70952f5f1c
Updates to README
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PiperOrigin-RevId: 556018026
Change-Id: I1feee93727a92079905d80288b5fd706e3ce800c
2023-08-11 11:07:15 -07:00
93012bf164
Remove legacy MacOS support in mju_alignedMalloc. As of MuJoCo 2.3.7, MacOS 11 is the oldest supported version of MacOS.
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PiperOrigin-RevId: 555090388
Change-Id: I57d7abf17952da250f1165f24dfcbb112aea92f9
2023-08-09 01:58:10 -07:00
631b16e7ad
Add better user error messages to Python renderer update_scene along with missing unit tests.
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PiperOrigin-RevId: 554482720
Change-Id: Ief3ba496fb5720668f98fb9d44a5c82e6a14b9cc
2023-08-07 08:22:34 -07:00
2d7d5319f7
Rework sparse addM function to support compressed sparse matrices.
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Note:
- M is still a nv x nv uncompressed sparse matrix.
- NNZ precounting still needs to be implemented using the combineSparseCount helper function.
PiperOrigin-RevId: 554452710
Change-Id: I14adf58fc3acd4ed82d864d7c2e9e96ee6b0377d
2023-08-07 06:07:24 -07:00
6d7b49ccf5
Remove collision pruning statistics from simulate info panel.
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PiperOrigin-RevId: 554452244
Change-Id: I4f9f1d5e38d4b4bc37b5a2f0980b352db04a73c6
2023-08-07 06:05:13 -07:00
574ae6ab91
Add an actuator with actearly and dyntype="filterexact" to the test model.
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PiperOrigin-RevId: 554441792
Change-Id: Ibd67b2516bf0f01417936ce183856756885002c2
2023-08-07 05:08:46 -07:00
2c3297b3e7
Add filterexact and actearly options to MuJoCo.
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When filterexact is a new dyntype which is just like the existing `filter`, but the activation state is integrated with exact integration, instead of simple Euler integration.
When actearly is specified on a general actuator, `qfrc_actuator` is computed using the next timestep's `act` value, instead of the current value.
PiperOrigin-RevId: 554438423
Change-Id: If901e4988fa6b518d6f3097f149770665a189a4b
2023-08-07 04:50:33 -07:00
f0f535ed04
Improve order and clarify declarations of arena variables in mjdata.h
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PiperOrigin-RevId: 554419319
Change-Id: I83b83c56be4b74060f4a108c35ce481b8f354c5e
2023-08-07 03:07:11 -07:00
4a519b9dd8
Raise an error if invalid camera name is provided to renderer update_scene. Fixes #870 .
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PiperOrigin-RevId: 553211464
Change-Id: I00ab01a9929160dd40a2a789b104a8a6ed0d5a61
2023-08-02 11:46:37 -07:00
a063e2f0ef
Add private functions and associated tests related to constraint island discovery.
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PiperOrigin-RevId: 553156672
Change-Id: Ifd73e3df443f7955359c5243d5f7756069335c05
2023-08-02 08:43:11 -07:00
efca1a76aa
Encapsulate mjCMesh data, apply Google C++ naming convention to class members (See https://google.github.io/styleguide/cppguide.html#Variable_Names ), and fix a couple of typos.
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PiperOrigin-RevId: 553129088
Change-Id: Ic515154220af472f4fc90ca9ade92d86b205cc94
2023-08-02 16:07:44 +01:00
dac34c91bb
Set tendon_invweight0=0 for models with no dofs.
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PiperOrigin-RevId: 551851674
Change-Id: I9d2fd1728b4b654e5bb91ac8f0d203e275b7b93a
2023-07-28 07:54:08 -07:00
455a081ee7
Cache triangles, vertices and normals from the mesh outside of the triangle loop so we don't have to request them inside the loop.
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This is because each time we call mesh.triangles or similar, the data gets copied from the native memory to a c# structure.
PiperOrigin-RevId: 551851115
Change-Id: Ie7820f61639f0d727ecf9716044ce18b3277913b
2023-07-28 07:50:54 -07:00
5f246ef210
Add ReadAttrVec, ReadAttrArr, ReadAttrStr, and ReadAttrNum to XML utils.
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Moving forward, the compiler objects should have encapsulated data, therefore the old ReadAttr* methods are being deprecated as they require raw pointers to read into.
No external changes other than minor improvements to ReadAttr and ReadVector.
PiperOrigin-RevId: 550880401
Change-Id: I632f40322ccd935f9af9b69e66b056c5cda6face
2023-07-25 07:31:23 -07:00
5b4b3415fa
Fix a typo: availabe -> available
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PiperOrigin-RevId: 550529748
Change-Id: I1277e096809bc4d66c98da726aa14a0cbfe18e56
2023-07-24 05:48:33 -07:00
65c827d422
Fix typo in key_callback example.
