a1b18e707a
Compress actuator_moment memory using nJmom <= nu x nv.
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PiperOrigin-RevId: 698446692
Change-Id: I49c9633e12129a1e690724db82d1f11204e41d9c
2024-11-20 10:53:07 -08:00
aae5fd6906
Add nJmom, the number of non-zeros in sparse actuator_moment matrix, to mjModel.
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PiperOrigin-RevId: 698343986
Change-Id: I3d4a4dea1ec095d4e7b231c2fffc0e6241cee39f
2024-11-20 04:30:47 -08:00
cd84011d7b
Default to nativeccd for geomDistance test.
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PiperOrigin-RevId: 698340192
Change-Id: I814286903e1726462b24390eb2c3dc5b3b76899e
2024-11-20 04:14:24 -08:00
867e8b8adb
Fix ARM issues with tests with nativeccd.
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Note: frameless_contact_hfield.xml doesn't work with libccd nor nativeccd on ARM as expected.
PiperOrigin-RevId: 698317464
Change-Id: I4c57e04639b9870b416c67d79a16a313c5276cf6
2024-11-20 02:30:15 -08:00
34c6f9b76b
Update build_requirements_usd.txt.
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PiperOrigin-RevId: 698138884
Change-Id: I8a3d093b460bd4acad1fa18806a59c29aaffd4c6
2024-11-19 14:07:21 -08:00
58d68d08d3
Refactor CopyPlugins() out of TryCompile()
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PiperOrigin-RevId: 698072233
Change-Id: I2138d9d8383838328611eef463448fe2f15bd173
2024-11-19 10:46:53 -08:00
821f1d3f98
Do not namespace empty actuator strings during attach.
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Fixes #2233 .
PiperOrigin-RevId: 698070772
Change-Id: I19613acfd407ba6a8ede40dad85324a70db480a8
2024-11-19 10:42:24 -08:00
e18567545b
Update various requirements.txt files.
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PiperOrigin-RevId: 698009096
Change-Id: Iaa2cdadaf31c16c580ce5c2060c8bf2b8377956e
2024-11-19 07:32:00 -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
072039ac60
Update Google Benchmark library to v1.9.0.
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The old version doesn't build under LLVM 19 with -Werror.
PiperOrigin-RevId: 697919386
Change-Id: I6cfa64936af9e2ea3b2c03e724b33f5bde7c799a
2024-11-19 01:27:36 -08:00
1feaf8fd67
Add *rgba fields as jax.Arrays for visual domain rando.
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PiperOrigin-RevId: 697038459
Change-Id: Ic6eae248e916329daa8fbbeb0770cf689f06b87b
2024-11-15 16:55:44 -08:00
0cb35a0fe1
Populate missing fields in mjCCDStatus in GJK code.
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PiperOrigin-RevId: 696965759
Change-Id: Idf0799a44876e95fc8d688dd39663a34f1808b27
2024-11-15 12:24:37 -08:00
f91588a171
Fallback to polytope3 if tetrahedron from GJK has the origin on a face (most likely due to a numerical issue).
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PiperOrigin-RevId: 696872633
Change-Id: I58edb0fdc30ad472c8f1338df728e8d42c25fc39
2024-11-15 06:53:00 -08:00
386662106b
Reshape arrays for LQR notebooks for Mujoco sparse2dense
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Without reshape the collabs results in an error due to incompatible function arguments
PiperOrigin-RevId: 696554177
Change-Id: Id4317ee6fccbe2ac912af7a8b07228ddebebbbcf
2024-11-14 09:42:37 -08:00
6b3d34d9be
Fix swapped params in tendons on XML import
2024-11-14 17:32:28 +00:00
0a0de6615d
Back out of gjkIntersect when convergence fails due to algorithm oscillating between two support points. Also, fix related bug in box support function.
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PiperOrigin-RevId: 696482893
Change-Id: Icedaf5489b761b8bf03ec30558b5d1128668a647
2024-11-14 05:12:32 -08:00
536c60a0ac
Print arena usage percentage in mjData print.
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PiperOrigin-RevId: 696464274
Change-Id: Ib794148e037521118138bd72c021dbe086c9681a
2024-11-14 03:52:41 -08:00
9f51ba50db
Fix field ordering in mjModel.
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`nnames_map` is not required for `mjModel` construction, it is set during construction.
PiperOrigin-RevId: 696462793
Change-Id: Ie722e2a04d7fd7ed96634d3304cc94e895ed713b
2024-11-14 03:45:34 -08:00
0e8cca93e1
Refactor nativeccd interface.
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- Update mj_ccd interface for multi-contacts,
- Support GJK cutoff distance, and
- Remove mjc_fixNormal from nativeccd (causes bug with cylindar box collisions).
PiperOrigin-RevId: 696185362
Change-Id: I4828b7ee1bde078268220172a4937cd553f6187e
2024-11-13 10:28:45 -08:00
c68ee8055e
Fix ordering in mjxmacro.h.
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PiperOrigin-RevId: 696058596
Change-Id: I6359c082e528c1f53591033ea61c352ba5e13763
2024-11-13 03:12:24 -08:00
45f908c165
Enable attaching plugins not instantiated in the extension section.
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Fixes #2217 .
PiperOrigin-RevId: 695766524
Change-Id: I534b63400810bd6ef888f39f6665213280fd93ac
2024-11-12 09:36:06 -08:00
eb77d5b933
Fix bug in mesh hillclimbing support function.
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PiperOrigin-RevId: 695710616
Change-Id: I2127aee584c13efb44d70cc4e267354ca0b80bf0
2024-11-12 06:36:55 -08:00
f7cc1c2e5b
Read solref from jnt_solref when the user calls model.joint.solref.
