43a82e08be
Add benchmark test for collisions.
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PiperOrigin-RevId: 680554813
Change-Id: I0be5b102d68aa1a54b4ceca6b2bd24fbc519f5df
2024-09-30 06:46:25 -07:00
40b2ae92e5
Reset pending keyframes in source model after attaching.
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Fixes #2101 .
PiperOrigin-RevId: 680526395
Change-Id: I3bd06db5231d653b1c5bc1c2ba6b03b52e65f288
2024-09-30 05:05:21 -07:00
58a49bad96
Add nested keyframes attachment test.
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This is a no-op change for keyframes but it shows an example of behavior.
Also, fixed two bugs:
- Missing namespace when attaching frames.
- Incorrect body id and subtreedof when attaching a compiled spec. Fixes #2063 .
PiperOrigin-RevId: 680289467
Change-Id: I2ddaa7ad2226fa466ec3bbf74a7553d497bb4bb9
2024-09-29 11:57:56 -07:00
807ee852d0
Merge pull request #2097 from emotodorov:ui
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PiperOrigin-RevId: 679704368
Change-Id: Iae396a134e6019c8cdb935a306f097f9427e134c
2024-09-27 13:16:01 -07:00
25e4d75a07
Return attached body/frame in mjs_attachBody/Frame.
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PiperOrigin-RevId: 679601525
Change-Id: Icdc4616808e14bf0a3ebc17d89392382d084c31b
2024-09-27 08:34:00 -07:00
176345b4e1
Remove meaningless const qualifier for scalar arguments in sparse function signatures.
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PiperOrigin-RevId: 679568516
Change-Id: I910626cd9555966c3b0a9ffba4064d263b2c16e1
2024-09-27 06:37:18 -07:00
6a6e10d779
Add mju_cholFactorNNZ to compute the number of non-zeros per row for sparse Cholesky factorization.
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PiperOrigin-RevId: 679553197
Change-Id: I6f92deec347dae97d2e219cfb5376f92e777da1a
2024-09-27 05:39:08 -07:00
bb6da503dc
Make 3 the default number of channels in mjsTexture.
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PiperOrigin-RevId: 679521155
Change-Id: Ie6c962e75983c8bf8323170338b3d480be3a1117
2024-09-27 03:33:04 -07:00
a985faef51
section checkbox highligting
2024-09-26 22:22:02 -04:00
6a415da267
Make from_file() and from_string() classmethod functions.
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This prevents the user from modifying an mjSpec and then calling the functions to load it from string/file.
PiperOrigin-RevId: 679311284
Change-Id: I4f1ae3cc8f15bece245f624303470d538deec410
2024-09-26 15:16:10 -07:00
8bbf9c7b4f
Rename config.yaml -> config.yml.
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PiperOrigin-RevId: 679225889
Change-Id: I2e3d26dbd763485c34880d287511f2810886422b
2024-09-26 11:26:12 -07:00
d758349632
Correct the docs about available attributes on the default/mesh tag.
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PiperOrigin-RevId: 679125186
Change-Id: I5cd597ac12b0600a835cdd23bda69c9aae4f651f
2024-09-26 06:31:27 -07:00
86ea1e498c
Update pillow dependency used in tests to 10.3.0.
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PiperOrigin-RevId: 679114607
Change-Id: I5729d5ce1baff02cdf1caa8124ef46b2b17b85b5
2024-09-26 05:53:41 -07:00
30cd8cc0e2
Add keyword argument example to code block in model editing section of the documentation.
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PiperOrigin-RevId: 678643644
Change-Id: Ie1d5659f01cc882628a669e7be22eff975a888fc
2024-09-25 04:34:03 -07:00
1eb6fc2285
Disallow using elasticity and edge constraints at the same time.
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Fixes #2084 .
PiperOrigin-RevId: 678614880
Change-Id: I44eead3dc4edf82d725a3063b927a421c660721a
2024-09-25 02:56:20 -07:00
2785dbc0da
Add tendon types to MJX name2id and id2name.
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PiperOrigin-RevId: 678424789
Change-Id: I2634be0810f8f7dafec597919c512752d2efcfa6
2024-09-24 15:46:33 -07:00
306e52c30f
internal change.
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PiperOrigin-RevId: 678355240
Change-Id: I271bece139de5d6e2e629d7f2fe84a4e2dd71138
2024-09-24 12:37:58 -07:00
f0d52813b8
Copy joint state to the modified mjSpec when detaching bodies.
