0ea316ed71
cmake: support system-wide pybind11
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Original behavior remains.
2023-11-20 14:43:46 +01:00
dbf44fe2b4
New SDF objective function.
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This solves the jittery behavior observed with the gear example in the case of small applied torques (~0.5).
The new quadratic option has the form max(A, 0)^2/2 + max(B, 0)^2/2 - min(A, 0)*min(B, 0). This function has a minimum in the intersections of two SDFs A and B, while avoiding the flat areas which would be generated if only the clearance field A+B were employed. See for example [the function resulting from two colliding circles](https://www.wolframalpha.com/input?i=minimize+max%28sqrt%28x%5E2%2By%5E2%29-1%2C0%29%5E2+%2B+max%28sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%2C0%29%5E2+-+2*min%28sqrt%28x%5E2%2By%5E2%29-1%2C0%29*min%28sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%2C0%29 )
PiperOrigin-RevId: 583992855
Change-Id: I135a1b5931cd136d7d33cc275f8d361a8b7e290c
2023-11-20 05:06:33 -08:00
08bdc9f691
Merge branch 'google-deepmind:main' into usd-integration
2023-11-19 10:33:14 -06:00
98082ae7f9
Add description of eq_active state variable to documentation. Fixes #1208 .
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PiperOrigin-RevId: 583712793
Change-Id: I6f4adca5692fd181bb8f6c0f34ae09a756a84fc1
2023-11-18 20:06:33 -08:00
d3eee0316c
Small changes to Kuka IIWA7 Biarm
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PiperOrigin-RevId: 583412101
Change-Id: Icee1c5f1f2a9354425d8f6c311322903e1e0af83
2023-11-17 09:37:26 -08:00
b03d312cbf
Merge pull request #1205 from Balint-H:fix/memory-default
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PiperOrigin-RevId: 583393024
Change-Id: Ia553d67ddf5c94e482a453bd9f6f23aa3be04b9d
2023-11-17 08:19:01 -08:00
f99e9abc3c
Remove no longer necessary directive for editor only compilation (solved by assembly definition)
2023-11-17 15:00:19 +00:00
7062c6f677
Enable mouse spring perturbations when clicking on a geom in scene view
2023-11-17 14:43:10 +00:00
4fb1787a3b
Use default value of memory option if not present in imported XML
2023-11-17 12:46:55 +00:00
4d2a176a8a
Modify name of mjx integration tests.
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PiperOrigin-RevId: 583108693
Change-Id: If972c376181ca98201ff61ff06d200c82d214e2b
2023-11-16 11:24:07 -08:00
23cdfef7fe
Update C++ dependency versions.
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PiperOrigin-RevId: 583105482
Change-Id: Ieeffd477a3b3baafd1d7f622881c81944298d233
2023-11-16 11:15:01 -08:00
8693e0bba5
Stop actuator group disable from mistakenly binding to the number keys (should toggle geom groups, not actuators).
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PiperOrigin-RevId: 583038620
Change-Id: Ibf339aed339b7ad862f61ac72298f43e717e3973
2023-11-16 07:34:58 -08:00
530058cadb
Clarify support for muscles/tendons in future MJX. Add details to the large scene benchmark.
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PiperOrigin-RevId: 583018058
Change-Id: I3d93a73b4bd71ade1ecf28b8cff9a114259e71e1
2023-11-16 06:10:34 -08:00
4014196c6c
Add pin to flex golden data.
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Also reduce slightly the resolution of the models to make comparing golden data more readable.
PiperOrigin-RevId: 582990641
Change-Id: I4f935a4ce316c70f4b1641e1c0f2fe49f801b32c
2023-11-16 04:14:58 -08:00
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
1554048856
Bump dev version number to 3.0.2.
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PiperOrigin-RevId: 582773849
Change-Id: I07a70911578fabb556eec1a4d8aa6fcb6557513f
2023-11-15 12:51:04 -08:00
1491ac15d8
Merge branch 'google-deepmind:main' into usd-integration
2023-11-15 12:38:46 -06:00
8d5966eec9
Update changelog for 3.0.1 release.
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PiperOrigin-RevId: 582705280
Change-Id: I6d2a8df7bccfa2ecb76b7ef3ef8d5a7377927589
2023-11-15 09:30:35 -08:00
2d2b6ecf93
Fix formatting bugs in XMLreference doc page.
