 Yuval Tassa
|
70a7647ad9
|
Add <dcmotor> actuator and related docs and tests.
PiperOrigin-RevId: 892927987
Change-Id: I38ed6412801341ba03ddf5fe7b93a6081df24d37
|
2026-04-01 07:50:23 -07:00 |
|
|
Alessio Quaglino
|
713b5524bc
|
Introduces a new "strain" equality mode (flex_edgeequality = 3) for flexcomps with trilinear interpolation. This mode enforces constraints on the three invariants of the Green-Lagrange strain tensor at 8 Gauss quadrature points within each flex element, resulting in 24 equality constraints per flexcomp.
Also fixes a bug when attaching a flex with constraints.
PiperOrigin-RevId: 881349765
Change-Id: I8e6df8239488bfdc87d7e5b473568975e38c737e
|
2026-03-10 04:26:07 -07:00 |
|
|
Alessio Quaglino
|
7da271c687
|
Add vertex equality option.
PiperOrigin-RevId: 860299454
Change-Id: I7befd8e5f4c8bac6d74684a96a9cc3cee9ae1e29
|
2026-01-23 16:30:05 -08:00 |
|
|
Haroon Qureshi
|
da36e822a8
|
Allow material default classes to define texture layers.
PiperOrigin-RevId: 840254100
Change-Id: I59f67fc4d1485cf80bbc005d1b35cda6224248ed
|
2025-12-04 08:22:55 -08:00 |
|
|
Kyle Bayes
|
8b9fa2674c
|
Use std::vector instead of array in MJCF schema.
PiperOrigin-RevId: 831787681
Change-Id: I8093b8b10260daecb830e49319eda798e2dd2da5
|
2025-11-13 03:41:54 -08:00 |
|
|
Alessio Quaglino
|
51babec9c5
|
Move tactile sensor to the engine.
PiperOrigin-RevId: 788863133
Change-Id: I3172ebb7641fa8146469da25cba7db794760e7b1
|
2025-07-30 05:27:44 -07:00 |
|
|
Yuval Tassa
|
d0e4771c8c
|
Add contact sensor.
PiperOrigin-RevId: 783011982
Change-Id: Ica56fe9d520fa1d1ee7338e09148b1a55a049912
|
2025-07-14 13:03:35 -07:00 |
|
|
Yuval Tassa
|
e6c5715903
|
Add insidesite sensor for detecting when an object is inside the volume of a site.
PiperOrigin-RevId: 780993257
Change-Id: I2dcfc840d222680adc3b934344a0819f4d78b6eb
|
2025-07-09 04:56:42 -07:00 |
|
|
Yuval Tassa
|
e01c4b454a
|
Rename variables to avoid shadowing in xml_native_reader.cc
PiperOrigin-RevId: 780135233
Change-Id: I509ac6a0807e102ad8749f81562ad45bf4c04335
|
2025-07-07 09:10:02 -07:00 |
|
|
Sam Haves
|
a0614fff1f
|
Fix tinyxml2 includes.
PiperOrigin-RevId: 775204246
Change-Id: Ia5c692eb29b2a670cb01e3efdeb85fd6e1474b99
|
2025-06-24 06:18:00 -07:00 |
|
|
Taylor Howell
|
96dda6ea75
|
Add tendon actuator force limits and tendon actuator force sensor.
PiperOrigin-RevId: 745096883
Change-Id: Ib9acb727fbbfc6b0b0323ee6a889053a7a878056
|
2025-04-08 05:16:35 -07:00 |
|
|
Alessio Quaglino
|
5c955b8fe2
|
Add frame support to the cable composite.
Also cleanup user_composite.cc includes.
PiperOrigin-RevId: 740730596
Change-Id: I05df59926d8e61de45fd6b2a3a63121b7a390448
|
2025-03-26 05:36:36 -07:00 |
|
|
Alessio Quaglino
|
c52d1b3941
|
Remove the particle composite (replaced by replicate).
PiperOrigin-RevId: 730089997
Change-Id: If8d18fb56ae01241e76f84dbf7951e034026d829
|
2025-02-23 03:14:11 -08:00 |
|
|
Yuval Tassa
|
240a7afdee
|
Add sensors for potential and kinetic energy.
PiperOrigin-RevId: 716775375
Change-Id: Ic8ab7f1a51df970ab551dabe7c797cde13cd97fd
|
2025-01-17 13:10:12 -08:00 |
|
|
Alessio Quaglino
|
ebe60b9ad5
|
Add const to mjsDefault when used as function argument.
Fixes #2197.
PiperOrigin-RevId: 692346264
Change-Id: Iddb9be1377a7d59c86911802d8c5563f6bf6b043
|
2024-11-01 18:18:42 -07:00 |
|
|
Yuval Tassa
|
61cb552f8a
|
Refactor PBR texture layers from separate sub-elements to a single layer sub-element.
Add new element to PyMJCF schema.
