0945af7b8a
Apply version number 2.3.6 to the pending changelog.
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PiperOrigin-RevId: 541964989
Change-Id: I66a18f2bae624f63962f28f434b9a5cf90d260c7
2023-06-20 10:08:34 -07:00
c9e9cd8b35
Change org name to "Google DeepMind" in various docs.
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PiperOrigin-RevId: 540691205
Change-Id: I9eb99eb18893e6748892334470211dbd9d5808db
2023-06-15 14:28:25 -07:00
f67e359532
Add mjtState enum and related mj_stateSize, mj_getState and mj_setState functions.
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PiperOrigin-RevId: 539667943
Change-Id: I14c34be8ce4c287e529380257b5c5bffc3ab45ce
2023-06-12 08:56:48 -07:00
84c33e53df
Merge pull request #916 from jc-cr:patch-1
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PiperOrigin-RevId: 539634371
Change-Id: I3690034f4ea10c4e92daeeb4c62b0b060c5c8db5
2023-06-12 06:36:40 -07:00
6434001747
Remove "Main struct types" subsection from APItypes.rst, for quicker access (fewer clicks) to main struct reference.
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PiperOrigin-RevId: 539525003
Change-Id: I01a3b7e4b054c3acda0a0070c227d50d7f43ea72
2023-06-11 20:00:15 -07:00
b3b05c0435
remove extra new line when editing
2023-06-09 22:14:32 -05:00
849ed472c0
removed trailing whitespaces
2023-06-09 22:13:04 -05:00
15618d8f94
Corrected index.rst example code samples
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Added the missing humanoid directory path to window and linux sample terminal commands
2023-06-09 21:55:02 -05:00
4a086edb43
Fix wrong link in changelog.
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PiperOrigin-RevId: 539106369
Change-Id: I228cbf426322e9b3756e64788cb9db0cd271ffa1
2023-06-09 09:45:55 -07:00
466c9aca82
Remove mj_activate and mj_deactivate.
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PiperOrigin-RevId: 538799120
Change-Id: I4d6729131e20ab9ae15c94c221ba83ae5732e942
2023-06-08 08:55:39 -07:00
833d30858d
Add note regarding reproducibility
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PiperOrigin-RevId: 538535494
Change-Id: Icc37c95df77a9e30868a2ef866c5e603239e728b
2023-06-07 10:56:18 -07:00
d82f5ce5a4
Add mjContact.solreffriction, mjModel.pair_solreffriction and related implementation, allowing contact reference acceleration to be different for normal and frictional contact directions. This is required for e.g. elastic frictional collisions.
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PiperOrigin-RevId: 538513357
Change-Id: Id9eb910fe791cf898c712030cb2c0fc481389c91
2023-06-07 09:40:20 -07:00
83e70954d7
Improve documentation of solver parameters.
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PiperOrigin-RevId: 538098136
Change-Id: I6a25fd066d5a1a7ef7b28c73accbd15c497fcba4
2023-06-06 00:30:15 -07:00
1efdcbf511
Merge pull request #896 from Beanpow:fix_doc
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PiperOrigin-RevId: 537977702
Change-Id: I1ecc4caba7ce434a61625fa8b01bdc5769747f4a
2023-06-05 14:11:52 -07:00
39b744b231
Fix the effective time constant function of muscle
2023-06-02 16:53:32 +08:00
86f22cb26b
Fix typo.
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PiperOrigin-RevId: 537211345
Change-Id: Icec139ee4651e32008bf71d990d5dbe7434df67d
2023-06-01 21:37:54 -07:00
8efb04eb79
Improved docs chapter order, rename Models to Model Gallery.
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PiperOrigin-RevId: 536819755
Change-Id: Ia2151a464c423b1ca13719285e4016832f448399
2023-05-31 14:13:41 -07:00
4beab79946
Remove outdated reference in computation chapter.
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PiperOrigin-RevId: 536818445
Change-Id: I6974855bfd0aee1c28651ad577a185b63d71c187
2023-05-31 14:08:57 -07:00
d40c395917
Add Visualization tab to simulate.
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Also:
- Increased label width in mjUI tight theme spacing.
- Added `mjITEM_EDITFLOAT` for editing float values.
- Move mjUI numpad key codes to header file.
