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Author SHA1 Message Date
Alessio Quaglino 7b7fc09d1f Raise error if an invalid curve is specified for the cable composite. 
PiperOrigin-RevId: 486967001
Change-Id: I7220966e172400542417d8f715dbee0c0f154d9b
 2022-11-08 09:05:44 -08:00
Alessio Quaglino 9fc9823a8c Speed improvements in mj_solveLD (14% on Intel Skylake Xeon 36 cores). 
PiperOrigin-RevId: 486960670
Change-Id: I8fce96427158ec36069dea893500059e93bd40db
 2022-11-08 08:38:45 -08:00
Nimrod Gileadi 9ffde761e8 Add support for Python 3.11 to MuJoCo build. 
PiperOrigin-RevId: 486911779
Change-Id: I57a043ed9cbdf84cddf776f4654941370f050a8c
 2022-11-08 04:22:36 -08:00
Yuval Tassa 5004a4c8c5 Better memory setting and reporting, updated example models. 
- Memory heuristic rounds up to the nearest MB.
- `simulate` reports total memory currently allocated in the info box.
- All example models use `<size memory/>` rather than legacy attributes.
- Regenerated `example_saved.xml` and reformatted original model in [overview chapter](https://mujoco.readthedocs.io/en/latest/overview.html?#examples).
- `<size>` top-level section does not get written if empty.

PiperOrigin-RevId: 486702670
Change-Id: I0306e335f32344c59562ba606664ec9d2101f8a8
 2022-11-07 10:36:37 -08:00
Alessio Quaglino 9370039015 Use a non-symmetric tetrahedron for user_mesh_test. 
PiperOrigin-RevId: 486658331
Change-Id: I96edd3b2aba916f9215661a7ba94271696690807
 2022-11-07 07:43:08 -08:00
Alessio Quaglino 3b89b0fd30 Particles with arbitrary geoms and joints. 
Fixes #553

PiperOrigin-RevId: 486614769
Change-Id: I9a09bf73da97b6b9746800a72ac6c97cce2efa92
 2022-11-07 03:22:25 -08:00
Alessio Quaglino fd4d47e4a5 Format memory warning in human-friendly way. 
PiperOrigin-RevId: 486610408
Change-Id: I6beecb12059e69f4407e921d20efc54ce6b3f491
 2022-11-07 02:56:07 -08:00
Alessio Quaglino fc24097b92 Compute nonzero default mass value only if geom is not in the default section. 
Fixes #561.

PiperOrigin-RevId: 486604407
Change-Id: Ie62578808f96f0de3a2353c6bc4cc8bd3ae3afbc
 2022-11-07 02:18:31 -08:00
Yuval Tassa 36b30e4500 Allow more than 1 activation state per actuator, but only for dyntype user. 
Fixes #305.

PiperOrigin-RevId: 486597273
Change-Id: I3eb806f60949e68ebe6cbe35a6e66218a167ed45
 2022-11-07 01:43:02 -08:00
Nimrod Gileadi 0514010928 Disable deprecated-builtins warnings in clang. 
Since upgrading to Clang 15, abseil fails to build, because of abseil/abseil-cpp#1201.

PiperOrigin-RevId: 486190797
Change-Id: Ibaa1c03b8d21ae4a83c3825c8d56363aa2f89505
 2022-11-04 11:35:49 -07:00
Alessio Quaglino 9833f912c1 Renamed Elasticity to Cable and libcable to libelasticity for consistency. 
PiperOrigin-RevId: 485642970
Change-Id: I279df4233963a6e514459e55a9c2d36d975da92c
 2022-11-02 11:08:44 -07:00
Yuval Tassa c83be2bc05 Add mju_clip, mju_fill, mju_eye and mju_symmetrize to python bindings. 
- Also change signatures of `mju_fill` and `mju_symmetrize` to conform to standard.

