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Author SHA1 Message Date
Goncalo Gordo 5faff169b7 Update simulation params in MJX's tutorial 2024-08-29 14:39:08 +01:00
Goncalo Gordo ee731506d7 Update params in humanoid's training 2024-08-29 14:37:38 +01:00
Taylor Howell 646455406c Fix changelog by moving bug fix to proper section. 
PiperOrigin-RevId: 668435872
Change-Id: I9042eb3f119cc778675944e7cfb8f6be0e9379b2
 2024-08-28 07:07:11 -07:00
Yuval Tassa f3cfe7a84a Minor clean up in mj_jac. 
PiperOrigin-RevId: 668395751
Change-Id: I5c3104ad59a5a709cf1639df663c864fa9d02399
 2024-08-28 04:45:40 -07:00
Taylor Howell 3e701b2125 Fix tendon sphere wrapping when using external sidesite. 
PiperOrigin-RevId: 668391942
Change-Id: I78b44e1f90bb26fa6f5544eeb884c8ea22e41d33
 2024-08-28 04:30:07 -07:00
Yuval Tassa 72a0ab145d Refactor frustum drawing to use a local makeTriangle function. 
PiperOrigin-RevId: 668168658
Change-Id: I0ee9038c36eb28e2c4a0a8c94bea7430f68c6b77
 2024-08-27 15:42:31 -07:00
Kyle Bayes ddb29e9293 Fix bug in computing pos in EPA by replacing S2D with computing affine coordinates directly to recover the witness points. 
PiperOrigin-RevId: 668006152
Change-Id: I1de33c5bb94de1a14523a88a5dff7d6ec984628e
 2024-08-27 08:55:40 -07:00
Kyle Bayes cad8ca6ffd Do pre-checking when creating initial polytope for EPA. 
PiperOrigin-RevId: 666807572
Change-Id: I64c3715dc72c24f9b6b2206b3568951bd8c2384a
 2024-08-23 08:37:34 -07:00
Yuval Tassa 9d4f8edad9 Avoid pointer access in loop conditionals in engine_core_smooth.c 
PiperOrigin-RevId: 666800203
Change-Id: Iec6ce752d0cac1a98809ab085ed8f94416f79e95
 2024-08-23 08:13:52 -07:00
Kyle Bayes d360ea1ce6 Minor GJK + EPA improvements: 
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
Alessio Quaglino 505d01a1c1 Add error handling to mj_recompile. 
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
Yuval Tassa 088079eff0 Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations. 
PiperOrigin-RevId: 666438658
Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463
 2024-08-22 12:01:54 -07:00
Yuval Tassa abe57c234b Use bullets instead of numbering in latest changelog 
PiperOrigin-RevId: 666335980
Change-Id: Ifbeba31e34e9891f4d0791aa4b014d1fa1403398
 2024-08-22 07:10:47 -07:00
Yuval Tassa 2efbd31762 Add mjSAMEFRAME_BODYROT and mjSAMEFRAME_INERTIAROT frame alignment shortcuts. 
PiperOrigin-RevId: 666318799
Change-Id: I0af1824d2bd9eaca7b48a9e33e09f873dd33b22d
 2024-08-22 06:08:25 -07:00
Yuval Tassa 8b03daa09b Add mjtSameFrame enum to specify frame alignment of bodies with their children. 
PiperOrigin-RevId: 666303674
Change-Id: I53dc56e1ca52afa280ae5abaf4158edc465fb1e0
 2024-08-22 05:17:06 -07:00
Taylor Howell a2649d6cec Add efc_margin to MJX. 
PiperOrigin-RevId: 666273240
Change-Id: I12d6cc0d3edd3c3faff5a876335910b42e9cc9bf
 2024-08-22 03:27:02 -07:00
Nimrod Gileadi f75ead2203 Improve the build instructions for mac. 
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
Taylor Howell b2174a7ec3 Add framequat sensor to MJX. 
PiperOrigin-RevId: 666254481
Change-Id: I50be8574e1e4677ef5dc23a2bdcbc296f301d7fc
 2024-08-22 02:21:20 -07:00
Taylor Howell b42780a5f4 Add subtree_vel function to MJX. This function matches mj_subtreeVel. 