PiperOrigin-RevId: 690115286
Change-Id: I7bb3f184cb321ca96037b2ca0ee160efef37469d
|
2024-10-26 07:41:38 -07:00 |
|
|
Alessio Quaglino
|
b15de2c951
|
Add elasticity parameters to the schema.
PiperOrigin-RevId: 675115200
Change-Id: Ic6608ce61cbb857dca71b3d9cbdac057e8f1ac7a
|
2024-09-16 05:56:36 -07:00 |
|
|
Kyle Bayes
|
5ac5cfb618
|
Support directories in VFS via mj_addBufferVFS.
PiperOrigin-RevId: 655286683
Change-Id: I846376a0571d8df28d979beb5981a0cbccd7a04f
|
2024-07-23 13:39:18 -07:00 |
|
|
Kyle Bayes
|
2746cb8559
|
Support FilePaths instead of raw strings in XML code.
PiperOrigin-RevId: 655177026
Change-Id: I55b055551384b01ba7a4baa5d75fbe3329b7d25d
|
2024-07-23 08:36:53 -07:00 |
|
|
Tom Erez
|
33e5960653
|
Allow multiple textures per material in MJCF.
PiperOrigin-RevId: 654795013
Change-Id: I418b72533484d00accaf801a342aa183e602a2d0
|
2024-07-22 09:57:51 -07:00 |
|
|
Alessio Quaglino
|
27b9ddda5b
|
Add attach tag to MJCF.
PiperOrigin-RevId: 651117953
Change-Id: I57b0e53ed44607d479b3785d908e0837c0804cf3
|
2024-07-10 12:41:43 -07:00 |
|
|
Alessio Quaglino
|
6be4e0697e
|
Simplify mjs_addDefault.
PiperOrigin-RevId: 646534046
Change-Id: I658224e4800849231e68ed02d8fad07b8d796231
|
2024-06-25 10:51:57 -07:00 |
|
|
Alessio Quaglino
|
7a06bcfdaf
|
Make model editing API public, fixes #364
Still missing:
- Detailed documentation.
- Python bindings.
PiperOrigin-RevId: 641445626
Change-Id: I20e67b707cf1bebae7e0cc94d17f7b76a89171f0
|
2024-06-07 22:28:01 -07:00 |
|
|
Yuval Tassa
|
02d015458c
|
Add mj_geomDistance API function and sensors for geometric distance, normal direction and segment between between two geoms. Fixes #51
PiperOrigin-RevId: 632458301
Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
|
2024-05-10 04:52:43 -07:00 |
|
|
Yuval Tassa
|
62bc837b4c
|
Rename remaining model to spec in xml/
PiperOrigin-RevId: 630855094
Change-Id: Ib921fe43b9b5a5a64867ef4c8c1cca217c27a5aa
|
2024-05-05 12:03:49 -07:00 |
|
|
Yuval Tassa
|
4d2aa46e56
|
Rename mjmDefault -> mjsDefault
PiperOrigin-RevId: 619180662
Change-Id: Id7cedf82fbb022f08accc7c9a547495ed8eecba0
|
2024-03-26 07:20:03 -07:00 |
|
|
Yuval Tassa
|
4660a297d1
|
rename mjspec api structs and functions mjm -> mjs
PiperOrigin-RevId: 618017976
Change-Id: I5f790167e5ca670f8d5f92e8e1c920db8d236144
|
2024-03-21 18:04:50 -07:00 |
|
|
Alessio Quaglino
|
ef3cb7ec2e
|
Renamed mjmModel to mjSpec.
PiperOrigin-RevId: 613516063
Change-Id: I09e360d3eba2accba2e260ec4754b0879b12892f
|
2024-03-07 02:48:32 -08:00 |
|
|
Alessio Quaglino
|
7edacd39cd
|
Add engine settings to mjmModel.
PiperOrigin-RevId: 608915453
Change-Id: Ic58566d7a9cdb57e25954caec69f595c8c9ee88a
|
2024-02-21 02:26:57 -08:00 |
|
|
Alessio Quaglino
|
042760eba8
|
Add compiler settings to mjmModel.
PiperOrigin-RevId: 608908314
Change-Id: Id3b0d8c62ca710b5b6d6e423abbbddcb7e7079a1
|
2024-02-21 01:58:22 -08:00 |
|
|
Alessio Quaglino
|
78dc5aee9f
|
Remove mjCPlugin from xml_native_reader.
PiperOrigin-RevId: 608546883
Change-Id: Ib529c2756102e4e2185d1d8e9585187c30049011
|
2024-02-20 03:46:42 -08:00 |
|
|
Kyle Bayes
|
24eb4c9f09
|
Improve include meta-element to load included resourced from the directory relative to the included XML file, fully backwards compatible.
PiperOrigin-RevId: 608312069
Change-Id: I80eadb32d7d78fb35bd24975f2e514021c2aa009
|
2024-02-19 05:40:31 -08:00 |
|
|
Alessio Quaglino
|
414a67640a
|
Add mjmDef to C API.
