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128 Commits

Author SHA1 Message Date
Saran Tunyasuvunakool c9e9cd8b35 Change org name to "Google DeepMind" in various docs. 
PiperOrigin-RevId: 540691205
Change-Id: I9eb99eb18893e6748892334470211dbd9d5808db
 2023-06-15 14:28:25 -07:00
Yuval Tassa f67e359532 Add mjtState enum and related mj_stateSize, mj_getState and mj_setState functions. 
PiperOrigin-RevId: 539667943
Change-Id: I14c34be8ce4c287e529380257b5c5bffc3ab45ce
 2023-06-12 08:56:48 -07:00
Yuval Tassa 466c9aca82 Remove mj_activate and mj_deactivate. 
PiperOrigin-RevId: 538799120
Change-Id: I4d6729131e20ab9ae15c94c221ba83ae5732e942
 2023-06-08 08:55:39 -07:00
Yuval Tassa 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. 
PiperOrigin-RevId: 538513357
Change-Id: Id9eb910fe791cf898c712030cb2c0fc481389c91
 2023-06-07 09:40:20 -07:00
Yuval Tassa d40c395917 Add Visualization tab to simulate. 
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
Saran Tunyasuvunakool f887c1e928 Add ASAN and MSAN instrumentation for arena and mjData stack. 
PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
 2023-05-26 09:17:26 -07:00
Alessio Quaglino 03d6d27f64 Use mesh BVH for speeding up ray mesh intersection. 
PiperOrigin-RevId: 534141245
Change-Id: I9f5a71ea059a1a232fd2910d1efc0506ab6dbef3
 2023-05-22 12:05:20 -07:00
Alessio Quaglino fcc825c5e6 Add cutoff argument to mj_multiRay. 
PiperOrigin-RevId: 532158635
Change-Id: I70f98be9f781c8281e21aa5c17bd85f3654e9383
 2023-05-15 10:44:37 -07:00
Tom Erez 31c265782b add support for implicitfast integrator from GUI. 
PiperOrigin-RevId: 532109571
Change-Id: Id9fbfad232ee7fdee8aff486b2d2b9b1b1eab258
 2023-05-15 07:50:18 -07:00
Alessio Quaglino 4c487e07ed Add mesh BVH. 
PiperOrigin-RevId: 530559807
Change-Id: Ibdafae22c7c74d15d707f205be73e4a571a6ae10
 2023-05-09 03:31:06 -07:00
Nimrod Gileadi 3d82d2a40f Increase maximum number of UI elements per section in Simulate. 
PiperOrigin-RevId: 529079121
Change-Id: Ia81418e45c855649e1d9654bbc522f7dffd7dfdc
 2023-05-03 07:06:06 -07:00
Yuval Tassa b0bc330b54 Add utility functions for banded-then-dense symmetric matrices. 
PiperOrigin-RevId: 528757637
Change-Id: I916d843140322c28e857100a6b305a041f704d53
 2023-05-02 05:58:08 -07:00
Alessio Quaglino 2ad82d5998 Add mj_multiRay function to perform multiple ray intersection with the same source. 
PiperOrigin-RevId: 528684535
Change-Id: I6e1747a4a0910e6061d6154e19ad8723f56c22e3
 2023-05-01 23:02:45 -07:00
Yuval Tassa c50177d301 Add mjd_inverseFD for finite-difference approximations of inverse dynamics Jacobians. 
Fixes #703.

PiperOrigin-RevId: 527899700
Change-Id: I10e41a381dcecf62c53b3b9aa72a4ce666161366
 2023-04-28 09:04:41 -07:00
Saran Tunyasuvunakool 90e14ac8d0 Bump version number to 2.3.6. 
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
Tom Erez 139328f86e Clarify error messages when Unity fails to step the scene. 
PiperOrigin-RevId: 527486144
Change-Id: I4e889977e035e13557c114e875ea0ba32da79002
 2023-04-26 23:30:06 -07:00
Yuval Tassa e3cdc410d6 Rename centered argument of mjd_transitionFD to flg_centered, to conform with the rest of the API. 
PiperOrigin-RevId: 527258079
Change-Id: I77817be8ee007a572c79e9cd41f7c5728a091fb3
 2023-04-26 07:18:52 -07:00
Saran Tunyasuvunakool db3b49b60f Bump version number to 2.3.5. 
PiperOrigin-RevId: 526918869
Change-Id: I9f19600b0c1b855ef0834e5c026b204bf1dc06c4
 2023-04-25 03:52:12 -07:00
Yuval Tassa a2a1ac9fc2 Pass mjvOption to plugin visualize callback. 
PiperOrigin-RevId: 526047180
Change-Id: Ia63f02184f5c6a7e3b588298639fa0ab4a6da649
 2023-04-21 08:44:20 -07:00
Saran Tunyasuvunakool 0630b7543d Bump version number to 2.3.4. 
PiperOrigin-RevId: 525745444
Change-Id: I8a9994b72a0a2ba3f371bee2c2bea947ad8f4fd1
 2023-04-20 07:52:46 -07:00
Saran Tunyasuvunakool b362cb4972 Expose a handle for the Python viewer. 
This change also requires user scripts to explicitly synchronize changes to physics state to the viewer. The Simulate class was reconfigured so that certain UI events are handled during this sync operation, outside of the render loop on the main thread. These correspond to operations that require access to the full mjModel/mjData.