PiperOrigin-RevId: 485613824
Change-Id: I8dd618bac92ef40aa6c76380fa73302e81968687
 2022-11-02 09:22:28 -07:00
Alessio Quaglino 7458a6e90f Remove unused "flat" attribute from XML schema. 
PiperOrigin-RevId: 485358643
Change-Id: Ia9e46b346e86e3784ad12be32404ac22ce4c881a
 2022-11-01 10:41:47 -07:00
Kyle Bayes 23092a11d7 Add per-body gravity compensation (buoyancy) passive force. 
PiperOrigin-RevId: 485342531
Change-Id: Icb3e6bb5080b6ef17a3d3b1cc67e0503cfeaeffb
 2022-11-01 09:48:06 -07:00
Saran Tunyasuvunakool c7960385be Declare DllMain as extern "C". 
Fixes #550.

PiperOrigin-RevId: 484540205
Change-Id: I3915f65f1ae6ab3a93118b9d747b5c09d9abe872
 2022-10-28 08:41:46 -07:00
Yuval Tassa 8db949ac19 Improve rendering of LaTex equation in composite documentation. 
PiperOrigin-RevId: 484509794
Change-Id: Ie98cd33414c119417279a6d87f37886fb74eeb8a
 2022-10-28 05:58:28 -07:00
Yuval Tassa 893942a729 Allow tendon springlength attribute to take two values between which the spring produces no force (a deadband). 
If given two non-decreasing values, `springlength` specifies a deadband for spring stiffness, inside of which the force is 0 and outside of which force behaves like a regular spring, with the setpoint corresponding to the nearest value. This can be used to create tendons whose limits are enforced by springs rather than constraints, which are cheaper and easier to analyse. See test/engine/testdata/tendon_springlength.xml example model.

Spring-limited spatial tendons whose lower range value is 0 are rendered as catenaries.

Fixes #520.

PiperOrigin-RevId: 484509706
Change-Id: I6698e94ee36168f52d501e83057559805e05172d
 2022-10-28 05:57:37 -07:00
Yuval Tassa 3a445d0fdd Remove legacy function declaration in user_objects.h 
PiperOrigin-RevId: 484464868
Change-Id: I386960c9f2057f4b1a1b6d818ed950ea8439202d
 2022-10-28 01:22:28 -07:00
Yuval Tassa 0eb7f871b9 Remove requirement that stateless actuators come before stateful actuators. 
PiperOrigin-RevId: 484332415
Change-Id: I1dae92c0f8e027e4ca71c20ea3f68b2926526f53
 2022-10-27 13:18:57 -07:00
Yuval Tassa f905c7fb7f Add mju_fill, mju_symmetrize and mju_eye utility functions. 
PiperOrigin-RevId: 484226916
Change-Id: I79593d54e903ddacab0f859bfc6d17eccad7d3a1
 2022-10-27 05:28:26 -07:00
Alessio Quaglino 507b573763 Throw error if sizes of referenced arrays are near INT_MAX. 
PiperOrigin-RevId: 484218386
Change-Id: I07dff633b4911bf296ad8993550509ed7b3dfe53
 2022-10-27 04:35:23 -07:00
Alessio Quaglino f695f55253 Do not infer inertia if geom is not in inertiagrouprange. 
PiperOrigin-RevId: 483994271
Change-Id: Ia663cd30e93d9c3a2e32408a658f091af4d1ca1a
 2022-10-26 09:45:18 -07:00
Yuval Tassa da33c5922f Stop issuing "degenerate triangle" warnings in the compiler. 
PiperOrigin-RevId: 483665416
Change-Id: Ia52b8ce9575aa887303fdcfa8f7b4a8973cf5998
 2022-10-25 07:20:24 -07:00
Yuval Tassa 79dc5056eb mjcb_control respects the mjDSBL_ACTUATION flag 
PiperOrigin-RevId: 483339817
Change-Id: I0b74e4c03a129f26b3cf2bb991a46f0a263b254b
 2022-10-24 04:16:00 -07:00
Copybara-Service a845223c9e Merge pull request #540 from zxwang96:patch-1 
PiperOrigin-RevId: 482707830
Change-Id: I2a7c3cf75a9d2596c8a5019fb233cee1815b2b85
 2022-10-21 00:24:26 -07:00
Zixing Wang 28ff96fbd8 Update changelog.rst 
I tested the version 2.3.0 and found the two ends of a cable object are exposed as B_first & B_last instead of B_left & B_right.
 2022-10-19 12:39:27 -04:00
Yuval Tassa 0ff4f964fd Update LQR colab to use .name and .id attributes of indexers. 
PiperOrigin-RevId: 481915877
Change-Id: Iba79523422a442f3ca4793587936e05797d43e40
 2022-10-18 07:32:41 -07:00
Yuval Tassa 84d168442a Fix link text in changelog. 
PiperOrigin-RevId: 481879587
Change-Id: Ifa5a6062d7e6a9f53e1e6d3e2ecf343cabec9fd9
 2022-10-18 04:00:19 -07:00
Saran Tunyasuvunakool 573d331b69 Bump pybind11 and Eigen versions. 
PiperOrigin-RevId: 481831731
Change-Id: I29082287c7b716bfb29b25545599f6eca8106c49
 2022-10-17 23:37:59 -07:00
Saran Tunyasuvunakool 57b0b36699 Bump version number to 2.3.0. 
PiperOrigin-RevId: 481823754
Change-Id: Ie8c2c65b11178952355830ef019fe2efdf774189
 2022-10-17 22:36:59 -07:00
Yuval Tassa c7c6a870b4 Fix rendering of example attribute in XMLreference.rst 
PiperOrigin-RevId: 481614595
Change-Id: Ie582b2ba0b3fc89e3296337b0d43c492ac0d65fa
 2022-10-17 05:29:28 -07:00
Saran Tunyasuvunakool 3aaf94f42c Fix Python GIL-not-held issues in python/callbacks.cc. 
The GIL bug was introduced in ec6ea6a69e and is resolved by decrementing the refcount before returning from MjWrapperLookup.

