0f381a9ebd
Add muscle actuators to MJX.
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PiperOrigin-RevId: 695334356
Change-Id: I6590ed6bdd4a8adc53d5c4e2641f472f7439cedc
2024-11-11 07:46:20 -08:00
d6d3d6bb25
Fix typo in changelog.
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PiperOrigin-RevId: 694009875
Change-Id: I0ecafe467347a54b54c29c486b98516d1a53e5ea
2024-11-07 00:19:42 -08:00
f9569cdab0
Fix #2212 .
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PiperOrigin-RevId: 693294401
Change-Id: Ifef2b268f61b90f557580f61316786c50dc9698d
2024-11-05 04:17:48 -08:00
b7bbb2b25c
Update the MuJoCo changelog for the 3.2.5 release
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PiperOrigin-RevId: 693032354
Change-Id: I675424a3feeda8037a9559753dc93c05b812257c
2024-11-04 11:19:46 -08:00
298ce31e39
Update docs to highlight nativeccd
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PiperOrigin-RevId: 692918061
Change-Id: I9e44bc3123fe6b8a41b769c7de01b20e3c56d758
2024-11-04 04:34:53 -08:00
831d9881d3
Remove box, cylinder and ellipsoid composite types.
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Also, fix a bug with Flex textures that was causing an incorrect allocation of the textures in mjModel. Fixes #2013 .
PiperOrigin-RevId: 692510858
Change-Id: If781716216974e085244da27bc3aa57d91c3458c
2024-11-02 11:14:13 -07:00
b6037d1759
Improve mjSpec documentation. Fixes #2074 .
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PiperOrigin-RevId: 692251710
Change-Id: Ia46bbbe5b7eaa890433b38fed66824f716cc9ea0
2024-11-01 12:06:14 -07:00
1d58576d28
Fetch source code line links for API functions on docs client side.
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PiperOrigin-RevId: 692115441
Change-Id: Ifbedf6a4998000f99e2275cb43293b3050daf0ee
2024-11-01 03:28:53 -07:00
864b805a6e
Fix multiple bugs related to connect and weld constraints with site semantics. Fixes #2179
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The introduction of site specification to connects and welds in 3.2.3 conditionally changed the semantics of `mjData.eq_obj1id` and `mjData.eq_obj2id`. These changes were not properly propagated in several places leading to incorrect computations of constraint inertia, readings of affected force/torque sensors and runtime enabling/disabling of such constraints.
PiperOrigin-RevId: 690670420
Change-Id: I55ee8a013cbee8457f8d6c7f33c2981aedafbab6
2024-10-28 10:44:04 -07:00
3d920e6a70
Update build documentation to include instructions on how to build the docs locally.
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PiperOrigin-RevId: 690616910
Change-Id: I717988e3adc67cb6d65488d39bc804c3d4f0e3b5
2024-10-28 08:17:16 -07:00
d8494fef3b
Remove deprecated mjv_makeConnector function.
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PiperOrigin-RevId: 690563333
Change-Id: Ice9c6b6cf41de8a55fa361477f9aee9181d50184
2024-10-28 04:51:47 -07:00
3c21abc0e5
Add ray intersection with ellipsoid to MJX.
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PiperOrigin-RevId: 690557087
Change-Id: Icd2f0be1243574720baeac82b8bdd92e57c6a61c
2024-10-28 04:25:11 -07:00
7dc8aef807
Remove the convexhull compiler option.
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PiperOrigin-RevId: 690307675
Change-Id: I62d8213579ad07296ca96de004d39ae012174aa4
2024-10-27 04:31:10 -07:00
61cb552f8a
Refactor PBR texture layers from separate sub-elements to a single layer sub-element.
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Add new element to PyMJCF schema.
PiperOrigin-RevId: 690115286
Change-Id: I7bb3f184cb321ca96037b2ca0ee160efef37469d
2024-10-26 07:41:38 -07:00
f24de91cc9
Use eq_active in MJX. Fixes #2173 .
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PiperOrigin-RevId: 689549368
Change-Id: I14d9817c5ca5dfc2a735ab8bacfb11b75c9feadc
2024-10-24 16:08:14 -07:00
a3ea01e57e
Remove deprecated mju_rotVecMat and mju_rotVecMatT functions.
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PiperOrigin-RevId: 689405782
Change-Id: I0281376d5d6f5c31ea2603d61c03c7b94aaa6312
2024-10-24 09:15:23 -07:00
7620aef530
Fix typo in the changelog.
