7d8d4d398e
Make elasticity plugins compatible with flex pins. Fixes #1235 .
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Before change:
poncho 18.20s
poncho_flex 44.60s
floppy 4.70s
floppy_flex 6.43s
After change:
poncho 18.23s
poncho_flex 44.62s
floppy 4.67s
floppy_flex 6.57s
PiperOrigin-RevId: 585952587
Change-Id: I0e7c1513f64c7ab1e6ad71e2168b4467c042b46f
2023-11-28 06:13:43 -08:00
7cb84d45c1
Prevent integer overflow in history buffer for large models.
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PiperOrigin-RevId: 585949038
Change-Id: Iabec5feedd1632b635583a608a5488b39e6bb9a2
2023-11-28 06:04:00 -08:00
51d80564fa
Don't initialize plugins during model compilation.
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PiperOrigin-RevId: 585701389
Change-Id: I4e5e34276f404abadf6f5d4d9764ca717304ee34
2023-11-27 11:01:08 -08:00
6412c95a37
Remove the use of plugin_state from PID plugin.
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The plugin was storing a boolean to indicate whether the previous ctrl value was set in `act`. Use d->time == 0 instead.
PiperOrigin-RevId: 585692686
Change-Id: I95335cebdb5716bd6fad81f463a4f248406c80ec
2023-11-27 10:32:07 -08:00
35c90844ae
Add sites to MJX.
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PiperOrigin-RevId: 585691582
Change-Id: I6cc594daf436231f91534f137ff259e7b39811d9
2023-11-27 10:28:50 -08:00
37bb03f435
Move humanoid geoms to group 1
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PiperOrigin-RevId: 585632746
Change-Id: I832804b9c0d090506c3b4ed5c0eeeb5e4cae412a
2023-11-27 06:23:54 -08:00
21334ea704
Delete local frame members from MJC objects.
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PiperOrigin-RevId: 585629699
Change-Id: I12dbd235dee49223fa7b1a097f04561da69550a0
2023-11-27 06:07:53 -08:00
ca046cbf64
Fix rendering bug in changelog.
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PiperOrigin-RevId: 585627863
Change-Id: I238b9d7eb13dbc8660f15f45efe6a84ccbb84c66
2023-11-27 05:59:53 -08:00
25ddb3e6e8
simulate: Add states to history when stepping with right arrow key.
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PiperOrigin-RevId: 585613870
Change-Id: I7fb051946e8a91a900442e3d7048dfa8b8bd7c5c
2023-11-27 04:45:51 -08:00
eb9568a48b
Add frame element to MJCF.
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PiperOrigin-RevId: 585598244
Change-Id: I4c06be3dd586dab5a4458f05faaf1e7f2b615458
2023-11-27 03:32:18 -08:00
8010aad7be
Add flex_elemlayer to mjvSceneState. Fixes #1193 and #1219 .
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PiperOrigin-RevId: 585581657
Change-Id: Iec4da74437544184c19765a2feee1cca4c368d34
2023-11-27 02:25:05 -08:00
e33adaca9c
Fix typos in mju_boxQP documentation.
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PiperOrigin-RevId: 585462325
Change-Id: Ib1c15c3d5af8475ec1a62b50c66b729579a23e60
2023-11-26 11:23:52 -08:00
002b427a32
PID Controller as an actuator plugin.
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Implement a configurable PID controller.
PiperOrigin-RevId: 585282014
Change-Id: I2d884554629101a0a25b5e0979ffb1ff8ed9cab4
2023-11-25 08:41:01 -08:00
d070b1893e
Improved SDF objective function.
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For two colliding SDFs `A` and `B`, the function is `(A+B)+abs(max(A,B))`. This can also be written as `clearance + abs(intersection)`. This function has the following properties:
- On the penetrating surface, it is equal to `A+B`, i.e. the clearance field which is the penetration depth.
- The object boundary is a set of local minima in 3D space, since `abs(max(A, B))>0` away from the surface.
- Along the penetrating surface, the maximum penetration is a local minimum of the clearance since this field is orthogonal to the midsurface field `A-B`, which acts as a support plane for the contact.
[Level sets of the improved function for two colliding circles](https://www.wolframalpha.com/input?i=plot+sqrt%28x%5E2%2By%5E2%29-1+%2B+sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1+%2B+max%28max%28sqrt%28x%5E2%2By%5E2%29-1%2C+sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%29%2C+0%29+-+min%28max%28sqrt%28x%5E2%2By%5E2%29-1%2C+sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%29%2C+0%29+ ).
PiperOrigin-RevId: 585106580
Change-Id: I5b18a1ef262ceb0a1ab8abcad8acfd6dc1992e2c
2023-11-24 09:07:17 -08:00
6a83b86553
Update M1 Pro with M3 Max benchmarks in MJX docs
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PiperOrigin-RevId: 584918133
Change-Id: I442972cdc1f19020e6b5bbc7ff3e98fd556cf125
2023-11-23 10:46:54 -08:00
f2025c6abf
Allow plugin actuators to have activation state.
