 495876985
Change-Id: I9880aa6bd2fc696509e518449a35a69457d92ba4
2022-12-16 08:13:03 -08:00
189349f421
Don't add an empty "user" attribute to user sensors.
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This fixes the broken TAP tests.
PiperOrigin-RevId: 495867491
Change-Id: I740651ed0dd8d1c84053a48f3fca577b6024bf95
2022-12-16 07:17:42 -08:00
f70403d00a
Add support for global custom numeric fields.
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PiperOrigin-RevId: 495865065
Change-Id: I59ed65e84a0bcaa90220b938ed34fdc26165aa09
2022-12-16 07:03:31 -08:00
a0ab1940bf
Fix ignored units of springref
2022-12-15 15:36:14 +00:00
Balint-H