PiperOrigin-RevId: 666078305
Change-Id: Ia0ecbf8279e914f49ee60b862541d697e8d4abb1
 2024-08-21 16:21:57 -07:00
Copybara-Service e76168141a Merge pull request #1914 from google-deepmind:dependabot/pip/mjx/zipp-3.19.1 
PiperOrigin-RevId: 665892706
Change-Id: Ib9891d5bb75560251d9eb0dac8100e04ca06f54f
 2024-08-21 08:35:00 -07:00
Taylor Howell 806b8c8e2e Add support for actuatorfrc and jointactfrc sensors in MJX. 
PiperOrigin-RevId: 665804850
Change-Id: I99371fc4da055382f1564b2c67d25f7b30a0a0cf
 2024-08-21 03:46:26 -07:00
Kyle Bayes f986a52e1e Compute witness points from EPA, and use witness points to determine pos and dir for contact. 
PiperOrigin-RevId: 665791337
Change-Id: If33ca1f455804c4cda534508803f5c3e99c3c52a
 2024-08-21 03:06:17 -07:00
Yuval Tassa cf3e60f9a4 Fix load time reporting in simulate. 
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
Yuval Tassa ad9cd7301e Correctly apply frame transform to light direction. 
PiperOrigin-RevId: 665340267
Change-Id: Ida16ddbf3a057ffd3e260b71180a45acbf749931
 2024-08-20 06:48:11 -07:00
dependabot[bot] 029fbd5172 Bump zipp from 3.17.0 to 3.19.1 in /mjx 
Bumps [zipp](https://github.com/jaraco/zipp) from 3.17.0 to 3.19.1.
- [Release notes](https://github.com/jaraco/zipp/releases)
- [Changelog](https://github.com/jaraco/zipp/blob/main/NEWS.rst)
- [Commits](https://github.com/jaraco/zipp/compare/v3.17.0...v3.19.1)

---
updated-dependencies:
- dependency-name: zipp
  dependency-type: direct:production
...

Signed-off-by: dependabot[bot] <support@github.com>
 2024-08-20 12:13:10 +00:00
Copybara-Service 2425358c3b Merge pull request #1796 from google-deepmind:dependabot/pip/python/zipp-3.19.1 
PiperOrigin-RevId: 665308489
Change-Id: I2db78ac1445cd12a3a4c0ea5d8f4f4fa2403517f
 2024-08-20 05:11:29 -07:00
Erik Frey a68141eeff Implicitfast integration for MJX. 
PiperOrigin-RevId: 664889120
Change-Id: Id3bd3916fe821ab2af79c52e53e14837ae829b2a
 2024-08-19 11:12:36 -07:00
Yuval Tassa 5d91231d31 Rename mjBuffer to mjByteVec. 
PiperOrigin-RevId: 664872558
Change-Id: I7b003374c390958667635fb21089faf2ece54b14
 2024-08-19 10:40:26 -07:00
Yuval Tassa 4aab00fa2d Minor cleanups to body and joint compilers. 
PiperOrigin-RevId: 664824939
Change-Id: I6014ff10683849e2926f1b1c8df8b6862192cd00
 2024-08-19 08:43:10 -07:00
Yuval Tassa 0fa39164f7 Speed up mesh support function with warmstarts. 
PiperOrigin-RevId: 664807396
Change-Id: I9124e65efd9140a8e858b7b6be0867c26961477b
 2024-08-19 07:54:50 -07:00
Taylor Howell 6241814ad7 Add velocity-dependent sensors to MJX. Includes: joint velocity, actuator velocity, and ball joint angular velocity. 
PiperOrigin-RevId: 664461284
Change-Id: I5063f662d707fbe342493f9cd7993f009fac9c76
 2024-08-18 08:47:35 -07:00
Taylor Howell 6a12787a32 Add camera projection sensor to MJX. 
PiperOrigin-RevId: 664426007
Change-Id: I0f2681c156b12ab62503d45beb2cd8752e7202d6
 2024-08-18 05:57:33 -07:00
Taylor Howell 51733c2a8a Add rangefinder sensor to MJX. 
PiperOrigin-RevId: 664417458
Change-Id: I1ad7720e48541349f155984584314b2b49ccbf36
 2024-08-18 05:15:58 -07:00
Taylor Howell 6acf40613d Add support for disabling MJX sensors. 
PiperOrigin-RevId: 664410169
Change-Id: Icb278e9d7a9a493d5a61ab04c1300d8e412d0e83
 2024-08-18 04:41:24 -07:00
Kyle Bayes 0bffd744f9 Add nativeccd flag. When this flag is enabled, general convex collision detection is handled natively, as opposed to using libccd. 