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Fixes #2085 .
PiperOrigin-RevId: 678351210
Change-Id: I2a546877dd50abc7805099f8d5c40807ffe780e6
2024-09-24 12:26:29 -07:00
b09c1a977e
Add jit flag to viewer (easier debugging). Make convex.xml stable.
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PiperOrigin-RevId: 678312872
Change-Id: I0d65d7c2d05a7b5103fa0be2233cbc5ba232817c
2024-09-24 10:49:34 -07:00
5bca7876c4
Update spec.from_string() and spec.from_file() to match the respective mjModel functions.
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PiperOrigin-RevId: 678230403
Change-Id: I7f3d8c5fd44d30b5695eee1f8513cc27f4158d94
2024-09-24 06:57:20 -07:00
910cd89cc7
Merge pull request #2083 from jjyyxx:patch-1
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PiperOrigin-RevId: 678207225
Change-Id: I440823d00faa119bbd948351f38e3774c6fa37a6
2024-09-24 05:42:17 -07:00
55962538c4
Fix typo in programming documentation
2024-09-24 15:33:27 +08:00
3a17be2d24
Add pause key to MJX viewer.
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PiperOrigin-RevId: 677959701
Change-Id: I7f816eb6bf702461f0d749b2aa6cd1664c258f3d
2024-09-23 15:23:13 -07:00
5838f84777
Fix bug where MJX data tendon fields are incorrect after calling put_data.
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PiperOrigin-RevId: 677911639
Change-Id: I75f536fa348e2941d9ec2d454f475cd067e6d3af
2024-09-23 13:12:49 -07:00
5219893813
Replace mjQUICKSORT with std::stable_sort in user_mesh.cc
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PiperOrigin-RevId: 677864209
Change-Id: I1cca8e1ae8c84e652b12c24cfddfbca97d8c6841
2024-09-23 11:06:46 -07:00
bbe8a0c516
Strip weak_types in mjx.put_model.
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PiperOrigin-RevId: 677859138
Change-Id: I9ef010c0c37d04f9931adf884ab1dce0521b8567
2024-09-23 10:54:53 -07:00
84e0e2839d
Improve error message when requested stack allocation is larger than 2^64 bytes.
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PiperOrigin-RevId: 677851110
Change-Id: Iaef92f7f48f41f3a4bfaae9c517ff6664afed039
2024-09-23 10:34:33 -07:00
76b48b8e61
Add site semantics to weld constraint in MJX.
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PiperOrigin-RevId: 677823461
Change-Id: Iab20e042695dfad416d61fa7cc938faba8c7a6b6
2024-09-23 09:25:08 -07:00
04f8403d8e
Add unit tests for NativeCCD to produce better test coverage.
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PiperOrigin-RevId: 677793306
Change-Id: I435865f00553c74d1d0c0fa86d9c41fb1e5497ff
2024-09-23 07:55:39 -07:00
b5bcc91a03
Add bindings generation for mjOption, mjVisual, and mjStatistic.
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Fixes #2076 .
PiperOrigin-RevId: 677789263
Change-Id: Ie1bda40af62c5ac9bbba541668a50adfc59d3f7c
2024-09-23 07:43:09 -07:00
41ea95f077
Add a section for element casting in the function API reference, move these functions to the end.
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PiperOrigin-RevId: 677783917
Change-Id: I5042e7df20f2a2e0ecfe01a85a1969ccfc2307cd
2024-09-23 07:26:01 -07:00
0ba11b9623
Add plugins list to mjSpec Python API.
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Fixes #2061 .
PiperOrigin-RevId: 677762985
Change-Id: I8e407373e7b505d9b0f1c023e97c5ea92169bbf6
2024-09-23 06:13:42 -07:00
91cedfd65c
Avoid square roots in barycentric coordinate computation.
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Also add some `inline` qualifiers.
PiperOrigin-RevId: 676873457
Change-Id: I76f57dc870a8714bd86749a7dee1f10fc5e4be1c
2024-09-20 09:37:40 -07:00
ab3954d892
Set actuator_force in MJX. Fixes #2068 .
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PiperOrigin-RevId: 676867005
Change-Id: I80514a050ff40cb6d43a95b74c4a36c4991db588
2024-09-20 09:16:55 -07:00
50f43b8745
Fix various issues with body inertial parsing and compiling.