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PiperOrigin-RevId: 689058361
Change-Id: I479efa8fc0b8d31030d3f6444b874a14419f3518
2024-10-23 12:17:32 -07:00
b598d79b3f
Move mesh inertia specification from global <compiler> to <asset/mesh>.
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Three options:
- Convex: Use convex hull
- Exact: Use exact geometry (requires watertight mesh)
- Legacy: Legacy approximation (deprecated)
Fixes #2152
PiperOrigin-RevId: 688949900
Change-Id: I4537f343db917195c6fd58d517b189d5ee3be1cd
2024-10-23 07:06:31 -07:00
aa91f3c047
Fix bug in slider-crank transmission.
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The associated row in `actuator_moment` was not cleared before being updated.
PiperOrigin-RevId: 688207085
Change-Id: I2f925e984c5c493e64ead66667aef57c4844acfe
2024-10-21 11:21:15 -07:00
b00a7c6705
Add touch sensor to MJX.
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PiperOrigin-RevId: 688056696
Change-Id: I50b0ebf3141aab0a5b07e5ae770101ff8b7737d4
2024-10-21 02:48:36 -07:00
680fb3e5dd
Add more public support functions for MJX.
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PiperOrigin-RevId: 687469475
Change-Id: I4218cc2f6d51d3f2f63b1a9a96953d550a5503a5
2024-10-18 17:15:18 -07:00
d1e004aa97
Update version hashes in MuJoCo CMake files ahead of the 3.2.4 release.
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PiperOrigin-RevId: 686208889
Change-Id: I19d3e6566e76c44e199f427aed984b9a530f4262
2024-10-15 13:03:13 -07:00
d646ba8de1
Update MuJoCo changelog with a video of the 100_humanoids model.
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Improve the model's rendering FPS by reducing the number of shadow-casting lights from 7 to 2.
https://youtu.be/e8lUuykQPGs
PiperOrigin-RevId: 686118052
Change-Id: If376564fdc23ad8d754dac1e5825079c0b806063
2024-10-15 08:40:06 -07:00
096853e192
Add JOINTINPARENT actuator transmission type to MJX.
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PiperOrigin-RevId: 686083761
Change-Id: I5159d050812d32e15ced06df132d3e434fced814
2024-10-15 06:38:02 -07:00
6881ce2437
Remove support for Python 3.8.
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Python 3.8 has been deprecated upstream, and any tests depending on Homebrew already stopped working. Following our support policy, we are removing support for 3.8 from our packages, too.
PiperOrigin-RevId: 686012836
Change-Id: Ibd220eb9c10e9a74bbd4443c1d7286a1fde9e5e5
2024-10-15 01:54:18 -07:00
8d84b5f693
Disable hfields for collision sensors.
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PiperOrigin-RevId: 685730321
Change-Id: Ib1d4a90b7b31ca388e018076a274e25c40409080
2024-10-14 09:19:11 -07:00
ac91a7639d
Add tendon velocity sensor to MJX.
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PiperOrigin-RevId: 685689974
Change-Id: Ib5e65b19c20b74e20cffa66c6baca0d8faaaf3ae
2024-10-14 06:47:59 -07:00
1945926351
Fix computation of tangential contact forces in MJX _decode_pyramid.
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PiperOrigin-RevId: 685665382
Change-Id: Icdbba4a3ee5fec804340d73d525a36ee570c2aa8
2024-10-14 05:01:00 -07:00
223892c051
Add tendon position sensor to MJX.
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PiperOrigin-RevId: 684851437
Change-Id: Ica0a30762a9cb3d612357b40b6f87cd2fc544fdb
2024-10-11 08:47:52 -07:00
2dd518734f
Stop over-allocating memory in Newton solver.
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PiperOrigin-RevId: 684797464
Change-Id: I3389416cb69a8564b5119f6e3944b579893ea511
2024-10-11 05:09:33 -07:00
22e4f7fc31
Fix bug in MJX frictionloss.
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PiperOrigin-RevId: 684198925
Change-Id: I5f6575759729712550bcb8d7659aaa7a657c66fc
2024-10-09 15:50:58 -07:00
fa22e6d001
Add sphere-ellipsoid, sphere-cylinder. #2126
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PiperOrigin-RevId: 683747371
Change-Id: Ic11803bb395944380d25ce848d9fbcf19afaad77
2024-10-08 13:37:00 -07:00
160ed9bfe2
Add pulley support to spatial tendons in MJX.
