d40c395917
Add Visualization tab to simulate.
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Also:
- Increased label width in mjUI tight theme spacing.
- Added `mjITEM_EDITFLOAT` for editing float values.
- Move mjUI numpad key codes to header file.
PiperOrigin-RevId: 535839953
Change-Id: Ibdc0a9a20be514caa5b487211212ed6f5b8a6ba9
2023-05-27 05:08:15 -07:00
f887c1e928
Add ASAN and MSAN instrumentation for arena and mjData stack.
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PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
2023-05-26 09:17:26 -07:00
c66d79409c
Change mj_ray behaviour to match geom visualisation conventions:
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- Planes and height-fields respect `mj_ray`'s `geom_group` argument.
- The `flg_static` argument now applies to all static geoms, not only those directly in the world body.
Before this change:
- Rays always intersected with height fields and planes, unless `flg_static` was set to 0.
- `flg_static` only applied to static geoms that were direct children of the world, but not geoms that were children of static bodies.
PiperOrigin-RevId: 534969091
Change-Id: I8dc7c320c63d6af95709b9f5e83a3c50e1c199fa
2023-05-24 13:52:21 -07:00
55c7f45dc5
Fix sparse matmul logic in addJTBJSparse.
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Also rename arguments and loop variables in `addJTBJSparse` for additional clarity.
PiperOrigin-RevId: 534908360
Change-Id: I143ef5aef7ff90091369d408740f7f44d9e19378
2023-05-24 11:02:35 -07:00
03d6d27f64
Use mesh BVH for speeding up ray mesh intersection.
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PiperOrigin-RevId: 534141245
Change-Id: I9f5a71ea059a1a232fd2910d1efc0506ab6dbef3
2023-05-22 12:05:20 -07:00
dab49d487c
Use mesh BVH for speeding up ray mesh intersection.
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PiperOrigin-RevId: 532516008
Change-Id: Ia9cac060279d030221c1a6b4fad457a857701370
2023-05-16 11:10:38 -07:00
9d1a21f99d
Use mesh BVH for speeding up ray mesh intersection.
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PiperOrigin-RevId: 532464595
Change-Id: If159c89b93c24e6a7be6310911364cfad7baae81
2023-05-16 08:17:50 -07:00
fcc825c5e6
Add cutoff argument to mj_multiRay.
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PiperOrigin-RevId: 532158635
Change-Id: I70f98be9f781c8281e21aa5c17bd85f3654e9383
2023-05-15 10:44:37 -07:00
770b4b363a
Added optional smoothing to muscle dynamics:
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- `muscle` actuators take a new `tausmooth` attribute (defaults to 0) which when positive, smooths the transition between activation and deactivation timescales.
- `mju_muscleDynamics` takes 3 parameters, adding width of smoothing sigmoid.
PiperOrigin-RevId: 531473354
Change-Id: I8ab6c0289ff04437e798c3ca6edda132a30fcc31
2023-05-12 04:58:53 -07:00
777cad52b4
Merge pull request #860 from PeterMitrano:main
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PiperOrigin-RevId: 531458260
Change-Id: I551e6c6be5d6a15426e6aa60beb27d64591bc66a
2023-05-12 03:34:33 -07:00
3d71b160e6
Add 3x3x3 cube to model collection.
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PiperOrigin-RevId: 531224451
Change-Id: Ibdfe5b89a5b2895500265199906a364768d606f0
2023-05-11 09:28:18 -07:00
bf81d1e6a5
Fix typo.
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PiperOrigin-RevId: 531167948
Change-Id: I5fcfe77fd69a050ef9dd88f748973c4a9233cbdb
2023-05-11 04:55:53 -07:00
41a7049920
Use shell inertia to compute mesh aabb and frame if volume is invalid.
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PiperOrigin-RevId: 530925161
Change-Id: I94b97efc7198e2b750480df8687e91bc047a6fc9
2023-05-10 09:12:11 -07:00
73fde667a5
fix typos
2023-05-09 20:59:43 +00:00
4c487e07ed
Add mesh BVH.
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PiperOrigin-RevId: 530559807
Change-Id: Ibdafae22c7c74d15d707f205be73e4a571a6ae10
2023-05-09 03:31:06 -07:00
ff1fa84d32
Cosmetic documentation improvements
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PiperOrigin-RevId: 530074671
Change-Id: I07e000c9c506ae8532ade10fb731b4e1fc0970ea
2023-05-07 02:10:18 -07:00
f204e03575
Fix tendon.xml example model.