PiperOrigin-RevId: 481558798
Change-Id: I2744287d48635a55ae6d2ec46c9e43fe881019d8
 2022-10-17 00:05:56 -07:00
Saran Tunyasuvunakool ec6ea6a69e Fix a memory leak when using Python callbacks. 
Fixes #527.

PiperOrigin-RevId: 481173711
Change-Id: Ie176a8bda09727b6be8b6641d3be9a75c675d566
 2022-10-14 10:12:11 -07:00
Alessio Quaglino af74044e43 Add YouTube cable videos to changelog. 
PiperOrigin-RevId: 481138236
Change-Id: Ibabbc312ea265f9193daf01abd8e81876f1dadfb
 2022-10-14 15:18:20 +01:00
Alessio Quaglino 844dc504cd Report mesh name in mesh compiler warnings. 
PiperOrigin-RevId: 481120561
Change-Id: Id68e5f03d88f85a5637f2cff00b5d3a5a59a9156
 2022-10-14 05:14:08 -07:00
Alessio Quaglino ca99ed8664 Check if updating XMLschema is necessary. 
PiperOrigin-RevId: 481105158
Change-Id: I7b5199e595a73a4d988d90dee40a8cd759f86218
 2022-10-14 03:27:05 -07:00
Yuval Tassa 6e004d7413 Fix bugs in adhesion default parsing. 
- `gain` was not inherited, either from `<adhesion gain>` default or from `<general gainprm>` default.
- `dyntype` was not inherited from `<general dyntype>` default.
- Reported by @vaxenburg.