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Same for solimp. Fixes #2221 .
PiperOrigin-RevId: 695416121
Change-Id: I962dc12b13fa4d02dc349ecad1a1ddc7085565db
2024-11-11 11:15:00 -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
414b677eb8
print memory footprint of model and data
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PiperOrigin-RevId: 694088011
Change-Id: I3b743df2a59f554414b440aebfa6bf0d0e29b2d8
2024-11-07 05:56:02 -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
18f88efe17
Contact visualization: if penetration is deeper than height, extend cylinder to show computed depth.
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PiperOrigin-RevId: 693869892
Change-Id: I1c873e3803286d6a636336246f498552617e978b
2024-11-06 14:46:31 -08:00
a2a0b95de0
Print arena memory usage in testspeed
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PiperOrigin-RevId: 693681047
Change-Id: Ica5b516d0141199f701567d64e2ea1446491e232
2024-11-06 04:50:42 -08:00
276f5b04cd
Bump MuJoCo version to 3.2.6.
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PiperOrigin-RevId: 693472991
Change-Id: Ic202f52dd42c55c43ba05ca21b5cc6a4024b0c72
2024-11-05 14:13:08 -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
c168ac3397
Add source code links in docs for remaining API functions.
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PiperOrigin-RevId: 692728907
Change-Id: I145eb47453e6aa017505d53d3e17215959252e3d
2024-11-03 11:09:56 -08:00
efa5709c94
Fix broken link in XMLreference.
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PiperOrigin-RevId: 692669798
Change-Id: I8f61d1032d11c63945264a1b9dc1c034b7401d98
2024-11-03 04:18:43 -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
ebe60b9ad5
Add const to mjsDefault when used as function argument.
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Fixes #2197 .
PiperOrigin-RevId: 692346264
Change-Id: Iddb9be1377a7d59c86911802d8c5563f6bf6b043
2024-11-01 18:18:42 -07:00
47ebb0614e
Set some visual params as jax.Arrays for visual domain rando.
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PiperOrigin-RevId: 692273879
Change-Id: I80475aa65744de06a6bfebbfb95a44faa751595f
2024-11-01 13:24:29 -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
a51f346059
Use sparse (uncompressed) actuator_moment in mj_transmission.
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PiperOrigin-RevId: 692179704
Change-Id: Ic30ac5a98dc13de2028e378df65dc88ba3912bf5
2024-11-01 08:06:28 -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
09212a9541
Merge pull request #2159 from Andrew-Luo1:main
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PiperOrigin-RevId: 691868879
Change-Id: If34d40aef885970895aa2e1dd11ce2206fa729be
2024-10-31 11:11:08 -07:00
c9f78ad8a8
Rename nnzJ to nJ in mjData.
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This naming is more consistent.
PiperOrigin-RevId: 691858223
Change-Id: Ife3db822afa0b51b30d0792548b35b3742da388a
2024-10-31 10:43:10 -07:00
554641060b
Add support for computing elliptic cone contact forces to MJX. Fixes #2153 .
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PiperOrigin-RevId: 691829630
Change-Id: I862ac9c7db07d0a74b718d2a41e19d5ae636a260
2024-10-31 09:22:59 -07:00
18682aac6a
Fix function definition formatting.
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PiperOrigin-RevId: 691782530
Change-Id: Ib1611285e77e274b17074d5f09ede00cdc0c6f0f
2024-10-31 06:45:41 -07:00
94bbf297fc
Replace flex_xvert0 with flex_vert0
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`flex_xvert0` stored the Cartesian position of the vertices in `qpos0`. This array was unused, so it is now replaced with `flex_vert0`, which still contains the positions of the vertices, but normalized on the bounding box of the flex so that the coordinates are in `[0,1]^m->flex_dim`. This will be useful in the future for using different interpolation methods for computing flex deformations.
PiperOrigin-RevId: 691779361
Change-Id: I5c4223103cd4558f4e268fe3e8d8177541e4754f
2024-10-31 06:30:36 -07:00
26ccaeb78e
Don't populate _qM_sparse, _qLD_sparse, _qLDiagInv_sparse fields if they were never set via _full_compat. Fixes #2188
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PiperOrigin-RevId: 691538016
Change-Id: Ib0385166af2dfbbb46cf1986cb692e1fda467a0b
2024-10-30 13:43:02 -07:00
a9737c60e8
Copybara import of the project:
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--
5b525ccaef3d7184d3167815be63ed630781a064 by Kevin Zakka <kevinarmandzakka@gmail.com >:
Add command line scripts to MJX docs.
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/2196 from kevinzakka:typo-fixes 5b525ccaef3d7184d3167815be63ed630781a064
PiperOrigin-RevId: 691497203
Change-Id: I7c5d6a8fcbd2a42939673cee5eadb30bebdad833
2024-10-30 11:41:11 -07:00
70d944b458
micro-optimization to mju_mulMatTVecSparse
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PiperOrigin-RevId: 691431137
Change-Id: I95f94ff38ae911194b21aa220af35c7374af9739
2024-10-30 08:41:18 -07:00
32df8a515a
Fix typos. fixes #2139
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PiperOrigin-RevId: 691429879
Change-Id: I929b7a387ec41f68b8d85fe20de83083216da36a
2024-10-30 08:34:39 -07:00
7c2b2d353c
Merge pull request #2190 from jjyyxx:patch-2
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PiperOrigin-RevId: 691384670
Change-Id: I28c69eac4f51f1c41bd4f88540c516d0f628d197
2024-10-30 05:43:04 -07:00
Taylor Howell