PiperOrigin-RevId: 535839953
Change-Id: Ibdc0a9a20be514caa5b487211212ed6f5b8a6ba9
2023-05-27 05:08:15 -07:00
f887c1e928
Add ASAN and MSAN instrumentation for arena and mjData stack.
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PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
2023-05-26 09:17:26 -07:00
c66d79409c
Change mj_ray behaviour to match geom visualisation conventions:
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- Planes and height-fields respect `mj_ray`'s `geom_group` argument.
- The `flg_static` argument now applies to all static geoms, not only those directly in the world body.
Before this change:
- Rays always intersected with height fields and planes, unless `flg_static` was set to 0.
- `flg_static` only applied to static geoms that were direct children of the world, but not geoms that were children of static bodies.
PiperOrigin-RevId: 534969091
Change-Id: I8dc7c320c63d6af95709b9f5e83a3c50e1c199fa
2023-05-24 13:52:21 -07:00
55c7f45dc5
Fix sparse matmul logic in addJTBJSparse.
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Also rename arguments and loop variables in `addJTBJSparse` for additional clarity.
PiperOrigin-RevId: 534908360
Change-Id: I143ef5aef7ff90091369d408740f7f44d9e19378
2023-05-24 11:02:35 -07:00
03d6d27f64
Use mesh BVH for speeding up ray mesh intersection.
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PiperOrigin-RevId: 534141245
Change-Id: I9f5a71ea059a1a232fd2910d1efc0506ab6dbef3
2023-05-22 12:05:20 -07:00
dab49d487c
Use mesh BVH for speeding up ray mesh intersection.
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PiperOrigin-RevId: 532516008
Change-Id: Ia9cac060279d030221c1a6b4fad457a857701370
2023-05-16 11:10:38 -07:00
9d1a21f99d
Use mesh BVH for speeding up ray mesh intersection.
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PiperOrigin-RevId: 532464595
Change-Id: If159c89b93c24e6a7be6310911364cfad7baae81
2023-05-16 08:17:50 -07:00
fcc825c5e6
Add cutoff argument to mj_multiRay.
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PiperOrigin-RevId: 532158635
Change-Id: I70f98be9f781c8281e21aa5c17bd85f3654e9383
2023-05-15 10:44:37 -07:00
770b4b363a
Added optional smoothing to muscle dynamics:
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- `muscle` actuators take a new `tausmooth` attribute (defaults to 0) which when positive, smooths the transition between activation and deactivation timescales.
- `mju_muscleDynamics` takes 3 parameters, adding width of smoothing sigmoid.
PiperOrigin-RevId: 531473354
Change-Id: I8ab6c0289ff04437e798c3ca6edda132a30fcc31
2023-05-12 04:58:53 -07:00
777cad52b4
Merge pull request #860 from PeterMitrano:main
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PiperOrigin-RevId: 531458260
Change-Id: I551e6c6be5d6a15426e6aa60beb27d64591bc66a
2023-05-12 03:34:33 -07:00
3d71b160e6
Add 3x3x3 cube to model collection.
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PiperOrigin-RevId: 531224451
Change-Id: Ibdfe5b89a5b2895500265199906a364768d606f0
2023-05-11 09:28:18 -07:00
bf81d1e6a5
Fix typo.
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PiperOrigin-RevId: 531167948
Change-Id: I5fcfe77fd69a050ef9dd88f748973c4a9233cbdb
2023-05-11 04:55:53 -07:00
41a7049920
Use shell inertia to compute mesh aabb and frame if volume is invalid.
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PiperOrigin-RevId: 530925161
Change-Id: I94b97efc7198e2b750480df8687e91bc047a6fc9
2023-05-10 09:12:11 -07:00
73fde667a5
fix typos
2023-05-09 20:59:43 +00:00
4c487e07ed
Add mesh BVH.
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PiperOrigin-RevId: 530559807
Change-Id: Ibdafae22c7c74d15d707f205be73e4a571a6ae10
2023-05-09 03:31:06 -07:00
ff1fa84d32
Cosmetic documentation improvements
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PiperOrigin-RevId: 530074671
Change-Id: I07e000c9c506ae8532ade10fb731b4e1fc0970ea
2023-05-07 02:10:18 -07:00
f204e03575
Fix tendon.xml example model.
