4a4db13eba
Update documentation to reflect that multi-threading is now used when loading meshes.
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PiperOrigin-RevId: 671063740
Change-Id: I77f2e028c3e9e9801c03e8e107eb6d8830becf22
2024-09-04 12:38:29 -07:00
b9822e4347
Check hexahedron in polytope3 to make sure it contains the origin. Otherwise, EPA can return invalid results.
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PiperOrigin-RevId: 671057312
Change-Id: Ieb21a77ea679ee5c18972d3a0375578d9a98405e
2024-09-04 12:17:54 -07:00
b502ceef00
Add note that XML saving requires that the spec first be compiled. Fixes #1832
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PiperOrigin-RevId: 671046666
Change-Id: If5885545d5316537147d293fbe854caa568558b2
2024-09-04 11:47:34 -07:00
79a5bd0915
Add better boundary tests in polytope3 for EPA.
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PiperOrigin-RevId: 671038835
Change-Id: I259260a7b40e825678b52187bee4791266ae10c4
2024-09-04 11:25:44 -07:00
8954a088ce
Add automatic free-joint alignment.
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PiperOrigin-RevId: 671010083
Change-Id: Ib7d60f75c7f545b1886703715663db8de77feeef
2024-09-04 10:07:33 -07:00
ae4987026c
Add tree element support to mjs_firstElement() and mjs_nextElement().
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PiperOrigin-RevId: 671003046
Change-Id: I9e07d7c85c7218e9bded0f50af9db62d0f1e21e1
2024-09-04 09:46:24 -07:00
d3dfa6f970
Add mjs_findElement() to find any element in a spec by name.
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Also, remove mjs_findMesh() and mjs_findKeyframe().
PiperOrigin-RevId: 670978980
Change-Id: Id88b800eb8a4c5efc40866f72a4442bf1d1437d0
2024-09-04 08:24:22 -07:00
0e8c0b80eb
add content_type to model in the XML schema.
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PiperOrigin-RevId: 670961443
Change-Id: I98cd6bb61b50029cdd4f5b31e23d268989d136da
2024-09-04 07:25:55 -07:00
9a27fc14c2
Raise appropriate errors for mj_addBufferVFS in Python bindings.
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When loading models in the XML bindings, different issues with the asset dictionary were all reported as "assets dict is too big".
PiperOrigin-RevId: 670960339
Change-Id: I2e47d91a6b433fd90ebdf9960a9b5b47413af410
2024-09-04 07:20:25 -07:00
e9a85764ea
Native CCD: Replace mju_malloc with C standard malloc, fix bug in computing v5 in polytope3, and add another warning in EPA.
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PiperOrigin-RevId: 670939250
Change-Id: Ia0d8b7c78ed2ef7019f2a691c066b20e98dc1889
2024-09-04 05:53:31 -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
303e5e7718
Fix test threshold for external tests.
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PiperOrigin-RevId: 670720396
Change-Id: I28bff46535ffdd99724c75f8137834d84c3ec534
2024-09-03 15:06:42 -07:00
49711fa14f
Add support for joint and tendon frictionloss to MJX.
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PiperOrigin-RevId: 670679777
Change-Id: I2eb56d013c11d4e1851f1c2edd6d98faaf854db9
2024-09-03 13:17:41 -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
fb38727303
Update zipp to 3.19.1 in make_sdist_requirements.txt
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PiperOrigin-RevId: 670486730
Change-Id: I1dfabb8d5206024595a49d2421f148a284a4eac7
2024-09-03 03:37:49 -07:00
a02934a408
Merge pull request #2036 from kevinzakka:doc-fix
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PiperOrigin-RevId: 670207735
Change-Id: I810720a41e6b770f8d7d3bacea9f5dc1433827b7
2024-09-02 07:08:56 -07:00
f60ab4492d
Remove vestigial mentions of mjOption.collision in the docs.
2024-08-31 16:49:25 -07:00
7abd5d427a
Restore mistakenly deleted/modified changelog items.
