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
cfc7dc9848
Clarify that keyframes are not replicated in nested attachments.
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PiperOrigin-RevId: 663683684
Change-Id: Id180b3a6afad6809d8189a7a525c474bd3a91fc1
2024-08-16 04:22:21 -07:00
4c64e6f036
Add mocap state to SaveState/RestoreState and attached keyframes.
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PiperOrigin-RevId: 662975257
Change-Id: I3edb44f34426525813033902caf31db16ad7b2ab
2024-08-14 10:42:49 -07:00
7efd690471
Document where mesh transforms are saved, fixes #1894
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PiperOrigin-RevId: 662836678
Change-Id: I060e3b1f29e82c6c3c188e730657cda7b99f63e9
2024-08-14 02:24:46 -07:00
466368efc6
Add shellinertia support for primitives: sphere, capsule, cylinder, ellipsoid, and box.
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PiperOrigin-RevId: 661407997
Change-Id: Icddac58c540c71ea26ac7a3be874788443bd1122
2024-08-09 14:40:13 -07:00
fd892ee8f5
Fix some documentation bugs
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PiperOrigin-RevId: 660010085
Change-Id: I0e4d7bef6acc4e432545266c6301f7ca08e6b883
2024-08-06 10:34:08 -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
a4bd2bec0a
Skip disabled actuators in mjd_actuator_vel.
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Fixes a bug where the derivative of the actuator force with respect to the generalized velocities (used in implicit and implicitfast integrators) was failing to take into account disabled actuators.
Fixes #1838
PiperOrigin-RevId: 657193960
Change-Id: Id8c0ab863a39e2a01cd2703774f460e9731b4807
2024-07-29 07:31:58 -07:00
33e5960653
Allow multiple textures per material in MJCF.
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PiperOrigin-RevId: 654795013
Change-Id: I418b72533484d00accaf801a342aa183e602a2d0
2024-07-22 09:57:51 -07:00
3d1d1d0718
Multithreaded mesh compilation.
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PiperOrigin-RevId: 651358120
Change-Id: Id6272aac84ec6ac1b709d2f4a44b7593307bd158
2024-07-11 04:21:49 -07:00
27b9ddda5b
Add attach tag to MJCF.
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PiperOrigin-RevId: 651117953
Change-Id: I57b0e53ed44607d479b3785d908e0837c0804cf3
2024-07-10 12:41:43 -07:00
393895bb29
Explicitly specify actdim on PID plugin actuators, to allow them to be used with keyframes.
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Support actdim attribute on plugin actuators.
Remove the actuator_actdim callback. This callback leads to crashes when loading keyframes for models that have a stateful plugin.
PiperOrigin-RevId: 650649505
Change-Id: I40d1994d02ae4e20ce631b2702a984766cf2628e
2024-07-09 09:08:48 -07:00
70f86617f8
Fix typos in documentation.
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PiperOrigin-RevId: 650191926
Change-Id: I84d098782c6e4585a31e1de6bb1a7af3b3698f94
2024-07-08 03:49:12 -07:00
f2c3be470f
Make seed fixed for random number generator when using <texture mark="random"/>
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Also improve documentation regarding texture height and width attributes.
PiperOrigin-RevId: 648427167
Change-Id: I59a0fe75d3526f8563a5252584ed60ef7fb8fd70
2024-07-01 11:11:17 -07:00
3d63c873aa
Improve 2D texture documentation.
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PiperOrigin-RevId: 643347176
Change-Id: Ice83a723776092c762dac6e6bc440ef1b1d673b5
2024-06-14 08:04:09 -07:00
07fc95ca9a
Add orthographic cameras.
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Orthographic cameras are specified by setting the `orthographic` attribute of the `<camera>` element. The `fovy` attribute is still used to specify the field-of-view, but its semantic is different for orthographic cameras. For orthographic cameras, the field-of-view is expressed in units of length, rather than degrees.
Other related changes:
* Fix bug in the ordering of `cam_xxx` elements in `mjModel`.
* Make camera visualization translucent only when the frustum is visualized.
* Added a button to `simulate` to toggle between perspective and orthographic free cameras.
https://youtu.be/ZXBTEIDWHhs
PiperOrigin-RevId: 642293435
Change-Id: Id090a421ad88ab404b5b27ddbbd6bfc81ad49bc5
2024-06-11 09:23:18 -07:00
ace0c8f0a3
Add maxhullvert.
