466c9aca82
Remove mj_activate and mj_deactivate.
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PiperOrigin-RevId: 538799120
Change-Id: I4d6729131e20ab9ae15c94c221ba83ae5732e942
2023-06-08 08:55:39 -07:00
188b04fba5
Use std::stable_sort in model compiler.
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PiperOrigin-RevId: 538791034
Change-Id: I6c8eceffeb765a8a9801fee996d6ebf2964d8453
2023-06-08 08:21:34 -07:00
833d30858d
Add note regarding reproducibility
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PiperOrigin-RevId: 538535494
Change-Id: Icc37c95df77a9e30868a2ef866c5e603239e728b
2023-06-07 10:56:18 -07:00
d82f5ce5a4
Add mjContact.solreffriction, mjModel.pair_solreffriction and related implementation, allowing contact reference acceleration to be different for normal and frictional contact directions. This is required for e.g. elastic frictional collisions.
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PiperOrigin-RevId: 538513357
Change-Id: Id9eb910fe791cf898c712030cb2c0fc481389c91
2023-06-07 09:40:20 -07:00
83e70954d7
Improve documentation of solver parameters.
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PiperOrigin-RevId: 538098136
Change-Id: I6a25fd066d5a1a7ef7b28c73accbd15c497fcba4
2023-06-06 00:30:15 -07:00
1efdcbf511
Merge pull request #896 from Beanpow:fix_doc
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PiperOrigin-RevId: 537977702
Change-Id: I1ecc4caba7ce434a61625fa8b01bdc5769747f4a
2023-06-05 14:11:52 -07:00
39b744b231
Fix the effective time constant function of muscle
2023-06-02 16:53:32 +08:00
86f22cb26b
Fix typo.
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PiperOrigin-RevId: 537211345
Change-Id: Icec139ee4651e32008bf71d990d5dbe7434df67d
2023-06-01 21:37:54 -07:00
8efb04eb79
Improved docs chapter order, rename Models to Model Gallery.
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PiperOrigin-RevId: 536819755
Change-Id: Ia2151a464c423b1ca13719285e4016832f448399
2023-05-31 14:13:41 -07:00
4beab79946
Remove outdated reference in computation chapter.
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PiperOrigin-RevId: 536818445
Change-Id: I6974855bfd0aee1c28651ad577a185b63d71c187
2023-05-31 14:08:57 -07:00
d1c6561f1c
Add spaces around comparison operators in render/ and ui/ source files.
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PiperOrigin-RevId: 536001297
Change-Id: Ia0d97bf9f886aea03b8363e4d97e18301520909f
2023-05-28 07:04:49 -07:00
455b1cd2e2
Add spaces around comparison operators in engine source files.
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PiperOrigin-RevId: 535989348
Change-Id: I883f7e82351299933c49b35a31842b5d8d6aea04
2023-05-28 05:02:34 -07:00
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
ea6789b376
Add emoji to README.
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PiperOrigin-RevId: 535670105
Change-Id: Ic9bf3e029eb5db8aa30a48c64d3f0d5fdb814f89
2023-05-26 11:27:28 -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
1d79657512
Fix out-of-bound read in mju_combineSparseCount.
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PiperOrigin-RevId: 535615505
Change-Id: I740d4f50b46ec2a1cd1a5a615fb4312f1bbebd94
2023-05-26 07:44:47 -07:00
cce7fb04d1
Fix out of bounds write in clampedDiff in engine_derivative_fd.c
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PiperOrigin-RevId: 535234007
Change-Id: I1ca54df1324346cd250409125939fdf6f63cee04
2023-05-25 06:25:08 -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
d82465d710
Fix use of uninitialised memory.
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PiperOrigin-RevId: 534783070
Change-Id: I4fddc983a8ac7213049366d909c57c303ab0e521
2023-05-24 04:39:57 -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
fbbdf70401
Make XMLWriterLocaleTest hold a copy of the old locale string.
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The rationale is the same as in 0d0a41d549
2023-05-22 05:34:24 -07:00
bb8044e5f3
Set minimum tree slider depth to 0.
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PiperOrigin-RevId: 534003561
Change-Id: I42ccd0eab15b5a3c9852f8944c6b191f7999c113
2023-05-22 02:39:58 -07:00
e338034995
Fix links in README.
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PiperOrigin-RevId: 533444487
Change-Id: Ifc1743095f1c4e204360689c681066ca89944804
2023-05-19 07:05:17 -07:00
f5936eac7b
- Mention mujoco_wasm in README.