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PiperOrigin-RevId: 669732777
Change-Id: I473480acb06f881049c1f338e1e87ff86c30f330
2024-08-31 15:04:08 -07:00
9805df616b
Add framelinvel and frameangvel sensors to MJX.
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PiperOrigin-RevId: 669647542
Change-Id: I612230e81b456c26f29173d1cb5a60975791875a
2024-08-31 06:12:37 -07:00
651868ab05
Add GitHub Issue and Discussion templates.
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PiperOrigin-RevId: 669365189
Change-Id: I6e14bdf68de0ddc0029937291d7258d26eb65b75
2024-08-30 10:13:38 -07:00
5391e6011a
Add sensor cutoff to MJX.
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PiperOrigin-RevId: 669363779
Change-Id: Ia5c3f913c1b84e1893aa6072268a334123f00aeb
2024-08-30 10:09:17 -07:00
cf02171bf8
Add velocimeter and gyro sensors to MJX.
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PiperOrigin-RevId: 669337697
Change-Id: I5e7f245b96eb334ffddd01757a9f631d9ad862cd
2024-08-30 08:39:40 -07:00
a94694f608
Fix formatting in mjx.rst
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PiperOrigin-RevId: 669262462
Change-Id: I6354b152eff36923b85918e10fedf89a44c851f6
2024-08-30 03:16:46 -07:00
8272211dd5
Update MJX documentation for ellipsoid and cylinder collision support.
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fixes #1908
PiperOrigin-RevId: 669244021
Change-Id: I5f757562be333b5b9923655d155d51ed3dbd09c4
2024-08-30 01:59:27 -07:00
494e166f28
Fix a bug where mjx.make_data qLDiagInv has wrong size for sparse mass matrices.
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PiperOrigin-RevId: 669087189
Change-Id: I39e97264a192a621e67ae5e079334fc8be38a25d
2024-08-29 15:40:08 -07:00
9cab5a42a4
Remove unnecessary normal vector computation from mju_wrap cylinder case.
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PiperOrigin-RevId: 669010760
Change-Id: Ie3869a9f112ca88b2a7ec4990c402ef3e92d36a8
2024-08-29 11:46:38 -07:00
a1036b86d3
Allow connect constraints to be specified using sites.
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PiperOrigin-RevId: 668925419
Change-Id: I10cb71e6706e617c830cd90d6d0836b94a5a8cfa
2024-08-29 07:10:51 -07:00
646455406c
Fix changelog by moving bug fix to proper section.
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PiperOrigin-RevId: 668435872
Change-Id: I9042eb3f119cc778675944e7cfb8f6be0e9379b2
2024-08-28 07:07:11 -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
3e701b2125
Fix tendon sphere wrapping when using external sidesite.
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PiperOrigin-RevId: 668391942
Change-Id: I78b44e1f90bb26fa6f5544eeb884c8ea22e41d33
2024-08-28 04:30:07 -07:00
72a0ab145d
Refactor frustum drawing to use a local makeTriangle function.
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PiperOrigin-RevId: 668168658
Change-Id: I0ee9038c36eb28e2c4a0a8c94bea7430f68c6b77
2024-08-27 15:42:31 -07:00
ddb29e9293
Fix bug in computing pos in EPA by replacing S2D with computing affine coordinates directly to recover the witness points.
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PiperOrigin-RevId: 668006152
Change-Id: I1de33c5bb94de1a14523a88a5dff7d6ec984628e
2024-08-27 08:55:40 -07:00
cad8ca6ffd
Do pre-checking when creating initial polytope for EPA.
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PiperOrigin-RevId: 666807572
Change-Id: I64c3715dc72c24f9b6b2206b3568951bd8c2384a
2024-08-23 08:37:34 -07:00
9d4f8edad9
Avoid pointer access in loop conditionals in engine_core_smooth.c
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PiperOrigin-RevId: 666800203
Change-Id: Iec6ce752d0cac1a98809ab085ed8f94416f79e95
2024-08-23 08:13:52 -07:00
d360ea1ce6
Minor GJK + EPA improvements:
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1. Correct stopping criteria for GJK.