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Accept new attributes on the plugin/actuator tag:
- dyntype
- dynprm
- actlimited
- actrange
- actearly
This addresses some of the requests in #1098 .
PiperOrigin-RevId: 584866281
Change-Id: I4f7559e446888216093efba4ced9119cfc0528a4
2023-11-23 05:14:03 -08:00
20eeb75086
Merge pull request #1187 from tmplt:ref/cmake-system-pybind
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PiperOrigin-RevId: 584560576
Change-Id: I1c16fbf80e3ba7175cf4d1d89a459e817100e1f8
2023-11-22 02:20:02 -08:00
b41f6d0942
Correct documentation of eulerseq attribute w.r.t URDF conventions.
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PiperOrigin-RevId: 584394256
Change-Id: I0afcb6ced81b98898988cc66f46742175a9a55c5
2023-11-21 12:11:05 -08:00
2bc2bc902f
Clarify that the contact disable flag also disables collision detection.
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PiperOrigin-RevId: 584300974
Change-Id: I740fd6833b2ea1b77bdb70dc210a1bd1f7eb6f17
2023-11-21 05:57:51 -08:00
cd56a41f83
Fix bug in Cartesian actuation with movable refsite.
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PiperOrigin-RevId: 584035818
Change-Id: I005f6bbbe02f8b36d287ecada0406a6ae4d720ba
2023-11-20 08:37:29 -08:00
8ca51b5318
Backtracking line search for SDF collisions.
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Increased tolerance above zero in nutbolt.xml since now the two parts lock otherwise. Measured speedup of 2x in this example.
This solves the issue of scale-dependent step sizes. Tested on gears with 10cm diameter and 2cm thickness.
PiperOrigin-RevId: 584009449
Change-Id: Ied2f62dbbbc592470b91cf910f3553802a57c752
2023-11-20 06:33:01 -08:00
0ea316ed71
cmake: support system-wide pybind11
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Original behavior remains.
2023-11-20 14:43:46 +01:00
dbf44fe2b4
New SDF objective function.
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This solves the jittery behavior observed with the gear example in the case of small applied torques (~0.5).
The new quadratic option has the form max(A, 0)^2/2 + max(B, 0)^2/2 - min(A, 0)*min(B, 0). This function has a minimum in the intersections of two SDFs A and B, while avoiding the flat areas which would be generated if only the clearance field A+B were employed. See for example [the function resulting from two colliding circles](https://www.wolframalpha.com/input?i=minimize+max%28sqrt%28x%5E2%2By%5E2%29-1%2C0%29%5E2+%2B+max%28sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%2C0%29%5E2+-+2*min%28sqrt%28x%5E2%2By%5E2%29-1%2C0%29*min%28sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%2C0%29 )
PiperOrigin-RevId: 583992855
Change-Id: I135a1b5931cd136d7d33cc275f8d361a8b7e290c
2023-11-20 05:06:33 -08:00
98082ae7f9
Add description of eq_active state variable to documentation. Fixes #1208 .
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PiperOrigin-RevId: 583712793
Change-Id: I6f4adca5692fd181bb8f6c0f34ae09a756a84fc1
2023-11-18 20:06:33 -08:00
d3eee0316c
Small changes to Kuka IIWA7 Biarm
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PiperOrigin-RevId: 583412101
Change-Id: Icee1c5f1f2a9354425d8f6c311322903e1e0af83
2023-11-17 09:37:26 -08:00
b03d312cbf
Merge pull request #1205 from Balint-H:fix/memory-default
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PiperOrigin-RevId: 583393024
Change-Id: Ia553d67ddf5c94e482a453bd9f6f23aa3be04b9d
2023-11-17 08:19:01 -08:00
4fb1787a3b
Use default value of memory option if not present in imported XML
2023-11-17 12:46:55 +00:00
4d2a176a8a
Modify name of mjx integration tests.
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PiperOrigin-RevId: 583108693
Change-Id: If972c376181ca98201ff61ff06d200c82d214e2b
2023-11-16 11:24:07 -08:00
23cdfef7fe
Update C++ dependency versions.
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PiperOrigin-RevId: 583105482
Change-Id: Ieeffd477a3b3baafd1d7f622881c81944298d233
2023-11-16 11:15:01 -08:00
8693e0bba5
Stop actuator group disable from mistakenly binding to the number keys (should toggle geom groups, not actuators).
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PiperOrigin-RevId: 583038620
Change-Id: Ibf339aed339b7ad862f61ac72298f43e717e3973
2023-11-16 07:34:58 -08:00
530058cadb
Clarify support for muscles/tendons in future MJX. Add details to the large scene benchmark.
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PiperOrigin-RevId: 583018058
Change-Id: I3d93a73b4bd71ade1ecf28b8cff9a114259e71e1
2023-11-16 06:10:34 -08:00
4014196c6c
Add pin to flex golden data.