To support other, more interactive operations (e.g. camera movements), a new mjvSceneState struct is introduced which captures only the portion of the physics state required for scene re-rendering. The mjvSceneState is updated from mjModel/mjData during the viewer sync operation, and is significantly cheaper than a full mj_copyModel and mj_copyData.

Fixes https://github.com/deepmind/mujoco/issues/796

PiperOrigin-RevId: 525723636
Change-Id: Id08d0210a2c067d5afe85e2bf104f276aeddd75e
 2023-04-20 05:59:19 -07:00
Alessio Quaglino 5f132af625 Add midphase and broadphase statistics to mjData. 
PiperOrigin-RevId: 521387641
Change-Id: Id50f2549d119e364216491a23b107e04d9ebb5b6
 2023-04-03 00:59:59 -07:00
Kevin Zakka 3f14d97f6b Add equivalent inertia ellipsoid visualization. 
PiperOrigin-RevId: 519154067
Change-Id: I35f1993c1493df9be752b7163385004649498070
 2023-03-24 08:47:43 -07:00
Nimrod Gileadi 33a2ce73d4 Update MuJoCo version to 2.3.3. 
PiperOrigin-RevId: 517931617
Change-Id: I7c9960290f1b6e5d5f68a54df617a580f23c57e9
 2023-03-20 04:36:09 -07:00
Kyle Bayes 8696247f9d Add mj_stackAllocInt to get correct size for allocating ints on mjData stack. Reducing stack memory usage by 10% - 15%. 
PiperOrigin-RevId: 517672195
Change-Id: Ie14e6c9c99e8b9e1c5d3686b77631f2df0651c67
 2023-03-18 13:04:14 -07:00
Alessio Quaglino 70959c1a2c Added a collision midphase on geom pairs using rotated AABBs static trees. 
PiperOrigin-RevId: 517357695
Change-Id: I068fee714d9638be2fb6d042d5d86f8ff970635b
 2023-03-17 02:37:29 -07:00
Yuval Tassa 8c7f6ce5a0 New implicitfast integrator and sparse RNE derivatives for implicit. 
PiperOrigin-RevId: 516910733
Change-Id: I29a0465c0f0b1749a73e3d7e01925200d025ddd0
 2023-03-15 13:17:41 -07:00
Kyle Bayes d3d789cf7d Convert mju_error and mju_warning to variadic functions, supporting printf-like arguments. The functions mju_error_i, mju_error_s, mju_warning_i, and mju_warning_s are now deprecated. 
PiperOrigin-RevId: 515431052
Change-Id: I440de0cb417ce216b6d636a5d86dc9ef6cc1fc06
 2023-03-09 13:51:27 -08:00
Kyle Bayes 50bebcb4ee Precount number of non-zeros for constraint Jacobian sparse matrix. 
PiperOrigin-RevId: 512947632
Change-Id: I9605e81b4e51fbc90854c13153e4fee38ad48fb9
 2023-02-28 08:57:56 -08:00
Copybara-Service 2729f9fcf8 Merge pull request #740 from hyarion:fix/unity-fluidshape 
PiperOrigin-RevId: 511791324
Change-Id: I28e98e55efe43ba053b803838082646289e4f09e
 2023-02-23 08:19:20 -08:00
Benjamin Nauck 42c3faa462 Add support for fluid coefficients to Unity plugin 2023-02-20 18:46:16 +01:00
Yuval Tassa 7542c90cd2 Improved behaviour of mouse-spring interactions. 
Also:

- Renamed recently introduced `mjvPerturb` member `reflocalpos` -> `refselpos` and corrected docstring.
- Added `mjvPerturb.localmass`: body spatial inertia at selection point.
- Removed `const` qualifier to `mjData` argument of `mjv_initPerturb()`, to facilitate spatial inertia computation.
- Improved `mj_Object{Velocity, Acceleration}` docstrings, clarifying that rotational velocities precede linear velocities.
- Removed redundant const qualifiers from non pointer arguments to `mju_dot` and `mju_writeNumBytes`.