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PiperOrigin-RevId: 530073629
Change-Id: I1fbfa55bc1ec9bbf11ab5a33771ad56537a16c07
2023-05-07 02:01:44 -07:00
49efa9cc15
Change finite-support mju_sigmoid from a two-quadratic construction to a single quintic with zero 1st and 2nd derivatives at 0 and 1, the boundary of the smooth-support segment.
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Note: this function is currently unused in the MuJoCo codebase.
PiperOrigin-RevId: 529969804
Change-Id: I2bddc72916eff67625b806510935bc7f3ce5c770
2023-05-06 09:22:37 -07:00
7998fc7fca
Fix typo.
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PiperOrigin-RevId: 529719905
Change-Id: I7ad8b333465db5f453b0d6b2ade02fbfc39a96a9
2023-05-05 08:12:11 -07:00
67f0f5154f
Add various improvements for resource providers.
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PiperOrigin-RevId: 529706437
Change-Id: I20385e031446674584349c301982dbe13b812477
2023-05-05 07:03:49 -07:00
e38fb136e7
Shorten title in Programming chapter.
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PiperOrigin-RevId: 529505191
Change-Id: I148960357263ce874ec2099ffde63303e56eb52f
2023-05-04 13:51:18 -07:00
88ec9b202e
Fix link in documentation.
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PiperOrigin-RevId: 529400443
Change-Id: I696dac60ef6f421e9308097593c8afe883fe90e7
2023-05-04 07:16:41 -07:00
3d82d2a40f
Increase maximum number of UI elements per section in Simulate.
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PiperOrigin-RevId: 529079121
Change-Id: Ia81418e45c855649e1d9654bbc522f7dffd7dfdc
2023-05-03 07:06:06 -07:00
42a16f65c2
Fix typo in mjd_inverseFD documentation.
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PiperOrigin-RevId: 529022023
Change-Id: I2f9e014e271910989f96cd9bfd28c6adaf2e62e5
2023-05-03 01:30:44 -07:00
8686339726
Fix typo.
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PiperOrigin-RevId: 528763706
Change-Id: Ia8c92fdd7e21ecd456684b4ea443aea017971972
2023-05-02 06:24:18 -07:00
b0bc330b54
Add utility functions for banded-then-dense symmetric matrices.
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PiperOrigin-RevId: 528757637
Change-Id: I916d843140322c28e857100a6b305a041f704d53
2023-05-02 05:58:08 -07:00
2ad82d5998
Add mj_multiRay function to perform multiple ray intersection with the same source.
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PiperOrigin-RevId: 528684535
Change-Id: I6e1747a4a0910e6061d6154e19ad8723f56c22e3
2023-05-01 23:02:45 -07:00
ced9e0872f
Load DM Mono font in CSS file
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PiperOrigin-RevId: 528360725
Change-Id: I32cde6dc6c9cdc5dbd8ba1d8d22586027b0476f0
2023-04-30 19:30:08 -07:00
c50177d301
Add mjd_inverseFD for finite-difference approximations of inverse dynamics Jacobians.
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Fixes #703 .
PiperOrigin-RevId: 527899700
Change-Id: I10e41a381dcecf62c53b3b9aa72a4ce666161366
2023-04-28 09:04:41 -07:00
90e14ac8d0
Bump version number to 2.3.6.
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Going forward, the version number at head will be kept one ahead of the latest released version. The rationale behind this change is so that it is clear that the source code at head is more recent.
PiperOrigin-RevId: 527687981
Change-Id: I7982ecd0b99ad70dccec6a8ffe86629754558bda
2023-04-27 14:40:32 -07:00
b397b3123e
Added touch grid sensor plugin.
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PiperOrigin-RevId: 527512624
Change-Id: I0f316eb6eb2c52472abbec484e5538b66ba2e82e
2023-04-27 02:03:03 -07:00
e3cdc410d6
Rename centered argument of mjd_transitionFD to flg_centered, to conform with the rest of the API.
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PiperOrigin-RevId: 527258079
Change-Id: I77817be8ee007a572c79e9cd41f7c5728a091fb3
2023-04-26 07:18:52 -07:00
Saran Tunyasuvunakool