4137a4c774
Bump version to 3.3.3 following the 3.3.2 release
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PiperOrigin-RevId: 752482043
Change-Id: I3dae8a0b9de2be4d456e856825c18f16f62bf51a
2025-04-28 16:09:25 -07:00
c2ac0d724e
Add mju_gather and mju_scatter, private engine functions.
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PiperOrigin-RevId: 750245294
Change-Id: I3a14ccdd55a324d3fe206e388fb2a513772f5f5e
2025-04-22 10:33:33 -07:00
440ce5eb7a
Update the version number to 3.3.2 following the 3.3.1 release.
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PiperOrigin-RevId: 746147577
Change-Id: Idb7b4e7e06a4730b4f2eea8f6600b898e998f8db
2025-04-10 13:17:20 -07:00
de48f4178f
Add missing term in mj_jacDot
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PiperOrigin-RevId: 735686836
Change-Id: I813ca46f71e368ddc97a6d2e540102137b31dbcf
2025-03-11 03:01:29 -07:00
0f563ecf31
Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism.
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PiperOrigin-RevId: 733523931
Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
2025-03-04 17:34:35 -08:00
06e217df7e
[MJ3.3.1] Bumping internal version number.
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PiperOrigin-RevId: 731876412
Change-Id: I1c0f4a18bbc2e0bf80e01512ea196841848220af
2025-02-27 14:53:28 -08:00
9996500de9
update the version number to 3.3.0 instead of 3.2.8
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PiperOrigin-RevId: 731397143
Change-Id: I54089f1678097acf7e4998958effb396da1e47be
2025-02-26 11:42:55 -08:00
ed16f2daf2
Set nativeccd as default.
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PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
2025-02-26 09:15:15 -08:00
fb07e0d1f7
Convert qLD to CSR format.
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PiperOrigin-RevId: 728196818
Change-Id: I31bdf32e251293284426ed345019f27fd051a0e1
2025-02-18 07:14:45 -08:00
faed1a1137
Clean up mj_jacSparse.
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PiperOrigin-RevId: 725994792
Change-Id: I928a6312a6910231bfeb96ef7a3f29f1d128565c
2025-02-12 04:06:00 -08:00
5ee0654830
Roll back recent change to mjData.qLD until some issues are resolved.
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PiperOrigin-RevId: 724389161
Change-Id: I1b30ab0950ab5c5e611b1c6fc3bf3f42f964939c
2025-02-07 10:21:42 -08:00
c27d3758c2
Convert qLD to CSR format.
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PiperOrigin-RevId: 723955038
Change-Id: I30c3dc7f59739e89ae5fff8841432bc74717ec1b
2025-02-06 08:59:35 -08:00
6436055c6c
Update the version number to 3.2.8 following the 3.2.7 release.
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PiperOrigin-RevId: 715870970
Change-Id: I9fc9a09d959043f3029faa7296a717ea56f75c89
2025-01-15 11:13:27 -08:00
69c9ac074a
Remove mjData.qLDiagSqrtInv, add corresponding argument to mj_solveM2.
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- `qLDiagSqrtInv` is only required for the dual solvers. It is now computed as-needed rather than unconditionally.
- `mj_solveM2` now requires a new input array `sqrtInvD` which contains the square root of the inverse diagonal D (formerly saved in `qLDiagSqrtInv`).
PiperOrigin-RevId: 710805133
Change-Id: I0622d6a8da3882916824e9c10bad9223c122c321
2024-12-30 15:24:36 -08:00
ec322641b7
Fix bug in mj_mulM2.
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PiperOrigin-RevId: 710756899
Change-Id: I30c0725859ba0f1a59750dc89eebb9eba84fa71b
2024-12-30 11:14:56 -08:00
8cb253b6ca
Fix typos.
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PiperOrigin-RevId: 710678815
Change-Id: Iab6f603f8f4d782ac7f34140add39e1f37625167
2024-12-30 04:15:29 -08:00
2691887500
Add engine-internal convenience macro for allocating typed arrays, improve error message.
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PiperOrigin-RevId: 705126655
Change-Id: I2bd8fada6d33a919d2fb82297f93ac57958355a4
2024-12-11 09:04:44 -08:00
c90a63a926
Update the version number to 3.2.7 following the 3.2.6 release.
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PiperOrigin-RevId: 702103729
Change-Id: Id5581cc823a17360e7bb98ac0aa4342020c1aefa
2024-12-02 15:30:52 -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
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
ffdb800e45
Update the MuJoCo version for the 3.2.5 release following the 3.2.4 release.
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PiperOrigin-RevId: 686641388
Change-Id: I68d5183c9d369b7617f692ab97c12c53f0d2504c
2024-10-16 14:24:06 -07:00
c2024ef6d1
Update the MuJoCo version for the 3.2.4 release.
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PiperOrigin-RevId: 686261295
Change-Id: Ib59e44a6829a79fd480f2822a68cb05f94c38732
2024-10-15 15:34:09 -07:00
5a95d601ed
Use GJK for geom distance when the nativeccd flag is enabled.
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PiperOrigin-RevId: 686035648
Change-Id: Ib6121394b420df4ba431c38443479d33eeaf1dd9
2024-10-15 03:25:18 -07:00
e4d4153352
Move sanitizer instrumentation to a separate header file. Fixes #2049 .
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PiperOrigin-RevId: 672986547
Change-Id: I42522f4925237a73168e965364a2dd65c0f067cb
2024-09-10 09:05:35 -07:00
3437361bfb
Add reduced sparse dof-dof matrix structures to mjData.