2. Store witness points from EPA in mjCCDObj,
3. Get dir directly from EPA instead of computing dir from witness points.
PiperOrigin-RevId: 666791852
Change-Id: I6a168f635b57c17692d31da6f6076b48c32ff2e3
2024-08-23 07:44:30 -07:00
505d01a1c1
Add error handling to mj_recompile.
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This CL adds error handling to the mj_recompile function. If the recompile fails, the function will return -1 and set the error message in the spec. The Python wrapper for mj_recompile will catch the error and raise a ValueError exception.
PiperOrigin-RevId: 666784579
Change-Id: I225eca1769ea839c782be3c03fc4ff1ea5885a48
2024-08-23 07:18:28 -07:00
088079eff0
Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations.
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PiperOrigin-RevId: 666438658
Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463
2024-08-22 12:01:54 -07:00
abe57c234b
Use bullets instead of numbering in latest changelog
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PiperOrigin-RevId: 666335980
Change-Id: Ifbeba31e34e9891f4d0791aa4b014d1fa1403398
2024-08-22 07:10:47 -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
a2649d6cec
Add efc_margin to MJX.
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PiperOrigin-RevId: 666273240
Change-Id: I12d6cc0d3edd3c3faff5a876335910b42e9cc9bf
2024-08-22 03:27:02 -07:00
f75ead2203
Improve the build instructions for mac.
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The app bundle doesn't include mujoco.framework, so the instructions were a bit stale. I verified that with these new instructions I'm able to build the Python bindings from source with a prebuilt MuJoCo binary.
Fixes #313 .
PiperOrigin-RevId: 666272041
Change-Id: I8bcf14c8ab6268cdaa617a8b5940b155ef64a8c5
2024-08-22 03:22:17 -07:00
b2174a7ec3
Add framequat sensor to MJX.
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PiperOrigin-RevId: 666254481
Change-Id: I50be8574e1e4677ef5dc23a2bdcbc296f301d7fc
2024-08-22 02:21:20 -07:00
b42780a5f4
Add subtree_vel function to MJX. This function matches mj_subtreeVel.
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PiperOrigin-RevId: 666078305
Change-Id: Ia0ecbf8279e914f49ee60b862541d697e8d4abb1
2024-08-21 16:21:57 -07:00
e76168141a
Merge pull request #1914 from google-deepmind:dependabot/pip/mjx/zipp-3.19.1
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PiperOrigin-RevId: 665892706
Change-Id: Ib9891d5bb75560251d9eb0dac8100e04ca06f54f
2024-08-21 08:35:00 -07:00
806b8c8e2e
Add support for actuatorfrc and jointactfrc sensors in MJX.
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PiperOrigin-RevId: 665804850
Change-Id: I99371fc4da055382f1564b2c67d25f7b30a0a0cf
2024-08-21 03:46:26 -07:00
f986a52e1e
Compute witness points from EPA, and use witness points to determine pos and dir for contact.
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PiperOrigin-RevId: 665791337
Change-Id: If33ca1f455804c4cda534508803f5c3e99c3c52a
2024-08-21 03:06:17 -07:00
cf3e60f9a4
Fix load time reporting in simulate.
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Before this change, a model which took more than 1/4 seconds to load caused the simulation to pause, which is a behavior that is only supposed to occur for models that loaded with a warning.
PiperOrigin-RevId: 665786861
Change-Id: Ie3a6c8d18a6abbb425a0bbcc5a8e55d5fd7a0c72
2024-08-21 02:54:10 -07:00
ad9cd7301e
Correctly apply frame transform to light direction.
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PiperOrigin-RevId: 665340267
Change-Id: Ida16ddbf3a057ffd3e260b71180a45acbf749931
2024-08-20 06:48:11 -07:00
Yuval Tassa