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PiperOrigin-RevId: 550013932
Change-Id: I418f49eee97e73d1b0218acc7e9259acaefb5edd
2023-07-21 12:12:53 -07:00
bbbf30ee47
Fix typo in docs.
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PiperOrigin-RevId: 549594904
Change-Id: I96c3964367081a8da0324c9989c9eb5414fa411f
2023-07-20 04:46:23 -07:00
eaf78b798b
Bump dev version number to 2.3.8.
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PiperOrigin-RevId: 549580971
Change-Id: If8be1910f0196754ce8abb8d91fe604e789ecec8
2023-07-20 03:27:50 -07:00
c9246e1f50
Release version 2.3.7.
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PiperOrigin-RevId: 549565890
Change-Id: I56db138998e43637bdde86de6490a567f0f255ec
2023-07-20 02:13:55 -07:00
06b70832ce
Add keyboard event callback for Python passive viewer.
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Fixes #766
Fixes #846
PiperOrigin-RevId: 549449372
Change-Id: I37d17f1162c66d0e8482d402aae22d9a16b59deb
2023-07-19 15:54:44 -07:00
f7847ba73e
Fix GLFW crash when Python exits while the passive viewer is running.
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Fixes #790
PiperOrigin-RevId: 549440435
Change-Id: I808f6aaab6662225e5fe1131e0da72eca6011ba9
2023-07-19 15:20:46 -07:00
8386b28877
Change "MIME type" to "Media Type".
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MIME type is the historic nomenclature for Media Type, see e.g. https://www.iana.org/assignments/media-types/media-types.xhtml .
PiperOrigin-RevId: 549394435
Change-Id: I000e044a35ec44392e9c41bab6383aa89cdefc49
2023-07-19 12:35:57 -07:00
51aa375af0
Improvements related to models where joint-actuator relationship is not one-to-one:
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- Add `joint-actuatorforcerange` for clamping total actuator force at joints. Add `sensor-jointactuatorfrc` for sensing total actuator forces on a single joint.
See [documentation](https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping ) for justification and use cases.
- Add simple car model to `model/`.
- Move actuation-related test models into `engine/testdata/actuation/`.
PiperOrigin-RevId: 549355941
Change-Id: I27f6c1f80426d73a2811ef5ae74684a228b2fbd1
2023-07-19 10:29:32 -07:00
7603b07a20
Fix broken Linux build in 5fcdae771b.
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PiperOrigin-RevId: 549338643
Change-Id: Icb2de7aa77ddb5d6c9bbf6a1140ef388ead5368c
2023-07-19 09:27:25 -07:00
5fcdae771b
Add content_type attribute that takes a MIME type to specify the file contents for meshes, hfields, and textures.
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PiperOrigin-RevId: 549302344
Change-Id: I30a8adfef5b5d87bb20479329f3396892f5137ff
2023-07-19 06:51:36 -07:00
5f327b0c31
Add missing pybind definition for update_mesh.
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PiperOrigin-RevId: 548395521
Change-Id: Id21a1ef6daa94a221062e7354db3e906611f0f36
2023-07-15 14:57:38 -07:00
ac4ed87a9f
Merge pull request #985 from thowell:main
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PiperOrigin-RevId: 548330978
Change-Id: I3e9e8e0ae55b8b56ab41ce316a1dd129029cea93
2023-07-15 03:11:56 -07:00
e695a95efb
fix mjd_transitionFD comment
2023-07-14 13:50:57 -07:00
0ccfef7314
Add update_{hfield,mesh,texture} methods to the passive viewer.
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Fixes #812 .
Fixes #958 .
Fixes #965 .
PiperOrigin-RevId: 548181282
Change-Id: I6eb0cd2ce52c66083e83dd08d69e0cfb4178dbba
2023-07-14 11:43:36 -07:00
b5bef1b639
Describe c-frame variables.
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Fixes #982 .
PiperOrigin-RevId: 548060614
Change-Id: I2164afc07c02e657b1b924a5afc59209356b57eb
2023-07-14 01:59:43 -07:00
8f3c488de8
allow specifying static bodies when parsing URDF
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PiperOrigin-RevId: 547664406
Change-Id: I4b555431d1877fb7547c6b550387cd4230c2b0c4
2023-07-12 19:42:09 -07:00
242aea93c6
Bump oldest supported MacOS to version 11.
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PiperOrigin-RevId: 547479684
Change-Id: Idb6a432af0e7872ca087a0c571aafa72e9528818
2023-07-12 06:38:26 -07:00
77b3533d90
Improve mju_cross implementation.
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- Allow in-place cross product a = a x b using `mju_cross(a, a, b)`.
- Easier for compiler to optimize since tmp cannot alias a or b (verified with godbolt).