PiperOrigin-RevId: 607310534
Change-Id: I530f32c8fd4340dc1006585259a5e05cb4aa62b8
|
2024-02-15 06:17:58 -08:00 |
|
|
Alessio Quaglino
|
6f958bc404
|
Add mjmSkin to C API.
PiperOrigin-RevId: 607295996
Change-Id: I63bf7213d41acbfb98770c097979ce9b889f21ca
|
2024-02-15 05:09:10 -08:00 |
|
|
Alessio Quaglino
|
9ecd700923
|
Add mjmMesh to C API.
PiperOrigin-RevId: 606642150
Change-Id: Iae69ce8426729b1e2394d9da9f349a2f0f7ccf98
|
2024-02-13 09:09:59 -08:00 |
|
|
Kyle Bayes
|
eabd4c06f9
|
Move schema definition validation from runtime to a test.
PiperOrigin-RevId: 606280564
Change-Id: I9fec9eb3538f63f84e1982f21e1a93f16342d540
|
2024-02-12 09:49:48 -08:00 |
|
|
Alessio Quaglino
|
13d6eeacdd
|
Add mjmPair to C API.
PiperOrigin-RevId: 606274243
Change-Id: I15e2a38096a61bc1377a666c96113ae20ce3ed59
|
2024-02-12 09:25:33 -08:00 |
|
|
Alessio Quaglino
|
b224367a9b
|
Add mjmFlex to C API.
PiperOrigin-RevId: 606264589
Change-Id: Ifd94f5241a3eaaf23653b136cece81c054f43202
|
2024-02-12 08:48:11 -08:00 |
|
|
Alessio Quaglino
|
4e5b194e88
|
Add mjmMaterial and mjmFrame to C API.
PiperOrigin-RevId: 606191307
Change-Id: Iaf43f81522029002b28bba14ea046b1c968ab2e7
|
2024-02-12 02:56:03 -08:00 |
|
|
Alessio Quaglino
|
1bd6a32af2
|
Add mjmEquality, mjmTendon and mjmWrap to C API.
PiperOrigin-RevId: 605853716
Change-Id: Ieb468cdec5a3032200cf1121960408a61bb08fc5
|
2024-02-10 03:30:31 -08:00 |
|
|
Alessio Quaglino
|
6fa139a693
|
Add mjmActuator and mjmSensor.
PiperOrigin-RevId: 605600704
Change-Id: I0a2f5eb9d894c068ca9ee08940c752066021b6ec
|
2024-02-09 05:11:13 -08:00 |
|
|
Alessio Quaglino
|
e3cbad280c
|
Add mjmJoint, mjmCamera, and mjmLight to C API.
PiperOrigin-RevId: 605596008
Change-Id: Ie53ac4b99f5336380039ab5eb9b2ca4a82768b28
|
2024-02-09 04:44:58 -08:00 |
|
|
Alessio Quaglino
|
1fe258fb60
|
Add mjmGeom to C API.
PiperOrigin-RevId: 605302719
Change-Id: Ib4208e60cf4299473a96f62db2c9dc8c7a5b0b36
|
2024-02-08 06:53:01 -08:00 |
|
|
Alessio Quaglino
|
a3e49d582e
|
Add mjmBody and mjmPlugin and their compiler C APIs.
PiperOrigin-RevId: 604937231
Change-Id: Ib8a2105ce6c0500d6a610258b46f192d9e73169d
|
2024-02-07 04:17:30 -08:00 |
|
|
Alessio Quaglino
|
3b2dd06c54
|
Add compiler C API for mjmSite.
PiperOrigin-RevId: 604573450
Change-Id: I6ba7fcece0942ddc0d109413ba5684b2df3fab96
|
2024-02-06 01:50:47 -08:00 |
|
|
Alessio Quaglino
|
eb9568a48b
|
Add frame element to MJCF.
PiperOrigin-RevId: 585598244
Change-Id: I4c06be3dd586dab5a4458f05faaf1e7f2b615458
|
2023-11-27 03:32:18 -08:00 |
|
|
Alessio Quaglino
|
5a70ad08ab
|
Add Flex component.
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
|
2023-10-12 10:49:35 +01:00 |
|
|
Alessio Quaglino
|
4f5da9c554
|
Add OnePlugin read/write functions and remove redundant plugin attributes from mjCActuator.
PiperOrigin-RevId: 525708657
Change-Id: I762de238f989b13877d5f9198c83c16ea9dc1d8b
|
2023-04-20 04:25:43 -07:00 |
|
|
Saran Tunyasuvunakool
|
1e2a9a53bc
|
Implement plugin mechanism for actuators and sensors.
PiperOrigin-RevId: 474874088
Change-Id: I65a8ffdf845f4fa0f8266c165883a747ab5812d8
|
2022-09-16 12:21:29 -07:00 |
|
|
Saran Tunyasuvunakool
|
1913a02b40
|
Initial open sourcing of MuJoCo.
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
|
2022-05-23 01:08:49 -07:00 |
|