3f3b39bbb1
Fix type-related issues in dependent code. Remove hardcoded mjUSEDOUBLE. Add mjUSESINGLE compiler flag.
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This CL does not change the default build behavior of MuJoCo. To use single-precision floating-point, build MuJoCo with `-DmjUSESINGLE`.
PiperOrigin-RevId: 644782648
Change-Id: Ie815df9916798ca8054306437b39a33f84ce9e08
2024-06-19 10:52:18 -07:00
1eb708646d
Update the simulate tutorial video.
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The new video is more comprehensive and covers more features of MuJoCo.
PiperOrigin-RevId: 644758072
Change-Id: I1f114746833e00cd61b27659c816316c0e72c46c
2024-06-19 08:41:53 -07:00
6067048537
Deprecate mju_rotVecMat and mju_rotVecMatT in favor of mju_mulMatVec3 and mju_mulMatTVec3.
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These functions names and argument ordering are more consistent with the rest of the API.
PiperOrigin-RevId: 643788290
Change-Id: I783eda8021b80b82098e23ed95669b102bb82508
2024-06-16 10:02:36 -07:00
c9bcf8371e
Add mj_setKeyframe function to save current state in k-th model keyframe.
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Fixes #1719 .
Also improve documentation of `mju_sigmoid`, was previously only documented in changelog.
PiperOrigin-RevId: 642637458
Change-Id: I811a0bf8f881c8b76c9a62d2faec8fdec4e7585b
2024-06-12 09:22:52 -07:00
5ed464b489
Support spherical joint in URDF.
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PiperOrigin-RevId: 642326650
Change-Id: Iec766800bc9ab7e022bd586fc5881df576d01331
2024-06-11 11:08:00 -07:00
07fc95ca9a
Add orthographic cameras.
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Orthographic cameras are specified by setting the `orthographic` attribute of the `<camera>` element. The `fovy` attribute is still used to specify the field-of-view, but its semantic is different for orthographic cameras. For orthographic cameras, the field-of-view is expressed in units of length, rather than degrees.
Other related changes:
* Fix bug in the ordering of `cam_xxx` elements in `mjModel`.
* Make camera visualization translucent only when the frustum is visualized.
* Added a button to `simulate` to toggle between perspective and orthographic free cameras.
https://youtu.be/ZXBTEIDWHhs
PiperOrigin-RevId: 642293435
Change-Id: Id090a421ad88ab404b5b27ddbbd6bfc81ad49bc5
2024-06-11 09:23:18 -07:00
7a06bcfdaf
Make model editing API public, fixes #364
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Still missing:
- Detailed documentation.
- Python bindings.
PiperOrigin-RevId: 641445626
Change-Id: I20e67b707cf1bebae7e0cc94d17f7b76a89171f0
2024-06-07 22:28:01 -07:00
4c3d9461ae
Elliptic friction in MJX.
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PiperOrigin-RevId: 641384367
Change-Id: I510c565940324fbbf392ce537ce27e0cb9af3eb1
2024-06-07 16:05:58 -07:00
ace0c8f0a3
Add maxhullvert.
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PiperOrigin-RevId: 641092710
Change-Id: Ib4fa828a9c82531614f0a67de9990340dbb25406
2024-06-06 19:05:16 -07:00
21bc6e5ce4
Trimmed underline to match the current format.
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PiperOrigin-RevId: 639873230
Change-Id: Id065af04b6364e720d14873ab55fabff75e94efb
2024-06-03 12:25:11 -07:00
ff167e91d9
Updated the version number and release date to be current release v#3.1.6
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PiperOrigin-RevId: 639864767
Change-Id: I94a2c81fe125c99bdcfca07b557eebeadca542e9
2024-06-03 11:58:17 -07:00
2830a4071f
Add dampratio attribute to position and intvelocity actuators.