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PiperOrigin-RevId: 641092710
Change-Id: Ib4fa828a9c82531614f0a67de9990340dbb25406
2024-06-06 19:05:16 -07:00
2830a4071f
Add dampratio attribute to position and intvelocity actuators.
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PiperOrigin-RevId: 639745135
Change-Id: I94ba4c346d2750c6c454a60a568f2e6f6bce19d4
2024-06-03 05:28:35 -07:00
8fa0fea02d
Allow partial specification of polycoef attribute of equality constraints.
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- Usually the user only wants to tweak `polycoef[1]`, after this change `"0 2"` is equivalent to `"0 2 0 0 0"`.
- Also improve documentation of this attribute.
- Tighten margins of documentation display equations.
PiperOrigin-RevId: 639720742
Change-Id: Ibafa0e093cebe1c1c75bf2e47ff3bd2ad7619414
2024-06-03 03:43:13 -07:00
727893f0f2
Add timeconst attribute to position actuator.
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PiperOrigin-RevId: 635018979
Change-Id: I919573f4241ecb4a4c61c3b8b6641b31aa79eca4
2024-05-18 03:38:20 -07:00
6e58cedb47
Fix typo in sensor documentation.
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PiperOrigin-RevId: 633872551
Change-Id: I033a8227c19da2feebf286f4b3c24635f5625372
2024-05-15 03:03:40 -07:00
3809951172
Add sensor to replicate example model. Fixes #1654
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PiperOrigin-RevId: 633213086
Change-Id: I1672cf31871637497bcb0f26880e0a41a9f510bc
2024-05-13 08:06:44 -07:00
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
93b57c1421
Update Python documentation.
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PiperOrigin-RevId: 631189628
Change-Id: I17d0fbe476fc14bbad525a302f588bf773a2244b
2024-05-06 14:40:59 -07:00
3e35eebbb9
Documentation updates:
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- Added a section on preventing slip in the modeling chapter.
- Added more intuitive descriptions of friction coefficients in the Computation chapter.
- Fixed some en-dashes and em-dashes.
PiperOrigin-RevId: 630856003
Change-Id: I8e767e6c5a95affdeb72ef9bc424bdd18f58e4df
2024-05-05 12:10:06 -07:00
131b1745db
Added support for GMSH22 surface loading
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PiperOrigin-RevId: 629734063
Change-Id: I6a250b81de4e7c8f7520795bfe74a81d719dfb50
2024-05-01 08:44:05 -07:00
26f23066d1
Add replicate element to MJCF. Fixes #553
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PiperOrigin-RevId: 629393578
Change-Id: Ia1db1b9e47eba8868117b0f7b85edcd0cc1b6d79
2024-04-30 06:29:18 -07:00
6540289eb1
Change schema order in the docs: move option to the top, move visual down.
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PiperOrigin-RevId: 627036617
Change-Id: Icb18a4afab7d549baee8ed0df89e98dfac4d6e6c
2024-04-22 07:56:26 -07:00
caf215e342
Add metallic and roughness scalar attributes to materials.
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Rename `light_radius` -> `light_bulbradius`, make the default value 0.02.
PiperOrigin-RevId: 627032170
Change-Id: I1e01e2eca028c0aefc2e7dc384e8b34abac184aa
2024-04-22 07:39:06 -07:00
0cd28d2423
Add light radius attribute.
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Also fix bug: light defaults were not being saved.
PiperOrigin-RevId: 625142278
Change-Id: I8ec3a5a06e9f314e98b7c34346db3c24b34d7e0b
2024-04-15 17:55:15 -07:00
366041756d
Add note about segmentation images to offsamples documentation.
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PiperOrigin-RevId: 622830327
Change-Id: I8e15ce65babc86086335b0f9010db5be581460fc
2024-04-08 06:51:22 -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
47ba72ea59
Add actuatorgravcomp joint attribute, to treat gravity compensation forces as applied by actuators, rather than passive buoyancy.
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PiperOrigin-RevId: 620049593
Change-Id: I2c8a9dc152c087b408e4f904838034271a7dd910
2024-03-28 14:01:52 -07:00
4f0293c6cb
Added support for msh2.2
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Now we can load flex with format 2.2 binary and ASCII.
There are two different parsing strategies. One for gmsh app and the other is for ftetwild.
Used the shark model from Scanned Objects by Google Research:
https://app.gazebosim.org/GoogleResearch/fuel/models/Weisshai_Great_White_Shark
PiperOrigin-RevId: 619229499
Change-Id: I6eb876afcbc8a00631914b093c45bde10c0caaf6
2024-03-26 10:12:13 -07:00
adc4b92c1b
Document nonlinear least-squares tutorial.