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Also reduce slightly the resolution of the models to make comparing golden data more readable.
PiperOrigin-RevId: 582990641
Change-Id: I4f935a4ce316c70f4b1641e1c0f2fe49f801b32c
2023-11-16 04:14:58 -08:00
9952f1708c
Remove collision option from Unity plug-in GUI.
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PiperOrigin-RevId: 582978831
Change-Id: I97275438c730655a9c942526fa410bf006189968
2023-11-16 03:24:05 -08:00
1554048856
Bump dev version number to 3.0.2.
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PiperOrigin-RevId: 582773849
Change-Id: I07a70911578fabb556eec1a4d8aa6fcb6557513f
2023-11-15 12:51:04 -08:00
8d5966eec9
Update changelog for 3.0.1 release.
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PiperOrigin-RevId: 582705280
Change-Id: I6d2a8df7bccfa2ecb76b7ef3ef8d5a7377927589
2023-11-15 09:30:35 -08:00
2d2b6ecf93
Fix formatting bugs in XMLreference doc page.
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PiperOrigin-RevId: 582661350
Change-Id: I85a67b1286e9d70dc253e541d95fdfc58ce8f451
2023-11-15 07:00:37 -08:00
e3b3f96373
Add flex_texcoordadr to mjvSceneState. Fixes #1193 .
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PiperOrigin-RevId: 582630943
Change-Id: I113b135752268773e0afafe004b8f27c1e96ffc7
2023-11-15 05:02:05 -08:00
7051ab99e0
Enable keyframe loading and saving in passive viewer. Fixes #1175
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PiperOrigin-RevId: 582332757
Change-Id: Iff23359e670906c0e88a2d34273c493bc8cbe2af
2023-11-14 08:38:04 -08:00
f5285e0b23
Add flex to dm_control schema.
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PiperOrigin-RevId: 582323853
Change-Id: I4ce25bf29d0a883bca286954a14c4a07a500f145
2023-11-14 08:05:29 -08:00
ffca553f64
Do not use the inertia box for volume computation.
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PiperOrigin-RevId: 582319067
Change-Id: I347d820f48faab15b609bcfc8295b07bd2d0f7ed
2023-11-14 07:46:33 -08:00
c8146372cf
Simplify pendula test data. Fix bug in `scan.body_tree` that led to incorrect smooth dynamics for some kinematic tree layouts.
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PiperOrigin-RevId: 582125477
Change-Id: I47505ceb4be4c88052bc670f401b8c45ff320bbd
2023-11-13 16:48:49 -08:00
97ad543051
Test-only change: Don't update actuator_force in Advance in TestActuator.
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Actuators update actuator_force in compute and not in advance.
PiperOrigin-RevId: 581985081
Change-Id: I013d6c4f0888ee8e25df15a6f58c9e3412d33ceb
2023-11-13 09:11:42 -08:00
f1bf394415
Add missing commas in attribute lists in XML reference.
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PiperOrigin-RevId: 581984255
Change-Id: Ie834a9578357bba68839d5172892cd9d6329122e
2023-11-13 09:08:43 -08:00
9ae40e718e
Define mj_multiRay bindings explicitly.
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Fixes #1184 .
PiperOrigin-RevId: 581956413
Change-Id: I6c611ac7537442a65e6961430ec724326ee6095a
2023-11-13 07:31:22 -08:00
d0cabcf7db
Only apply torquescale once, when setting efc_pos.
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PiperOrigin-RevId: 580694671
Change-Id: Ic0e2ee773d65d4fd92f4b4102cdfdd040516680a
2023-11-08 16:15:36 -08:00
cdf55e2ae9
Do not override search bar text color when data-theme="auto" in light mode.
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PiperOrigin-RevId: 580546595
Change-Id: If39cd937e9288c860b8b713911f0ef5114aee5f5
2023-11-08 08:46:08 -08:00
57e6940f57
Prevent division by zero in testspeed. This can happen when parts of the pipeline are disabled.
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PiperOrigin-RevId: 580208528
Change-Id: Ia5971ea9f15e0b19896392e86a65592357b2df61
2023-11-07 09:38:30 -08:00
7207b60b5a
Place untrusted data from the git commit metadata in environment variables.
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This prevents bash from executing strings in the commit metadata as code when reporting build errors.
PiperOrigin-RevId: 580155315
Change-Id: I4046eabd76eba14297fffe4e2fced59259d80f21
2023-11-07 06:14:17 -08:00
1881c2d881
Improve sorting of samples in documentation.
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PiperOrigin-RevId: 579847239
Change-Id: I392cd87b9a3e5616fcb10657db4ac81a38e430ed
2023-11-06 08:12:24 -08:00
8a5e2b19a8
Improve mjContact documentation. Fixes #1136
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PiperOrigin-RevId: 579836970
Change-Id: Ife8dd73eecdbdaacecc1e48460cf6efcf4f7b487
2023-11-06 07:28:51 -08:00
Alessio Quaglino