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PiperOrigin-RevId: 582661350
Change-Id: I85a67b1286e9d70dc253e541d95fdfc58ce8f451
2023-11-15 07:00:37 -08:00
e3b3f96373
Add flex_texcoordadr to mjvSceneState. Fixes #1193 .
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PiperOrigin-RevId: 582630943
Change-Id: I113b135752268773e0afafe004b8f27c1e96ffc7
2023-11-15 05:02:05 -08:00
7051ab99e0
Enable keyframe loading and saving in passive viewer. Fixes #1175
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PiperOrigin-RevId: 582332757
Change-Id: Iff23359e670906c0e88a2d34273c493bc8cbe2af
2023-11-14 08:38:04 -08:00
f5285e0b23
Add flex to dm_control schema.
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PiperOrigin-RevId: 582323853
Change-Id: I4ce25bf29d0a883bca286954a14c4a07a500f145
2023-11-14 08:05:29 -08:00
ffca553f64
Do not use the inertia box for volume computation.
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PiperOrigin-RevId: 582319067
Change-Id: I347d820f48faab15b609bcfc8295b07bd2d0f7ed
2023-11-14 07:46:33 -08:00
c8146372cf
Simplify pendula test data. Fix bug in `scan.body_tree` that led to incorrect smooth dynamics for some kinematic tree layouts.
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PiperOrigin-RevId: 582125477
Change-Id: I47505ceb4be4c88052bc670f401b8c45ff320bbd
2023-11-13 16:48:49 -08:00
97ad543051
Test-only change: Don't update actuator_force in Advance in TestActuator.
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Actuators update actuator_force in compute and not in advance.
PiperOrigin-RevId: 581985081
Change-Id: I013d6c4f0888ee8e25df15a6f58c9e3412d33ceb
2023-11-13 09:11:42 -08:00
f1bf394415
Add missing commas in attribute lists in XML reference.
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PiperOrigin-RevId: 581984255
Change-Id: Ie834a9578357bba68839d5172892cd9d6329122e
2023-11-13 09:08:43 -08:00
9ae40e718e
Define mj_multiRay bindings explicitly.
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Fixes #1184 .
PiperOrigin-RevId: 581956413
Change-Id: I6c611ac7537442a65e6961430ec724326ee6095a
2023-11-13 07:31:22 -08:00
d0cabcf7db
Only apply torquescale once, when setting efc_pos.
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PiperOrigin-RevId: 580694671
Change-Id: Ic0e2ee773d65d4fd92f4b4102cdfdd040516680a
2023-11-08 16:15:36 -08:00
cdf55e2ae9
Do not override search bar text color when data-theme="auto" in light mode.
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PiperOrigin-RevId: 580546595
Change-Id: If39cd937e9288c860b8b713911f0ef5114aee5f5
2023-11-08 08:46:08 -08:00
c37212138e
Updating output file structure and adding compression functionality
2023-11-07 18:04:40 -06:00
57e6940f57
Prevent division by zero in testspeed. This can happen when parts of the pipeline are disabled.
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PiperOrigin-RevId: 580208528
Change-Id: Ia5971ea9f15e0b19896392e86a65592357b2df61
2023-11-07 09:38:30 -08:00
7207b60b5a
Place untrusted data from the git commit metadata in environment variables.
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This prevents bash from executing strings in the commit metadata as code when reporting build errors.
PiperOrigin-RevId: 580155315
Change-Id: I4046eabd76eba14297fffe4e2fced59259d80f21
2023-11-07 06:14:17 -08:00
1881c2d881
Improve sorting of samples in documentation.
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PiperOrigin-RevId: 579847239
Change-Id: I392cd87b9a3e5616fcb10657db4ac81a38e430ed
2023-11-06 08:12:24 -08:00
8a5e2b19a8
Improve mjContact documentation. Fixes #1136
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PiperOrigin-RevId: 579836970
Change-Id: Ife8dd73eecdbdaacecc1e48460cf6efcf4f7b487
2023-11-06 07:28:51 -08:00
dafd041ad8
Minor documentation improvements.
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PiperOrigin-RevId: 579825348
Change-Id: Iba81616fe9fc7d57a640775efd46afb5fc2f27bf
2023-11-06 06:36:13 -08:00
0f37deca0d
Documentation improvements.