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PiperOrigin-RevId: 530073629
Change-Id: I1fbfa55bc1ec9bbf11ab5a33771ad56537a16c07
2023-05-07 02:01:44 -07:00
49efa9cc15
Change finite-support mju_sigmoid from a two-quadratic construction to a single quintic with zero 1st and 2nd derivatives at 0 and 1, the boundary of the smooth-support segment.
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Note: this function is currently unused in the MuJoCo codebase.
PiperOrigin-RevId: 529969804
Change-Id: I2bddc72916eff67625b806510935bc7f3ce5c770
2023-05-06 09:22:37 -07:00
7998fc7fca
Fix typo.
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PiperOrigin-RevId: 529719905
Change-Id: I7ad8b333465db5f453b0d6b2ade02fbfc39a96a9
2023-05-05 08:12:11 -07:00
67f0f5154f
Add various improvements for resource providers.
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PiperOrigin-RevId: 529706437
Change-Id: I20385e031446674584349c301982dbe13b812477
2023-05-05 07:03:49 -07:00
e38fb136e7
Shorten title in Programming chapter.
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PiperOrigin-RevId: 529505191
Change-Id: I148960357263ce874ec2099ffde63303e56eb52f
2023-05-04 13:51:18 -07:00
88ec9b202e
Fix link in documentation.
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PiperOrigin-RevId: 529400443
Change-Id: I696dac60ef6f421e9308097593c8afe883fe90e7
2023-05-04 07:16:41 -07:00
3d82d2a40f
Increase maximum number of UI elements per section in Simulate.
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PiperOrigin-RevId: 529079121
Change-Id: Ia81418e45c855649e1d9654bbc522f7dffd7dfdc
2023-05-03 07:06:06 -07:00
42a16f65c2
Fix typo in mjd_inverseFD documentation.
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PiperOrigin-RevId: 529022023
Change-Id: I2f9e014e271910989f96cd9bfd28c6adaf2e62e5
2023-05-03 01:30:44 -07:00
8686339726
Fix typo.
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PiperOrigin-RevId: 528763706
Change-Id: Ia8c92fdd7e21ecd456684b4ea443aea017971972
2023-05-02 06:24:18 -07:00
b0bc330b54
Add utility functions for banded-then-dense symmetric matrices.
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PiperOrigin-RevId: 528757637
Change-Id: I916d843140322c28e857100a6b305a041f704d53
2023-05-02 05:58:08 -07:00
2ad82d5998
Add mj_multiRay function to perform multiple ray intersection with the same source.
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PiperOrigin-RevId: 528684535
Change-Id: I6e1747a4a0910e6061d6154e19ad8723f56c22e3
2023-05-01 23:02:45 -07:00
ced9e0872f
Load DM Mono font in CSS file
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PiperOrigin-RevId: 528360725
Change-Id: I32cde6dc6c9cdc5dbd8ba1d8d22586027b0476f0
2023-04-30 19:30:08 -07:00
c50177d301
Add mjd_inverseFD for finite-difference approximations of inverse dynamics Jacobians.
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Fixes #703 .
PiperOrigin-RevId: 527899700
Change-Id: I10e41a381dcecf62c53b3b9aa72a4ce666161366
2023-04-28 09:04:41 -07:00
90e14ac8d0
Bump version number to 2.3.6.
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Going forward, the version number at head will be kept one ahead of the latest released version. The rationale behind this change is so that it is clear that the source code at head is more recent.
PiperOrigin-RevId: 527687981
Change-Id: I7982ecd0b99ad70dccec6a8ffe86629754558bda
2023-04-27 14:40:32 -07:00
b397b3123e
Added touch grid sensor plugin.
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PiperOrigin-RevId: 527512624
Change-Id: I0f316eb6eb2c52472abbec484e5538b66ba2e82e
2023-04-27 02:03:03 -07:00
e3cdc410d6
Rename centered argument of mjd_transitionFD to flg_centered, to conform with the rest of the API.
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PiperOrigin-RevId: 527258079
Change-Id: I77817be8ee007a572c79e9cd41f7c5728a091fb3
2023-04-26 07:18:52 -07:00
a8d202a0c2
Reword "undefined" to "unspecified" on the topic of units.
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To a software engineering audience, "undefined" has a strong connotation that the concept is fundamentally ill-defined or ill-behaved (c.f. "undefined behaviour").
PiperOrigin-RevId: 527192289
Change-Id: I8e81d1256c1330cd0e29c00f9913b9772d5344e6
2023-04-26 01:10:59 -07:00
d23c5e784e
Update changelog for 2.3.5.
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PiperOrigin-RevId: 526984300
Change-Id: I40f0280c5366f3a7f9f61862fe6c9adc123c67fb
2023-04-25 09:09:36 -07:00
db3b49b60f
Bump version number to 2.3.5.