PiperOrigin-RevId: 511002168
Change-Id: I27400f497947f330072d4abb7c9bf7e71e6c5d49
 2023-02-20 08:40:33 -08:00
Alessio Quaglino 9756ed0d80 Read normals and textures from OBJ, do not duplicate vertices. 
PiperOrigin-RevId: 510461549
Change-Id: I19245d691e722a8371e61153383f275f599353d6
 2023-02-17 10:15:25 -08:00
Yuval Tassa 2607e67f8d Add contact labels showing which geom pairs are in contact. 
PiperOrigin-RevId: 510422404
Change-Id: Ia73570098752e7c7175e4b5a5f2a0f8b08a6c006
 2023-02-17 07:03:19 -08:00
Benjamin Nauck 09bc934f25 Add support for fluid shapes to Unity plugin 2023-02-17 13:15:29 +01:00
Copybara-Service d26d7babe9 Merge pull request #734 from hyarion:fix/unity-load-balloons.xml 
PiperOrigin-RevId: 509832074
Change-Id: Ia8505b4ea83d8903052e72a12b914a8fd94a13df
 2023-02-15 07:51:34 -08:00
Saran Tunyasuvunakool ace5b74f83 Rename inteval attribute in mjLROpt to interval. 
PiperOrigin-RevId: 509275105
Change-Id: I0ffb9cf485a504843ed255f0b4f24e9285a1c273
 2023-02-13 10:54:25 -08:00
Benjamin Nauck 87bc8d0ed2 Fix spelling in MjcfImporter 2023-02-13 12:02:55 +01:00
Benjamin Nauck 8599d80b4d Apply tendon defaults on fixed and spatial tendons 2023-02-13 12:02:29 +01:00
Benjamin Nauck 7ed632cb9e Add support for arbitrary default node lookup name 
Makes it possible to apply modifiers to elements even if the name doesn't match.
This is necessary to support default values for tendons.
 2023-02-13 12:02:10 +01:00
Benjamin Nauck 5228ad1b2e Change default wind to the value from the doc 2023-02-13 10:21:30 +01:00
Benjamin Nauck e7a9447c03 Add gravcomp to body in unity plugin 
The unity plugin is missing gravcomp which makes it impossible for buoyancy
 2023-02-13 10:21:09 +01:00
Benjamin Nauck 9971993cdb Add support for implicit integrator type 
The `implicit` option was added in the IntegratorType enum.
Using `@` prefix to avoid collision with reserved keyword.
 2023-02-13 10:20:42 +01:00
Alessio Quaglino dd632b7ccc Bump MuJoCo version to 2.3.2. 
PiperOrigin-RevId: 507720557
Change-Id: I7a5b577094ac1a7f468a84c484f62f61dc6b409f
 2023-02-07 02:35:17 -08:00
Saran Tunyasuvunakool 9a7f4a768a Remove control plugin API. 
This is a rollback of f937ffd93326b2964e33689b0dc6024124776a9e.

PiperOrigin-RevId: 507456400
Change-Id: I2026510e6065eb440c0c899fcc5a2cc8ff5afd49
 2023-02-06 05:52:17 -08:00
Yuval Tassa 7feecf6e94 Improve behaviour of set-pose mouse interactions with free and mocap bodies. 
PiperOrigin-RevId: 506051745
Change-Id: If666757deb743f7bf3af4113d10976c3294e0879
 2023-01-31 10:57:19 -08:00
Tom Erez f3c966796f Allow models without numerical suffixes. 
This is important for MJPC, where some element special names (e.g., a site called "trace0", or different custom numeric fields) are used.

PiperOrigin-RevId: 502338391
Change-Id: I632b5d633c92b82b60160daeeb169693225640a3
 2023-01-16 02:59:11 -08:00
Saran Tunyasuvunakool 1215067f5c Add an option in mjrContext for mjr_readPixels output format. 
PiperOrigin-RevId: 500342924
Change-Id: I43e8c6208db341e2bdbef10382b7293c35bdca65
 2023-01-07 00:11:01 -08:00
Saran Tunyasuvunakool e40775fab3 Abstract out GLFW calls from Simulate. 
PiperOrigin-RevId: 500129478
Change-Id: I7ba998e20439575ad9a3fe1a866c3db4c36b9328
 2023-01-06 02:45:56 -08:00
Saran Tunyasuvunakool 6824cd50e2 Update MJBindings.cs to correctly reflect pointer-to-pointer types. 
PiperOrigin-RevId: 499881915
Change-Id: Ibd25d8e38258c7d1372a066dadbffcf4c1dd2d6b
 2023-01-05 08:10:54 -08:00