PiperOrigin-RevId: 663859009
Change-Id: Ife18bb1de62f2154e4725fdf764484a18586b836
 2024-08-16 14:08:35 -07:00
Erik Frey 390bce2352 Avoid placing arrays on device for unused MJX fields. Add `device` parameter to mjx.make_data. 
PiperOrigin-RevId: 663808411
Change-Id: Ic55875f87f5c36b9dfe21e5ed5891d64c7003cab
 2024-08-16 12:02:21 -07:00
Taylor Howell ce9c0ea351 Modify MJX sensor_pos to handle unsupported sensors. 
PiperOrigin-RevId: 663768186
Change-Id: I2e7600e77855a96a47f012fb64b6cc43abbf6f64
 2024-08-16 10:10:37 -07:00
Yuval Tassa 4d9305fbb9 Fix typo. 
PiperOrigin-RevId: 663728400
Change-Id: Ifaf266a515bacb7b1598d14eb435561cb2375224
 2024-08-16 07:45:38 -07:00
Yuval Tassa f864108c23 using for std::{string, string_view}, where helpful for readibility. 
PiperOrigin-RevId: 663707900
Change-Id: Icbea374d5f99c7d267140d83f541f0ee872de8c1
 2024-08-16 06:14:54 -07:00
Yuval Tassa e0e08aa597 Rename xml_native_writer variables to be consistent with xml_native_reader. 
PiperOrigin-RevId: 663699130
Change-Id: If11ed48d3b30d3c6d09ca77e3d8048c2a3d9f054
 2024-08-16 05:34:30 -07:00
Alessio Quaglino cfc7dc9848 Clarify that keyframes are not replicated in nested attachments. 
PiperOrigin-RevId: 663683684
Change-Id: Id180b3a6afad6809d8189a7a525c474bd3a91fc1
 2024-08-16 04:22:21 -07:00
Yuval Tassa 0bcaa85650 Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit integrators, wrong derivatives would be computed. 
PiperOrigin-RevId: 663680592
Change-Id: I5d72888cab19dd5e51f552f63fe0968db93f5dcd
 2024-08-16 04:07:23 -07:00
Taylor Howell 6db96e07e4 Add position-dependent sensors to MJX: magnetometer, ballquat, subtreecom, framepos, framexaxis, frameyaxis, framezaxis, and clock. 
PiperOrigin-RevId: 663668212
Change-Id: Ifc9adc6bff4544172ab22572da04a093aebfdbd4
 2024-08-16 03:10:24 -07:00
Copybara-Service 6c76678167 Merge pull request #1906 from michael-ahn:fix-face-circumradius 
PiperOrigin-RevId: 663667230
Change-Id: I61774565c2e453f9a25f1c81e3e898f2f22fd554
 2024-08-16 03:06:24 -07:00
Michael Ahn 9924d9ca89 Fixed incorrect mesh face circumradius calculation 
- In 8e2f830, this was changed from `mju_norm3` to `mjuu_normvec`, but the
  latter will mutate its input to be normalized instead of just
returning the norm (the former was likely mistaken as `mju_normalize3`
which does mutate its input).
 2024-08-15 20:53:57 -07:00
Taylor Howell a74c184f9d Add efc_pos to MJX. 
fixes #1388

PiperOrigin-RevId: 663358494
Change-Id: I63885f9208d12edbaa4b7d123ce4c6d16f40dcbe
 2024-08-15 10:33:44 -07:00
Alessio Quaglino e0e134ca63 Add plugin tests for mjSpec. 
Fixes #1903.

PiperOrigin-RevId: 663352920
Change-Id: I3a9e17aec5694e49c20b542f4b0a4402f88a2f17
 2024-08-15 10:19:53 -07:00
Kyle Bayes 64575f399b Add heightfield collision support for GJK + EPA implementation. 
PiperOrigin-RevId: 663321119
Change-Id: I01a85ae15386c997bff4e9c6d71555a4380dfffe
 2024-08-15 08:50:09 -07:00
Alessio Quaglino 4b88e9bebf Do not delete keyframes during mjs_detachBody. 
PiperOrigin-RevId: 663281082
Change-Id: I6eedf8c5a3a422bcd78086f2fe30c2099f0b9d16
 2024-08-15 06:10:43 -07:00
Yuval Tassa b2018ff506 Replace function with static array in engine_forward.c 
PiperOrigin-RevId: 663268322
Change-Id: Ibd161a8eda55fc04cf37e465f0d0ac0adcfc7847
 2024-08-15 05:11:38 -07:00