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PiperOrigin-RevId: 670919263
Change-Id: I3592de802ae84648d97230115c2e9c3437424968
2024-09-04 04:24:02 -07:00
42eb669e4e
Precompute mappings between M <-> D sparse representations.
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PiperOrigin-RevId: 670898353
Change-Id: I4b15477b1b6eb4a64cf7d4a0bb5af8fcb95d4e45
2024-09-04 02:57:13 -07:00
2d3d5415b7
Add mj_jacDot: Time derivative of kinematic Jacobian.
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PiperOrigin-RevId: 670505417
Change-Id: Icf30cff5dc955e002bd2f5d5fb3a04f8388d0780
2024-09-03 04:49:47 -07:00
f3cfe7a84a
Minor clean up in mj_jac.
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PiperOrigin-RevId: 668395751
Change-Id: I5c3104ad59a5a709cf1639df663c864fa9d02399
2024-08-28 04:45:40 -07:00
2efbd31762
Add mjSAMEFRAME_BODYROT and mjSAMEFRAME_INERTIAROT frame alignment shortcuts.
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PiperOrigin-RevId: 666318799
Change-Id: I0af1824d2bd9eaca7b48a9e33e09f873dd33b22d
2024-08-22 06:08:25 -07:00
8b03daa09b
Add mjtSameFrame enum to specify frame alignment of bodies with their children.
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PiperOrigin-RevId: 666303674
Change-Id: I53dc56e1ca52afa280ae5abaf4158edc465fb1e0
2024-08-22 05:17:06 -07:00
0bffd744f9
Add nativeccd flag. When this flag is enabled, general convex collision detection is handled natively, as opposed to using libccd.
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PiperOrigin-RevId: 663859009
Change-Id: Ife18bb1de62f2154e4725fdf764484a18586b836
2024-08-16 14:08:35 -07:00
2c56946547
Increase mjVERSIONSTRING to 3.2.3 after release.
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PiperOrigin-RevId: 660891033
Change-Id: I2bda69d11cab60a83b0c77bb53214240eacaea62
2024-08-08 10:31:57 -07:00
ebc48d2783
Update the MuJoCo version to v3.2.2 following the 3.2.1 release.
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PiperOrigin-RevId: 660036707
Change-Id: I7e649e5a0ce6db863bcb99dc4fc1aa851b3f5140
2024-08-06 11:39:30 -07:00
d538bf994d
Update version to 3.2.1 following the 3.2.0 release.
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PiperOrigin-RevId: 658412236
Change-Id: I4bd6ccb5dee18059eb6fc0d187afe62598845793
2024-08-01 08:35:42 -07:00
24a555062d
Rename mjDSBL_AUTORESETNAN to mjDSBL_AUTORESET.
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- Expose in MJCF.
- Add documentation.
- Improve handling in simulate.
PiperOrigin-RevId: 657606140
Change-Id: I6a27c2f4842d7d4ae32642f2a6255e5f8f1f605a
2024-07-30 08:41:59 -07:00
f62792594f
Add a new disable flag mjDSBL_AUTORESETNAN.
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PiperOrigin-RevId: 654677473
Change-Id: Id92383fe413729bf6697353aa6e0bc8a946ec7e8
2024-07-22 03:22:41 -07:00
22ce22ac8a
Update the MuJoCo version number ahead of the 3.2.0 release.
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PiperOrigin-RevId: 652578624
Change-Id: I8ed6f66ff1247ff7421e3ed0521cf15e1c0b6c79
2024-07-15 13:16:06 -07:00
0e19722c61
Split name2id and id2name into a separate source file.
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PiperOrigin-RevId: 647373431
Change-Id: I3bab0ea7157750b79826739e3d739e4114fa0af7
2024-06-27 10:50:21 -07:00
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
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
1bf90af0e0
Bumping mjVERSIONSTRING from 3.1.6 to next version 3.1.7
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PiperOrigin-RevId: 639959152
Change-Id: I7b88bae6ea56b0173f00c6f0899ba4a156614f01
2024-06-04 15:27:47 +01:00
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
4eca3b048d
Bumping mjVERSIONSTRING from 3.1.5 to version 3.1.6
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PiperOrigin-RevId: 631544334
Change-Id: Iadf8fa25e30da5b00172c8212786b1f9edb22e1a
2024-05-07 14:11:38 -07:00
225619c964
Update MuJoCo internal version to be the external version +1
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PiperOrigin-RevId: 623607403
Change-Id: Ia8f6516bb6b2fb6a3ecb8273b59e61667098f308
2024-04-10 14:32:54 -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
fa8893b443
Improve hash function for names.
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PiperOrigin-RevId: 619173787
Change-Id: I7889ea71ebe7bdbe682042842c521d6631521a35
2024-03-26 06:51:31 -07:00
bb42ff1657
Fix order of enable flag strings. Before this change, using the UI to toggle the "InvDiscrete" and "Sensornoise" flags would toggle the opposite flag.
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PiperOrigin-RevId: 618658133
Change-Id: I35d4b9da2fdf68fed24efd518a30af60d3a806eb
2024-03-24 13:13:21 -07:00
dd2580e546
Add internal functions for 3x3 matmul.
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PiperOrigin-RevId: 616749614
Change-Id: I7f3ac2ffc826076b6c97424324f03ecd9ccd4655
2024-03-18 01:44:10 -07:00
106453fa2b
Updated version number to be (v3.1.4) ahead of current release (v3.1.3)
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PiperOrigin-RevId: 613236845
Change-Id: I3ee759493f27cfa1e367c71e3e073b54738b73d4
2024-03-06 09:07:25 -08:00
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