PiperOrigin-RevId: 480707156
Change-Id: I0160531d48186e7658952e72923ceb6cb034be9b
 2022-10-12 13:44:56 -07:00
Saran Tunyasuvunakool 106a3fc0bb Fix GCC build. 
PiperOrigin-RevId: 480677627
Change-Id: If1184e0b3bf0e17cee91c0191bdf6aa84ed7f604
 2022-10-12 11:40:07 -07:00
Alessio Quaglino 95fe2fbc40 Add plugin support to Python bindings. 
PiperOrigin-RevId: 480675078
Change-Id: I2967654b6662efced8ae62cae9b03c6c8e65c67c
 2022-10-12 11:30:15 -07:00
Alessio Quaglino 23e4c03efc Add plugin subdirectory to the tests. 
PiperOrigin-RevId: 480631088
Change-Id: I7e80f942efed56d47f503c773f3e9ed5295c4917
 2022-10-12 08:33:40 -07:00
Alessio Quaglino e250ff0d5a - Added passive forces plugins 
- Added new `cable` composite type:
  * The `initial` parameter specifies the joint at the starting boundary: `free`, `ball`, or `none`.
  * The boundary bodies are exposed with the names:`B_left` and `B_right`.
  * The vertex initial positions can be specified directly in the XML with the parameter `vertex`.
  * The orientation of the body frame **is** the orientation of the material frame of the curve.

- Added new `cable` passive force plugin:
  * Twist and bending stiffness can be set separately with the parameters `twist` and `bend`.
  * The stress-free configuration can be set to be the initial one or flat with the flag `flat`.
  * New cable example showing the formation of plectoneme.
  * New coil example.
  * New belt example showing interaction between twist and anisotropy.
  * Added test using cantilever exact solution.

PiperOrigin-RevId: 480033694
Change-Id: I491271bce8fccb185961477e903e5a72d172c8a3
 2022-10-10 02:46:51 -07:00
Saran Tunyasuvunakool 794ef0b771 Reset arena pointer if memory cannot be allocated for all efc_ arrays. 
Startblock:
   diffbase is submitted
PiperOrigin-RevId: 479922015
Change-Id: If60d89628e033ff253509f109b2c4d28912a3903
 2022-10-09 08:06:39 -07:00
Saran Tunyasuvunakool 5af11ca083 Add XML parsing test case for large memory specification without suffix. 
Startblock:
   diffbase is submitted
PiperOrigin-RevId: 479914967
Change-Id: I574612bf875c929803cf5abc3b1885e9855dee29
 2022-10-09 06:39:50 -07:00
Saran Tunyasuvunakool b2159a8e35 Don't cast memory XML attribute to int prematurely. 
PiperOrigin-RevId: 479910328
Change-Id: I40a210852eeced75871361eb6531169ad0f79b6a
 2022-10-09 06:02:29 -07:00
Saran Tunyasuvunakool 1a393429ef Fix formatting of large unsigned numbers in mju_warningText. 
PiperOrigin-RevId: 479902611
Change-Id: Ia7187478a246b8b068684e75d6f3851d749844c9
 2022-10-09 04:55:26 -07:00
Saran Tunyasuvunakool c2f1381f31 Update dependency versions. 
PiperOrigin-RevId: 479839325
Change-Id: I44f51ed9fd756cf8c3397489f045492cca0bf54a
 2022-10-08 16:55:29 -07:00
Copybara-Service 2a8acf77ed Merge pull request #491 from Balint-H:weld 
PiperOrigin-RevId: 479802394
Change-Id: Ieefec4e1ca29fb137947d458837d8ff3c3ee97f3
 2022-10-08 09:24:29 -07:00
Bálint Hodossy 0ae8b966e7 Remove stray space in MjEngineTool 2022-10-08 14:04:37 +01:00
Saran Tunyasuvunakool 16c11b9e83 Add metadata to mujoco.dll when building on Windows. 
PiperOrigin-RevId: 479695549
Change-Id: I5398e851fd9e5a841c7cc1567dee209e4824ab7c
 2022-10-07 16:46:17 -07:00
Alessio Quaglino d55e70b576 Add links automatically to all sections of XMLschema. 
PiperOrigin-RevId: 479556475
Change-Id: Ie188ecc5c0801bd6bbe27554afcb5436c19f5fa6
 2022-10-07 05:33:52 -07:00