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PiperOrigin-RevId: 683103659
Change-Id: I22544071a3fc6fbd09f9a59690106701b101ee6a
2024-10-07 03:00:53 -07:00
c7c2edf758
Add external sphere and cylinder wrapping for spatial tendons to MJX.
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PiperOrigin-RevId: 681808698
Change-Id: I37612e2c6b781b759f9009e1bc6ae10b4e861c8d
2024-10-03 03:56:24 -07:00
1a9d307042
Use mocap pos/quat in smooth.kinematics.
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PiperOrigin-RevId: 681136974
Change-Id: I0ece009ed1e68b61b0b96da2e685e86000f7f6b8
2024-10-01 13:12:33 -07:00
6832df3091
Replace mjs_setActivePlugins with mjs_activatePlugin.
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PiperOrigin-RevId: 680613007
Change-Id: Ic03e0dc42a1f5f083e313672bc6e3ccebadc58b3
2024-09-30 09:46:47 -07:00
5838f84777
Fix bug where MJX data tendon fields are incorrect after calling put_data.
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PiperOrigin-RevId: 677911639
Change-Id: I75f536fa348e2941d9ec2d454f475cd067e6d3af
2024-09-23 13:12:49 -07:00
ab3954d892
Set actuator_force in MJX. Fixes #2068 .
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PiperOrigin-RevId: 676867005
Change-Id: I80514a050ff40cb6d43a95b74c4a36c4991db588
2024-09-20 09:16:55 -07:00
4998e7b392
Move flex damping to the engine and remove membrane and solid plugins.
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PiperOrigin-RevId: 676434954
Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
2024-09-19 09:01:30 -07:00
ebcffaf121
Improve wording of changelog item.
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PiperOrigin-RevId: 675176166
Change-Id: I3b902efcc618e5121fea33f9a746df57a3979710
2024-09-16 09:22:26 -07:00
f9401776d4
Add framelinacc and frameangacc sensors to MJX.
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PiperOrigin-RevId: 675141513
Change-Id: Ie38dba3e8be82e0554c7c9e47c6d07f3cdad29b8
2024-09-16 07:34:16 -07:00
9d73211757
Add force and torque sensors to MJX.
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PiperOrigin-RevId: 675130978
Change-Id: I8a3b925c57f317aebc0c345578cebeb4210dc11d
2024-09-16 06:57:00 -07:00
60a1921b34
Add site semantics to weld constraint. Fixes #1896
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PiperOrigin-RevId: 675112981
Change-Id: Ie4c01440d54116075df89f480591700762892cbd
2024-09-16 05:46:01 -07:00
dde25d039b
Update Mujoco dependencies to latest versions.
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PiperOrigin-RevId: 674003245
Change-Id: Ib758fa361cb34a786dcd3d55fbf3e5a459b75a3f
2024-09-12 14:10:21 -07:00
577afd1e28
Improve wording of some items in the changelog.
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PiperOrigin-RevId: 673890612
Change-Id: I731f9afcd5ec5f54f7ddc318dcea238f08d7a6bf
2024-09-12 09:54:15 -07:00
e3d3a24b36
Add spatial tendons with site wrapping to MJX.
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PiperOrigin-RevId: 673783473
Change-Id: I09b13787e3e0914c8de21d81db0347c4638b2f1d
2024-09-12 04:17:16 -07:00
567793c26f
Store model paths in assets.
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This enables to preserve the paths of the child spec during `attach`.
PiperOrigin-RevId: 673349237
Change-Id: Ibf075c7ec037ff5d540bc60d6e77c12f60269791
2024-09-11 05:20:14 -07:00
4e3dc14f8e
Remove model/humanoid100/humanoid100.xml (used <include>), replace with model/humanoid/humanoid100.xml (uses <attach>)
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PiperOrigin-RevId: 673123895
Change-Id: I0c3c6dac69d9fc12a6ea76d586c34503fc167bad
2024-09-10 15:14:04 -07:00
4862b9e765
Remove plugin support from Composite particles.
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This functionality is replaced by FlexComp.
PiperOrigin-RevId: 672503965
Change-Id: I58953267de285f82e416f9f60576a336b7d0da4c
2024-09-09 04:58:26 -07:00
fa156ed22f
Add accelerometer to MJX.
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PiperOrigin-RevId: 671355424
Change-Id: I8593bcad6ba311f3c555b118889e2a5c6b367ec7
2024-09-05 06:57:09 -07:00
Taylor Howell