PiperOrigin-RevId: 547265908
Change-Id: If965867e08c1bc980e71729e38f6855e32de18b2
2023-07-11 12:35:02 -07:00
e2677d6057
Check references for BVH data structure.
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PiperOrigin-RevId: 547175700
Change-Id: I10e47f0c81ad25563d1f149bf4d2310ee515b1be
2023-07-11 06:49:20 -07:00
24c1ec9aec
Add support for printing to stdout in mj_saveLastXML.
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PiperOrigin-RevId: 546849864
Change-Id: I799ea3fcd723cf036f82ef5c1ef8152c314072dc
2023-07-10 06:08:10 -07:00
5cfbb6ac8b
Add mjd_quatIntegrate, expose mjd_subQuat.
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PiperOrigin-RevId: 546252926
Change-Id: I7d6b2bd6536e7e8afc368f3c46037c20f6a1cb5e
2023-07-07 05:33:24 -07:00
7401d6786a
Add a test to check that mjData values for the world body are initialized.
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PiperOrigin-RevId: 545493742
Change-Id: I502b57450ca858b0e96823a416cd7d930fd34489
2023-07-04 12:56:56 -07:00
761649c3a3
Improvements to testspeed.cc:
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- Turn on internal profiling by default, adding "other" category.
- Print step timing in microseconds.
PiperOrigin-RevId: 545493349
Change-Id: I0cd5fea1206b3f86f1c757130169975d6862733d
2023-07-04 12:53:59 -07:00
46e06c4cac
Add elasticity plugins to xml_native_writer_test. Fixes #961 .
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PiperOrigin-RevId: 545454207
Change-Id: I4e93499eaa53e5bc8c8afa682986657cef3ac20f
2023-07-04 08:30:30 -07:00
2b38148d24
Explicitly zero out cinert of the world body.
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Values of `cinert` are only set by `mj_comPos` for body 1 and above, which leaves the values for body 0 uninitialized. This triggers a `use-of-uninitialized-value` error under msan when the entire `cinert` array is read.
PiperOrigin-RevId: 545453619
Change-Id: I7bfdb4e4e33677903fc90c6ad070490aa65bf464
2023-07-04 08:26:02 -07:00
95167fab2d
Add utility function for merging directory names with filenames, and fix issue in mj_addfileVFS where directory names without trailing filesystem separators won't append correctly.
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PiperOrigin-RevId: 545450158
Change-Id: I550394f11ac2837d35f3d869f8718a119a9eac38
2023-07-04 08:09:01 -07:00
82e85e24e5
Fix nv precounting bug for dense allocation in contact constraint.
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PiperOrigin-RevId: 545441998
Change-Id: I12951d9022d78838a67d8e1d9d80d41b73e7c29d
2023-07-04 07:26:49 -07:00
d2fc7c1139
Merge pull request #947 from Balint-H:feature/unity-export
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PiperOrigin-RevId: 545261978
Change-Id: I9b4b7eb8dc8fc58581a83435c31bd96384c11a55
2023-07-03 12:14:10 -07:00
906a8e8b27
Correct shortening of camera name in simulate.cc (for UI menu item)
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Fixes #963
PiperOrigin-RevId: 545187656
Change-Id: Ib213d693569d884915fba99f150df4fd5f53984c
2023-07-03 04:32:27 -07:00
0e4d638d11
Add exporter based on existing MjScene functionality
2023-07-02 08:55:51 +01:00
a36cb0ce3f
Merge pull request #949 from Ein04:patch-1
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PiperOrigin-RevId: 544517699
Change-Id: Ic12feb62f3e90d93b1be122a90f0a6fe062ac411
2023-06-29 18:32:37 -07:00
bce2043762
Tighten const qualifiers in collision functions.
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PiperOrigin-RevId: 543789453
Change-Id: I929c68b9100a093738c0de6c0965dab4ded1084b
2023-06-27 10:44:58 -07:00
b96532181c
Merge pull request #936 from thowell:main
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PiperOrigin-RevId: 543653302
Change-Id: I174efb329a9023199ba0267d3fcd308805ff9cd0
2023-06-26 23:59:08 -07:00
551a7bbc38
Drop support for Python 3.7.
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Python 3.7 reaches end-of-life on 27 June 2023 (https://devguide.python.org/versions/ ), and future versions of MuJoCo (after 2.3.6) will no longer support it.
PiperOrigin-RevId: 543594006
Change-Id: I66a7db3dab5d08f2fc52912c43e1532080600fc8
2023-06-26 18:05:32 -07:00
a7021df63e
Add primitive sphere-cylinder collider.
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PiperOrigin-RevId: 543586615
Change-Id: Icd47123e619f731f16dedfec25d825e44c24c036
2023-06-26 17:25:32 -07:00
Yuval Tassa