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Fixes #598 #691 #1071 #1072
PiperOrigin-RevId: 579816915
Change-Id: Ica5e62516e2888d47030b0f44619efa2621f329a
2023-11-06 05:56:02 -08:00
5a9239e11c
Improve inline documentation of mj_passive and mj_subtreeVel.
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PiperOrigin-RevId: 579808998
Change-Id: I2cff167c3813964f42a30b06f1adf38b57d62196
2023-11-06 05:12:11 -08:00
a6687885a5
In mj_sensorAcc, flip condition for triggering call to mj_rnePostConstraint to enumerate sensors that require the call rather than eliminating those that do not.
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PiperOrigin-RevId: 579804886
Change-Id: I1093fcfa66e637015cd702d7e59ec3bcddc670ef
2023-11-06 04:51:53 -08:00
19de607ec8
Undo incorrect change in height field processing.
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PiperOrigin-RevId: 579502934
Change-Id: Id1fba8fe29a8eb4d4f0358173b34093401e6230e
2023-11-04 12:33:21 -07:00
549fdddf3d
Fixed a bug with height fields AABB.
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PiperOrigin-RevId: 579488048
Change-Id: I69a2d05f922b58947b1d468b5b31a4743d375d71
2023-11-04 10:28:00 -07:00
c45996bba8
Add cell to tutorial colab demonstrating procedural camera control.
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https://youtu.be/cE3s_IfO4g4
PiperOrigin-RevId: 579466532
Change-Id: I433db285bcfa2b9fab0c11e1fef1e25af8187901
2023-11-04 07:43:06 -07:00
7b9a0cdce6
Correct passive viewer pane argument documentation. Resolves #1166 .
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PiperOrigin-RevId: 579360444
Change-Id: I9fffa9d466f57eed1cfd5b4b86110739e8e66399
2023-11-03 18:57:07 -07:00
f70cec5775
Remove temporary banner
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PiperOrigin-RevId: 579317175
Change-Id: I26444eb467919e40d249ee5befee0164250a28d7
2023-11-03 15:07:40 -07:00
f7bdd5dc0e
Upgrade pip to version 23.3.1.
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PiperOrigin-RevId: 579062729
Change-Id: Id6a78e6002a7aabb0f947d7722d5c178d5d9ca62
2023-11-02 21:20:55 -07:00
7a7cfc0f60
Improve flex docs.
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Fixes #1141 and #1152 .
PiperOrigin-RevId: 578855375
Change-Id: I44746c3ae331edcb22b7e16744fb38369039e888
2023-11-02 08:05:12 -07:00
e6dc5ed176
Add inner radius as a parameter for the sdf gear plugin.
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PiperOrigin-RevId: 578789045
Change-Id: Id69418d6b1adcce404927de4ed68c94a5ec1f66f
2023-11-02 03:02:32 -07:00
3c0a56c1e5
Adds support for Newton solver to MJX.
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PiperOrigin-RevId: 578738033
Change-Id: Id0e68c7b961380cb1ed88b40d99f202c3fa8e228
2023-11-01 22:05:10 -07:00
e82cb9f420
Delete mentions of MuJoCo 2.0 in the docs.
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PiperOrigin-RevId: 578501679
Change-Id: Ie1fdd1d11d2e1e12b3f9f1e59bd4da705b3a7c7e
2023-11-01 06:44:20 -07:00
893c404230
Runtime disabling of actuators according to group.
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Added `option-actuatorgroupdisable` attribute and associated `mjOption.disableactuator` integer bitfield, used to disable sets of actuators at runtime according to their group.
- The first 6 actuator groups are toggleable in the `simulate` viewer.
- Minor refactor and cleanup of actuator documentation.
https://youtu.be/H9qG9Zf2W44
Fixes #1092 .
PiperOrigin-RevId: 578335600
Change-Id: I4cf663b90ea768e4380acfa2fe3b8c15c7cbb568
2023-10-31 16:24:38 -07:00
45878b7eef
Raise an exception in MJX if given a model with tendons.
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Fixes #1149
PiperOrigin-RevId: 578278430
Change-Id: Ie633975b830379ca554438307a6e674675eaf8e7
2023-10-31 13:09:27 -07:00
Viktor Sonesten