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PiperOrigin-RevId: 526918869
Change-Id: I9f19600b0c1b855ef0834e5c026b204bf1dc06c4
2023-04-25 03:52:12 -07:00
d65bffd8ff
Shorten section title
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PiperOrigin-RevId: 526727580
Change-Id: Ibfeb752e5cde480beee04032df047c1124983d54
2023-04-24 12:47:34 -07:00
51126caf3f
Cosmetic improvements to Actuation Model documentation.
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PiperOrigin-RevId: 526659426
Change-Id: If0ca9a505bb77e496739938a946ead5780b93d0f
2023-04-24 09:03:26 -07:00
62a675ba28
Improve Python bindings documentation.
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PiperOrigin-RevId: 526658768
Change-Id: Ife5640ed4328427e24e9f0302ee8a5424d82a974
2023-04-24 09:00:58 -07:00
a2a1ac9fc2
Pass mjvOption to plugin visualize callback.
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PiperOrigin-RevId: 526047180
Change-Id: Ia63f02184f5c6a7e3b588298639fa0ab4a6da649
2023-04-21 08:44:20 -07:00
967b07314f
Improve rendering of [state section]( https://mujoco.readthedocs.io/en/latest/computation.html?highlight=qfrc_applied#the-state ) in documentation.
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PiperOrigin-RevId: 526023870
Change-Id: If650cefa0cc6c22d63e909fb763767a77067af4e
2023-04-21 07:08:32 -07:00
0295d972cb
Improve comments in mjplugin.h, align to header standard (column 35).
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PiperOrigin-RevId: 525868504
Change-Id: I8edfcea737e6e94458015a0e4fa6522cf89a1230
2023-04-20 15:39:09 -07:00
2d69b158aa
Improve changelog item.
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PiperOrigin-RevId: 525860902
Change-Id: Ib753fca46d451af2ab796d6698303dbde081a469
2023-04-20 15:09:01 -07:00
101c647aad
Clarify the 2.3.4 implicitfast bug fix situation in the changelog.
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PiperOrigin-RevId: 525793327
Change-Id: Ib440c80d1a56d2f484dca2348118e3790882a2cc
2023-04-20 10:56:28 -07:00
0db9a453dc
Update changelog for version 2.3.4.
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PiperOrigin-RevId: 525773208
Change-Id: I54a0e16f069718737719e3d145f3f4795d19e9c8
2023-04-20 09:47:31 -07:00
0630b7543d
Bump version number to 2.3.4.
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PiperOrigin-RevId: 525745444
Change-Id: I8a9994b72a0a2ba3f371bee2c2bea947ad8f4fd1
2023-04-20 07:52:46 -07:00
b362cb4972
Expose a handle for the Python viewer.
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This change also requires user scripts to explicitly synchronize changes to physics state to the viewer. The Simulate class was reconfigured so that certain UI events are handled during this sync operation, outside of the render loop on the main thread. These correspond to operations that require access to the full mjModel/mjData.
To support other, more interactive operations (e.g. camera movements), a new mjvSceneState struct is introduced which captures only the portion of the physics state required for scene re-rendering. The mjvSceneState is updated from mjModel/mjData during the viewer sync operation, and is significantly cheaper than a full mj_copyModel and mj_copyData.
Fixes https://github.com/deepmind/mujoco/issues/796
PiperOrigin-RevId: 525723636
Change-Id: Id08d0210a2c067d5afe85e2bf104f276aeddd75e
2023-04-20 05:59:19 -07:00
fe3dccfd1d
Add a new plugin / extension mechanism called a resource provider along with retrofitting VFS on top of it.
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A resource provider provides a mechanism for MuJoCo to read from filesystems other than the OS filesystem or the Virtual File System (VFS).
PiperOrigin-RevId: 525394983
Change-Id: I077ff5a7e2e76806b48b6defb531280aadc8b169
2023-04-19 03:02:22 -07:00
d7ec409eb6
Improve code block for mjFREESTACK documentation.
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PiperOrigin-RevId: 525150006
Change-Id: Ief5af7ea78658f89449795b58466dac14ab7e32a
2023-04-18 08:11:45 -07:00
c69e0b97fb
Improve documentation of the internal stack.
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PiperOrigin-RevId: 525119946
Change-Id: I49c757506f4af2b588dc07f978c8a72acad1b5bc
2023-04-18 05:40:44 -07:00
9b7d42acb8
Improved numeric constants docs section.
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PiperOrigin-RevId: 524799733
Change-Id: Ibb941d5bbb57f884ec31e1f00ae0e99cedac2980
2023-04-17 03:26:30 -07:00
Yuval Tassa