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PiperOrigin-RevId: 615496587
Change-Id: I97975a4dc99a599afd1eb6964d0ca0cf3d9fcc0e
2024-03-13 11:56:42 -07:00
bda03af49a
Add childclass support to frames.
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PiperOrigin-RevId: 615487831
Change-Id: I0e4d2efd52211701b4286a0b0de84424470a3a47
2024-03-13 11:31:22 -07:00
c4562ac61b
Cleanup asset/mesh in XML doc.
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PiperOrigin-RevId: 615156721
Change-Id: Ia2a6051506f9b3f4f2d7919893381f40f3e037df
2024-03-12 13:40:40 -07:00
05150546e3
Add inheritrange attribute to position and intvelocity actuators.
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PiperOrigin-RevId: 607650147
Change-Id: Ibc1846f89179786d4f93435c3924687b4c5d1432
2024-02-16 04:42:44 -08:00
72cf304e2b
Improve documentation of mesh pre-processing.
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PiperOrigin-RevId: 606268723
Change-Id: I1d939cbb214036ab477e12ae3fd266a25ff89399
2024-02-12 09:04:18 -08:00
4ad1dc4b84
Mention the roles of "center" and "extent" in visual/global/{azimuth,elevation}. Fixes #1407 .
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PiperOrigin-RevId: 605649532
Change-Id: I0ca0142a3c164a502fefb6b91d204c4bb3d25a95
2024-02-09 09:22:50 -08:00
55cbbd00af
Merge pull request #1381 from ryanwhite04:patch-1
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PiperOrigin-RevId: 604293006
Change-Id: Ic81506e82c11c789df95e688ca590769aa88d964
2024-02-05 05:57:19 -08:00
2bbf5424e4
Improve option/actuatorgroupdisable documentation.
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PiperOrigin-RevId: 604266156
Change-Id: I7fd112085fc46214173628db8ebfd295e13df342
2024-02-05 03:26:52 -08:00
ced37ffbb2
Add refsite to list of non-defaultable attributes.
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PiperOrigin-RevId: 604195547
Change-Id: Id14b5b571e320f995a38d2ad16f3325c70d37d78
2024-02-04 20:47:23 -08:00
38b441b777
Update XMLreference.rst
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eq_active is a member of mjData, not mjModel
2024-01-31 19:45:19 +08:00
e143b3dbc0
Allow height-field elevation data to be specified in XML.
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PiperOrigin-RevId: 602374498
Change-Id: I2d3364d68876a35799b24aca1051e2f5aebdda75
2024-01-29 06:59:28 -08:00
e6847f843d
Copybara import of the project:
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--
18821cb87ded727ef38e1bac8ba8561b19632899 by josephrocca <1167575+josephrocca@users.noreply.github.com >:
Ellipsoid has 3 sizes rather than one
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/1374 from josephrocca:patch-1 18821cb87ded727ef38e1bac8ba8561b19632899
PiperOrigin-RevId: 602370557
Change-Id: I014226a1cbae926c8ad02f27b706fa0b3e8f2c8e
2024-01-29 06:39:53 -08:00
70021a7236
Improve ordering of asset documentation, sort by category and usefulness.
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- Old: texture, hfield, mesh, skin, material.
- New: mesh, hfield, skin, texture, material.
Rationale: First 3D assets, then surface assets. Mesh is the most common asset type. Materials reference textures so should come right after.
PiperOrigin-RevId: 602075615
Change-Id: I13e4404640184fb0717a442827cd76da31705648
2024-01-27 17:24:31 -08:00
fea7c10b95
Add bvhactive flag to visual/global. Fixes #1279 .
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PiperOrigin-RevId: 599778272
Change-Id: If5530629035cc68b198447503388f59a04041b13
2024-01-19 02:59:56 -08:00
3c1907e678
Fix rendering of links in documentation.
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PiperOrigin-RevId: 598855374
Change-Id: I19c1ef73d23f0c2fedb8f0a6754bb9edd91f4c20
2024-01-16 08:54:38 -08:00
1e2e0b3053
Remove all visual-only assets if discardvisual is selected, not only the geoms.
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PiperOrigin-RevId: 598598250
Change-Id: I12e60ce41ad436d037b4877d197decf6bdce0fc8
2024-01-15 06:39:25 -08:00
Kyle Bayes