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- Add errors in body compiler for incorrect mixing of specifiers.
- Correctly process inertia orientation specifiers.
PiperOrigin-RevId: 676843326
Change-Id: I7e7eb22e25a6769754794f98fad5e0dcc0e5946f
2024-09-20 07:53:42 -07:00
78832db53f
Use designated initializers for mjCCDObj.
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PiperOrigin-RevId: 676794693
Change-Id: Ie8a35415232e8a9f619713763c5d5a37a6f82935
2024-09-20 04:32:10 -07:00
7a92423cf2
Add height fields to list of discrete objects in NativeCCD.
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PiperOrigin-RevId: 676452215
Change-Id: I5d6a0d1e26ee852c774b44f550c1d0531b7a269b
2024-09-19 09:48:41 -07:00
4998e7b392
Move flex damping to the engine and remove membrane and solid plugins.
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PiperOrigin-RevId: 676434954
Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
2024-09-19 09:01:30 -07:00
6c7e1095c5
Add mjsPlugin and mjsOrientation related keyword argument support for mjSpec Python bindings.
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PiperOrigin-RevId: 676412967
Change-Id: I8cc1bfcc443327fde33246981400b375f8d4ff3d
2024-09-19 07:55:31 -07:00
f4381e12a2
Delete plugins when their corresponding objects are deleted, if their instance belonged the object.
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Fixes #2061 .
PiperOrigin-RevId: 676402701
Change-Id: Ia4807d57a3763e2100702b7e7ec96c300d0a9cfb
2024-09-19 07:21:42 -07:00
f161b63a22
Set default body position to (0, 0, 0).
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The "undefined" body position is a remnant of the now-removed `compiler/coordinate` attribute, see [documentation in version 2.3.3](https://mujoco.readthedocs.io/en/2.3.3/modeling.html#cframe ) (or older).
PiperOrigin-RevId: 676361485
Change-Id: I104c8da2a988a0430eb85fff8b9b60f8c1e08582
2024-09-19 04:36:39 -07:00
3839ad186e
Merge pull request #2050 from kevinzakka:doc-fix
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PiperOrigin-RevId: 676339046
Change-Id: Ibefee71f7437999f9c78f7833bfaaa252e902ea4
2024-09-19 03:05:07 -07:00
aca4b3324d
Resolve default asset names while attaching a spec.
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PiperOrigin-RevId: 676053538
Change-Id: I717b87be4bc18a5d9f8e5f2dc071bd93409eea81
2024-09-18 10:58:12 -07:00
1a5536ce5b
Make edges array const.
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PiperOrigin-RevId: 676046588
Change-Id: Ica4bcdb49311bae8ccbf071717d7eb1c7cb55b87
2024-09-18 10:40:38 -07:00
66a9cacc90
Move elasticity force computation to the engine.
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PiperOrigin-RevId: 676028775
Change-Id: I994e3dda8d6470815763c04df0c276e265aa1f54
2024-09-18 09:55:00 -07:00
e439b748a4
Replace calls to floor/ceil with mju_floor/mju_ceil.
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PiperOrigin-RevId: 675988982
Change-Id: I5f4d09d957ac7030cd4ce70e72f78dd4f07a6090
2024-09-18 07:49:23 -07:00
ddbc083810
Move elasticity computation to mjCFlex.
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PiperOrigin-RevId: 675949380
Change-Id: Ia48f4fd6ae1ede206ccacd1205914e7e4b3c7aec
2024-09-18 05:23:10 -07:00
0657e3e871
Fix bug in DeleteFace in NativeCCD.
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PiperOrigin-RevId: 675948504
Change-Id: If9d967c8e75580a3a002fce9c10a2e1bfd0b5d46
2024-09-18 05:20:11 -07:00
bfda9f4ace
Add optional kwarg inputs to mjSpec Python bindings for mjSpec add constructors.
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PiperOrigin-RevId: 675929024
Change-Id: Idd8c584276d8f585b79585230f5167f79760eaef
2024-09-18 04:02:10 -07:00
4975c35657
Fix typo in README.md
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PiperOrigin-RevId: 675619380
Change-Id: Ifdc026b7cbd967645930d923f7de9a114121466f
2024-09-17 10:28:37 -07:00
Kyle Bayes