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PiperOrigin-RevId: 639745135
Change-Id: I94ba4c346d2750c6c454a60a568f2e6f6bce19d4
2024-06-03 05:28:35 -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
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
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
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
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
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
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
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
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
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
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
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
6481a838c8
Fix monospace rendering in changelog.
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PiperOrigin-RevId: 625388305
Change-Id: I82c7cd0e221627a14f6a2b2d9285099f488b1dcb
2024-04-16 11:00:57 -07:00
f086dc9b4b
Better parsing for GMSH2.2
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PiperOrigin-RevId: 625267106
Change-Id: Iecf767c43cee1067fdab3859df28050f8a365e2b
2024-04-16 03:23:52 -07:00
0cd28d2423
Add light radius attribute.
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Also fix bug: light defaults were not being saved.
PiperOrigin-RevId: 625142278
Change-Id: I8ec3a5a06e9f314e98b7c34346db3c24b34d7e0b
2024-04-15 17:55:15 -07:00
0fa0437313
Add cylinder plane.
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PiperOrigin-RevId: 625099227
Change-Id: I02cb86c3e8c7fd5914a082f1e8a3bae6274b3c8e
2024-04-15 15:18:04 -07:00
7b3f1a0261
Add mjModel.mesh_scale: scaling applied to asset vertices.
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PiperOrigin-RevId: 625083195
Change-Id: I36290282379e57ad23ec771d65d1bd6bf2a75b07
2024-04-15 14:26:06 -07:00
6d1f0a3ec6
Fix rendering bug in changelog
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PiperOrigin-RevId: 623553343
Change-Id: Ice48c450de19065069c50242a26396ee7bf1b363
2024-04-10 11:23:26 -07:00
32fa61731e
Update the MuJoCo changelog for the 3.1.4 release
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PiperOrigin-RevId: 623527462
Change-Id: I45f76d57198f4906e932463d76287b0e394b9273
2024-04-10 10:01:24 -07:00
5a365603f8
Add mju_euler2Quat.
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PiperOrigin-RevId: 623469398
Change-Id: Ia86b29a764018cd4c3bc57d23616bed7393081f5
2024-04-10 06:02:50 -07:00
2b3f336bd3
Add ellipsoid sdf collisions to MJX.
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Co-authored-by: Baruch Tabanpour <btaba@google.com >
PiperOrigin-RevId: 623415479
Change-Id: Id061c8e083357d063f1ccddf0989f2fafe415eed
2024-04-10 01:41:10 -07:00
725630c95d
Add insertion task.
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PiperOrigin-RevId: 622962761
Change-Id: I960fc9c2a13a6216da03a8fa9b29ce7a55b6da4a
2024-04-08 15:08:06 -07:00
b441923598
Add userdata support to MJX.
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PiperOrigin-RevId: 622948369
Change-Id: I5eca0afcb8cd50f53eacc57a78bfdf68ccde12e7
2024-04-08 14:14:12 -07:00
bb4389eb43
Update MuJoCo changelog.rst for the v3.1.4 release
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PiperOrigin-RevId: 622870642
Change-Id: Ie45077659520cdae14604842ec8b0cc715e18fd6
2024-04-08 09:33:57 -07:00
b85f419fcb
Add video with clips from least-squares tutorial to docs.
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PiperOrigin-RevId: 620144313
Change-Id: I79faa6a1446e9e6c88e16a238029f45c518c16d1
2024-03-28 21:00:14 -07:00
5d26b50fce
Remove native sensor noise sampling.
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PiperOrigin-RevId: 620075316
Change-Id: I6a0a1d63834e7c8bfd290f89d86fea791d794739
2024-03-28 15:33:03 -07:00
47ba72ea59
Add actuatorgravcomp joint attribute, to treat gravity compensation forces as applied by actuators, rather than passive buoyancy.
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PiperOrigin-RevId: 620049593
Change-Id: I2c8a9dc152c087b408e4f904838034271a7dd910
2024-03-28 14:01:52 -07:00
Yuval Tassa