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- Move Documentation and Getting Started above Installation.
- Delete link to the acquisition and open-sourcing announcements.
PiperOrigin-RevId: 533434989
Change-Id: I5ac9281cee953c46d618d63fdf9bfd7d39e8f264
2023-05-19 06:11:53 -07:00
20e06ba353
Add missing braces.
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PiperOrigin-RevId: 533419351
Change-Id: Iad54f6cb6d63c05e6a2f81526b22a914e2a23ba2
2023-05-19 04:35:12 -07:00
a09246c095
Removed key for visualizing the mesh tree.
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PiperOrigin-RevId: 533126358
Change-Id: I8b30691c78cbae4b8ad44ac16fb7567b2a131dcf
2023-05-18 07:52:34 -07:00
eca0df4c6c
Improve formatting of cubelet vertices.
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PiperOrigin-RevId: 533031494
Change-Id: I27b6e9eb17c3ebb1382d0e3d5ccb2402f00fbddc
2023-05-17 23:32:07 -07:00
dee9a958b4
Tweak cube XML.
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PiperOrigin-RevId: 532851091
Change-Id: Icb089b914874e940985a08f6587c390732431f92
2023-05-17 11:26:57 -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
9db444cd46
Fixed texture mapping bug. Before this fix, the first texture coordinate was not correctly processed.
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Fixes #859 .
PiperOrigin-RevId: 532501028
Change-Id: I1fe9ca470f4d64af606479b91387e43bc56c23dc
2023-05-16 10:25:04 -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
4ea8218466
If inertia is being visualised, draw body frames at the inertial frame.
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PiperOrigin-RevId: 532458388
Change-Id: Ie58cea8dee4215ad9e40ef827361bc3793c8f449
2023-05-16 07:55:34 -07:00
b81793371b
Fix typo.
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PiperOrigin-RevId: 532447706
Change-Id: Icea63f7ebf381906dce03175cdbf16e96c3828d7
2023-05-16 07:09:47 -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
ca9c55d22b
Fix typo in user_mesh.cc.
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PiperOrigin-RevId: 532158366
Change-Id: I58cc6d7ff5f0781ea2621768dbcd35442d1b2e9c
2023-05-15 10:43:12 -07:00
31c265782b
add support for implicitfast integrator from GUI.
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PiperOrigin-RevId: 532109571
Change-Id: Id9fbfad232ee7fdee8aff486b2d2b9b1b1eab258
2023-05-15 07:50:18 -07:00
871a2a7c8e
Check that all face indices of a mesh exist in the vertex array.
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PiperOrigin-RevId: 532049715
Change-Id: Ic42f6ef49f136aa89fb83527db0867afa8be7f08
2023-05-15 02:55:44 -07:00
39723891ce
Use the correct string length argument to mj_loadXML.
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PiperOrigin-RevId: 531941053
Change-Id: Ia85b779b603a673b8e1d6f22d4bc183311204c4b
2023-05-14 14:40:36 -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
0d0a41d549
Fix locale management on Windows.
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We are currently passing a value previously returned by setlocale to a later call to setlocale, but the spec says that we should be making a copy of it.
PiperOrigin-RevId: 531300386
Change-Id: I9531cfe738fc71fb26b4140a4129dfe67f5f6112
2023-05-11 14:01:31 -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
133b8d0978
Make MuJoCo buildable with Visual Studio 2019 update 7 and earlier.
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Also enable MSVC 2019 builds on GitHub Actions.
Fixes #862 .
PiperOrigin-RevId: 531167754
Change-Id: I17687fb287c38a7f2245c6f7ba59a22b772e3a8c
2023-05-11 04:54:53 -07:00
09a8e59824
Create half-edge structure before converting from the C++ array userface to the C array face.
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PiperOrigin-RevId: 531161474
Change-Id: I77d425f4b5e52b2e41c6c9a2ef187495fefda5b8
2023-05-11 04:15:59 -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
1aadef5927
Fix unused variable error from GCC.
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PiperOrigin-RevId: 530591696
Change-Id: I0b1d647bb4dc343eca4966ba54a90a992ea9544f
2023-05-09 06:25:37 -07:00
b36c611745
Fixes to touch_grid config parsing.
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PiperOrigin-RevId: 530561729
Change-Id: I67f6dfd137aa54ce2141e5d5c30b5b888665c4a2
2023-05-09 03:42:06 -07:00
Yuval Tassa